HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

setup.cpp@60:b89ac376fba3, 2021-06-02 (annotated)

Committer:
NaotoMorita
Date:
Wed Jun 02 06:14:47 2021 +0000
Revision:
60:b89ac376fba3
Parent:
59:7b9b842efd5e
Child:
61:c05353850017
modify calibration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void setup()
cocorlow 56:888379912f81 4 {
NaotoMorita 58:a7947322db87 5 pc.baud(57600);
cocorlow 56:888379912f81 6 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 7 pitchratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 8 pitchPID.setBias(0.0);
cocorlow 56:888379912f81 9 pitchratePID.setBias(0.0);
cocorlow 56:888379912f81 10 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 11 pitchratePID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 12 pitchPID.setInputLimits(-M_PI, M_PI);
cocorlow 56:888379912f81 13 pitchratePID.setInputLimits(-M_PI, M_PI);
cocorlow 56:888379912f81 14
cocorlow 56:888379912f81 15 servo.period_us(15000.0);
cocorlow 56:888379912f81 16 servo.pulsewidth_us(1500.0);
cocorlow 56:888379912f81 17
cocorlow 56:888379912f81 18 accelgyro.initialize();
cocorlow 56:888379912f81 19 //加速度計のフルスケールレンジを設定
cocorlow 56:888379912f81 20 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
cocorlow 56:888379912f81 21 //角速度計のフルスケールレンジを設定
cocorlow 56:888379912f81 22 accelgyro.setFullScaleGyroRange(GYRO_FSR);
cocorlow 56:888379912f81 23 //MPU6050のLPFを設定
cocorlow 56:888379912f81 24 accelgyro.setDLPFMode(MPU6050_LPF);
cocorlow 56:888379912f81 25 //地磁気
cocorlow 56:888379912f81 26 mag_sensor.enable();
cocorlow 56:888379912f81 27 }
cocorlow 56:888379912f81 28
cocorlow 56:888379912f81 29 void calibrate()
cocorlow 56:888379912f81 30 {
cocorlow 56:888379912f81 31 pc.printf("\r\nEnter to Calibration Mode\r\n");
cocorlow 56:888379912f81 32 wait(5);
cocorlow 56:888379912f81 33 pc.printf("Acc and Gyro Calibration Start\r\n");
cocorlow 56:888379912f81 34
cocorlow 56:888379912f81 35 int gxs = 0;
cocorlow 56:888379912f81 36 int gys = 0;
cocorlow 56:888379912f81 37 int gzs = 0;
cocorlow 56:888379912f81 38 int iter_n = 10000;
cocorlow 56:888379912f81 39
cocorlow 56:888379912f81 40 for(int i = 0;i<iter_n ;i++)
cocorlow 56:888379912f81 41 {
cocorlow 56:888379912f81 42 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
cocorlow 56:888379912f81 43 gxs += gx;
cocorlow 56:888379912f81 44 gys += gy;
cocorlow 56:888379912f81 45 gzs -= gz;
cocorlow 56:888379912f81 46 //wait(0.01);
cocorlow 56:888379912f81 47 }
cocorlow 56:888379912f81 48 gxs = gxs /iter_n;
cocorlow 56:888379912f81 49 gys = gys /iter_n;
cocorlow 56:888379912f81 50 gzs = gzs /iter_n;
cocorlow 56:888379912f81 51 agoffset[3] = gxs;
cocorlow 56:888379912f81 52 agoffset[4] = gys;
cocorlow 56:888379912f81 53 agoffset[5] = gzs;
cocorlow 56:888379912f81 54 pc.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 59:7b9b842efd5e 55 pc.printf("Press userbutton without initial Magbias value from EEPROM\r\n");
NaotoMorita 59:7b9b842efd5e 56 int magBiasFromEEPROM = 1;
NaotoMorita 59:7b9b842efd5e 57 for(int i = 0;i<50 ;i++){
NaotoMorita 59:7b9b842efd5e 58 wait(0.1);
NaotoMorita 59:7b9b842efd5e 59 if(userButton.read() == 1)
NaotoMorita 59:7b9b842efd5e 60 {
NaotoMorita 59:7b9b842efd5e 61 magBiasFromEEPROM = 0;
NaotoMorita 59:7b9b842efd5e 62 break;
NaotoMorita 59:7b9b842efd5e 63 }
NaotoMorita 59:7b9b842efd5e 64 };
NaotoMorita 59:7b9b842efd5e 65 wait(1);
NaotoMorita 59:7b9b842efd5e 66 if(magBiasFromEEPROM==1){
NaotoMorita 59:7b9b842efd5e 67 pc.printf("Read Initial Magbias from EEPROM\r\n");
NaotoMorita 59:7b9b842efd5e 68 U read_bias;
NaotoMorita 59:7b9b842efd5e 69 readEEPROM(eeprom_address, eeprom_pointeraddress, read_bias.c, N_EEPROM*4);
NaotoMorita 59:7b9b842efd5e 70 wait(3);
NaotoMorita 59:7b9b842efd5e 71 for (int i = 0 ; i < N_EEPROM; i ++)
NaotoMorita 59:7b9b842efd5e 72 {
NaotoMorita 59:7b9b842efd5e 73 magbias[0] = float(read_bias.i[1])/1000.0f;
NaotoMorita 59:7b9b842efd5e 74 magbias[1] = float(read_bias.i[2])/1000.0f;
NaotoMorita 59:7b9b842efd5e 75 magbias[2] = float(read_bias.i[3])/1000.0f;
NaotoMorita 59:7b9b842efd5e 76 magbias[3] = float(read_bias.i[4])/1000.0f;
NaotoMorita 59:7b9b842efd5e 77 }
NaotoMorita 59:7b9b842efd5e 78 }else{
NaotoMorita 59:7b9b842efd5e 79 pc.printf("Preset Initial Magbias \r\n");
NaotoMorita 59:7b9b842efd5e 80 }
NaotoMorita 59:7b9b842efd5e 81 pc.printf("Initial Magbias : %f, %f, %f, %f\r\n", magbias[0], magbias[1], magbias[2], magbias[3]);
cocorlow 56:888379912f81 82 pc.printf("Mag Calibration Start\r\n");
cocorlow 56:888379912f81 83
NaotoMorita 59:7b9b842efd5e 84
cocorlow 56:888379912f81 85 float f = 0;
cocorlow 56:888379912f81 86
cocorlow 56:888379912f81 87 while(1)
cocorlow 56:888379912f81 88 {
cocorlow 56:888379912f81 89 mag_sensor.getAxis(mdata); // flush the magnetmeter
cocorlow 56:888379912f81 90 magval[0] = (mdata.x - magbias[0]);
cocorlow 56:888379912f81 91 magval[1] = (mdata.y - magbias[1]);
cocorlow 56:888379912f81 92 magval[2] = (mdata.z - magbias[2]);
cocorlow 56:888379912f81 93 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
cocorlow 56:888379912f81 94 float lr = 0.000001f;
cocorlow 56:888379912f81 95 f = mag_r - magbias[3]*magbias[3];
cocorlow 56:888379912f81 96 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
cocorlow 56:888379912f81 97 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
cocorlow 56:888379912f81 98 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
cocorlow 56:888379912f81 99 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
cocorlow 56:888379912f81 100 if(userButton.read() == 1)
cocorlow 56:888379912f81 101 {
cocorlow 56:888379912f81 102 break;
cocorlow 56:888379912f81 103 }
cocorlow 56:888379912f81 104 wait(0.001);
cocorlow 56:888379912f81 105 }
cocorlow 56:888379912f81 106 pc.printf("Magbias : %f, %f, %f, %f\r\n", magbias[0], magbias[1], magbias[2], magbias[3]);
cocorlow 56:888379912f81 107 pc.printf("Determine Position of MBED\r\n");
cocorlow 56:888379912f81 108 wait(1);
cocorlow 56:888379912f81 109 pc.printf("Press the user button\r\n");
cocorlow 56:888379912f81 110
cocorlow 56:888379912f81 111 while(userButton.read() == 0)
cocorlow 56:888379912f81 112 {
cocorlow 56:888379912f81 113 wait(0.01);
cocorlow 56:888379912f81 114 }
cocorlow 56:888379912f81 115 while(1)
cocorlow 56:888379912f81 116 {
cocorlow 56:888379912f81 117 pc.printf("Left\r\n");
cocorlow 56:888379912f81 118 wait(2);
cocorlow 56:888379912f81 119 if(userButton.read() == 0)
cocorlow 56:888379912f81 120 {
cocorlow 56:888379912f81 121 pos_tail = 0;
cocorlow 56:888379912f81 122 break;
cocorlow 56:888379912f81 123 };
cocorlow 56:888379912f81 124 pc.printf("Center\r\n");
cocorlow 56:888379912f81 125 wait(2);
cocorlow 56:888379912f81 126 if(userButton.read() == 0)
cocorlow 56:888379912f81 127 {
cocorlow 56:888379912f81 128 pos_tail = 1;
cocorlow 56:888379912f81 129 break;
cocorlow 56:888379912f81 130 };
cocorlow 56:888379912f81 131 pc.printf("Right\r\n");
cocorlow 56:888379912f81 132 wait(2);
cocorlow 56:888379912f81 133 if(userButton.read() == 0)
cocorlow 56:888379912f81 134 {
cocorlow 56:888379912f81 135 pos_tail = 2;
cocorlow 56:888379912f81 136 break;
cocorlow 56:888379912f81 137 };
cocorlow 56:888379912f81 138 };
cocorlow 56:888379912f81 139 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
cocorlow 56:888379912f81 140 switch(pos_tail)
cocorlow 56:888379912f81 141 {
cocorlow 56:888379912f81 142 case 0:
cocorlow 56:888379912f81 143 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 144 break;
cocorlow 56:888379912f81 145 case 1:
cocorlow 56:888379912f81 146 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 147 break;
cocorlow 56:888379912f81 148 case 2:
cocorlow 56:888379912f81 149 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 150 break;
cocorlow 56:888379912f81 151 default: // error situation
cocorlow 56:888379912f81 152 pc.printf("error\r\n");
cocorlow 56:888379912f81 153 break;
cocorlow 56:888379912f81 154 }
NaotoMorita 60:b89ac376fba3 155 pc.printf("Calculating pitch/roll Offset \r\n");
cocorlow 56:888379912f81 156 //姿勢オフセットを計算
cocorlow 56:888379912f81 157 rpy_align.y = 0.0f*M_PI/180.0f;
cocorlow 56:888379912f81 158 rpy_align.x = 0.0f*M_PI/180.0f;
cocorlow 56:888379912f81 159 float ave_pitch = 0.0f;
cocorlow 56:888379912f81 160 float ave_roll = 0.0f;
cocorlow 56:888379912f81 161 Timer _t;
cocorlow 56:888379912f81 162 _t.start();
cocorlow 56:888379912f81 163 for (int i = 0 ; i < 2200; i++)
cocorlow 56:888379912f81 164 {
cocorlow 56:888379912f81 165 float tstart = _t.read();
cocorlow 56:888379912f81 166 //姿勢角を更新
cocorlow 56:888379912f81 167 getIMUval();
cocorlow 56:888379912f81 168 ekf.updateBetweenMeasures(gyro, att_dt);
cocorlow 56:888379912f81 169 ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag);
cocorlow 56:888379912f81 170 ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc);
cocorlow 56:888379912f81 171 ekf.computeAngles(rpy, rpy_g, rpy_align);
cocorlow 56:888379912f81 172 if(i>199)
cocorlow 56:888379912f81 173 {
cocorlow 56:888379912f81 174 ave_pitch += rpy.y;
cocorlow 56:888379912f81 175 ave_roll += rpy.x;
cocorlow 56:888379912f81 176 }
cocorlow 56:888379912f81 177 wait(0.001);
cocorlow 56:888379912f81 178 float tend = _t.read();
cocorlow 56:888379912f81 179 att_dt = (tend-tstart);
cocorlow 56:888379912f81 180 }
cocorlow 56:888379912f81 181
cocorlow 56:888379912f81 182 pc.printf("aliginment data : %f(pitch deg) %f(roll deg)\r\n",ave_pitch/2000.0f*180.0f/M_PI,ave_roll/2000.0f*180.0f/M_PI);
cocorlow 56:888379912f81 183 pc.printf("Writing to EEPROM...\r\n");
cocorlow 56:888379912f81 184
cocorlow 56:888379912f81 185 U transfer_data;
cocorlow 56:888379912f81 186 transfer_data.i[0] = pos_tail;
cocorlow 56:888379912f81 187 for (int i = 1; i < 5; i++)
cocorlow 56:888379912f81 188 {
cocorlow 56:888379912f81 189 if (!isnan(magbias[i - 1]))
cocorlow 56:888379912f81 190 transfer_data.i[i] = int(magbias[i - 1]*1000); // intに丸めた値を送る。
cocorlow 56:888379912f81 191 else
cocorlow 56:888379912f81 192 {
cocorlow 56:888379912f81 193 pc.printf("Mag bias is NOT transferred\n");
cocorlow 56:888379912f81 194 transfer_data.i[i] = 100;
cocorlow 56:888379912f81 195 }
cocorlow 56:888379912f81 196 }
cocorlow 56:888379912f81 197 // gxs,gys,gzsを送る
cocorlow 56:888379912f81 198 int gxyzs[3] = {gxs, gys, gzs};
cocorlow 56:888379912f81 199 for (int i = 5; i < 8; i++)
cocorlow 56:888379912f81 200 {
cocorlow 56:888379912f81 201 if (!isnan(gxyzs[i - 5]))
cocorlow 56:888379912f81 202 transfer_data.i[i] = gxyzs[i - 5];
cocorlow 56:888379912f81 203 else
cocorlow 56:888379912f81 204 {
cocorlow 56:888379912f81 205 pc.printf("gxyzs is NOT transferred\n");
cocorlow 56:888379912f81 206 transfer_data.i[i] = 0;
cocorlow 56:888379912f81 207 }
cocorlow 56:888379912f81 208 }
cocorlow 56:888379912f81 209
cocorlow 56:888379912f81 210 // ave_pitch,ave_rollを送る
cocorlow 56:888379912f81 211 int ave_pr[2] = {ave_pitch*100, ave_roll*100};
cocorlow 56:888379912f81 212 for (int i = 8; i < 10; i++)
cocorlow 56:888379912f81 213 {
cocorlow 56:888379912f81 214 if (!isnan(ave_pr[i - 8]))
cocorlow 56:888379912f81 215 transfer_data.i[i] = ave_pr[i - 8];
cocorlow 56:888379912f81 216 else
cocorlow 56:888379912f81 217 {
cocorlow 56:888379912f81 218 pc.printf("alignment data is NOT transferred\n");
cocorlow 56:888379912f81 219 transfer_data.i[i] = 0;
cocorlow 56:888379912f81 220 }
cocorlow 56:888379912f81 221 }
cocorlow 56:888379912f81 222 // transfer_data.i[10] = tail_address[pos_tail];
cocorlow 56:888379912f81 223 for (int i = 0; i < N_EEPROM; i++)
cocorlow 56:888379912f81 224 {
cocorlow 56:888379912f81 225 pc.printf("transfer_data[%d]: %d\r\n", i, transfer_data.i[i]);
cocorlow 56:888379912f81 226 }
cocorlow 56:888379912f81 227 writeEEPROM(eeprom_address, eeprom_pointeraddress, transfer_data.c, N_EEPROM*4);
cocorlow 56:888379912f81 228 wait(3);
cocorlow 56:888379912f81 229
cocorlow 56:888379912f81 230 U read_test;
cocorlow 56:888379912f81 231 readEEPROM(eeprom_address, eeprom_pointeraddress, read_test.c, N_EEPROM*4);
cocorlow 56:888379912f81 232 wait(3);
cocorlow 56:888379912f81 233 for (int i = 0 ; i < N_EEPROM; i ++)
cocorlow 56:888379912f81 234 {
cocorlow 56:888379912f81 235 pc.printf("transfer_data[%d]: %d\r\n",i, read_test.i[i]);
cocorlow 56:888379912f81 236 }
cocorlow 56:888379912f81 237
cocorlow 56:888379912f81 238 while(1)
cocorlow 56:888379912f81 239 {
cocorlow 56:888379912f81 240 wait(1000);
cocorlow 56:888379912f81 241 }
cocorlow 56:888379912f81 242 }