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@68:b9f6938fab9d, 2021-06-28 (annotated)
- Committer:
- NaotoMorita
- Date:
- Mon Jun 28 01:40:26 2021 +0000
- Revision:
- 68:b9f6938fab9d
- Parent:
- 65:ea184054e659
- Child:
- 70:99f974d8960e
commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
cocorlow | 56:888379912f81 | 3 | void setup() |
cocorlow | 56:888379912f81 | 4 | { |
cocorlow | 56:888379912f81 | 5 | pitchPID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 6 | pitchratePID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 7 | pitchPID.setBias(0.0); |
cocorlow | 56:888379912f81 | 8 | pitchratePID.setBias(0.0); |
cocorlow | 56:888379912f81 | 9 | pitchPID.setOutputLimits(-1.0,1.0); |
cocorlow | 56:888379912f81 | 10 | pitchratePID.setOutputLimits(-1.0,1.0); |
cocorlow | 56:888379912f81 | 11 | pitchPID.setInputLimits(-M_PI, M_PI); |
cocorlow | 56:888379912f81 | 12 | pitchratePID.setInputLimits(-M_PI, M_PI); |
cocorlow | 56:888379912f81 | 13 | |
NaotoMorita | 65:ea184054e659 | 14 | elevServo.period_us(15000.0); |
NaotoMorita | 65:ea184054e659 | 15 | elevServo.pulsewidth_us(1500.0); |
NaotoMorita | 65:ea184054e659 | 16 | rudServo.period_us(15000.0); |
NaotoMorita | 65:ea184054e659 | 17 | rudServo.pulsewidth_us(1500.0); |
cocorlow | 56:888379912f81 | 18 | |
cocorlow | 56:888379912f81 | 19 | accelgyro.initialize(); |
cocorlow | 56:888379912f81 | 20 | //加速度計のフルスケールレンジを設定 |
cocorlow | 56:888379912f81 | 21 | accelgyro.setFullScaleAccelRange(ACCEL_FSR); |
cocorlow | 56:888379912f81 | 22 | //角速度計のフルスケールレンジを設定 |
cocorlow | 56:888379912f81 | 23 | accelgyro.setFullScaleGyroRange(GYRO_FSR); |
cocorlow | 56:888379912f81 | 24 | //MPU6050のLPFを設定 |
cocorlow | 56:888379912f81 | 25 | accelgyro.setDLPFMode(MPU6050_LPF); |
cocorlow | 56:888379912f81 | 26 | //地磁気 |
cocorlow | 56:888379912f81 | 27 | mag_sensor.enable(); |
cocorlow | 56:888379912f81 | 28 | } |
cocorlow | 56:888379912f81 | 29 | |
cocorlow | 56:888379912f81 | 30 | void calibrate() |
cocorlow | 56:888379912f81 | 31 | { |
NaotoMorita | 65:ea184054e659 | 32 | pc.serial.printf("\r\nEnter to Calibration Mode\r\n"); |
cocorlow | 56:888379912f81 | 33 | wait(5); |
NaotoMorita | 65:ea184054e659 | 34 | pc.serial.printf("Acc and Gyro Calibration Start\r\n"); |
cocorlow | 56:888379912f81 | 35 | |
cocorlow | 56:888379912f81 | 36 | int iter_n = 10000; |
cocorlow | 56:888379912f81 | 37 | |
NaotoMorita | 68:b9f6938fab9d | 38 | long axs = 0; |
NaotoMorita | 68:b9f6938fab9d | 39 | long ays = 0; |
NaotoMorita | 68:b9f6938fab9d | 40 | long azs = 0; |
NaotoMorita | 68:b9f6938fab9d | 41 | double axs2 = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 42 | double ays2 = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 43 | double azs2 = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 44 | long gxs = 0; |
NaotoMorita | 68:b9f6938fab9d | 45 | long gys = 0; |
NaotoMorita | 68:b9f6938fab9d | 46 | long gzs = 0; |
NaotoMorita | 68:b9f6938fab9d | 47 | double gxs2 = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 48 | double gys2 = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 49 | double gzs2 = 0.0f; |
cocorlow | 56:888379912f81 | 50 | for(int i = 0;i<iter_n ;i++) |
cocorlow | 56:888379912f81 | 51 | { |
NaotoMorita | 68:b9f6938fab9d | 52 | accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
NaotoMorita | 68:b9f6938fab9d | 53 | axs += ax; |
NaotoMorita | 68:b9f6938fab9d | 54 | ays += ay; |
NaotoMorita | 68:b9f6938fab9d | 55 | azs += az; |
NaotoMorita | 68:b9f6938fab9d | 56 | axs2 += double(ax*ax)/iter_n; |
NaotoMorita | 68:b9f6938fab9d | 57 | ays2 += double(ay*ay)/iter_n; |
NaotoMorita | 68:b9f6938fab9d | 58 | azs2 += double(az*az)/iter_n; |
NaotoMorita | 68:b9f6938fab9d | 59 | |
cocorlow | 56:888379912f81 | 60 | gxs += gx; |
cocorlow | 56:888379912f81 | 61 | gys += gy; |
NaotoMorita | 68:b9f6938fab9d | 62 | gzs += gz; |
NaotoMorita | 68:b9f6938fab9d | 63 | gxs2 += double(gx*gx)/iter_n; |
NaotoMorita | 68:b9f6938fab9d | 64 | gys2 += double(gy*gy)/iter_n; |
NaotoMorita | 68:b9f6938fab9d | 65 | gzs2 += double(gz*gz)/iter_n; |
cocorlow | 56:888379912f81 | 66 | //wait(0.01); |
cocorlow | 56:888379912f81 | 67 | } |
NaotoMorita | 68:b9f6938fab9d | 68 | axs = axs /iter_n; |
NaotoMorita | 68:b9f6938fab9d | 69 | ays = ays /iter_n; |
NaotoMorita | 68:b9f6938fab9d | 70 | azs = azs /iter_n; |
cocorlow | 56:888379912f81 | 71 | gxs = gxs /iter_n; |
cocorlow | 56:888379912f81 | 72 | gys = gys /iter_n; |
NaotoMorita | 68:b9f6938fab9d | 73 | gzs = gzs /iter_n; |
NaotoMorita | 68:b9f6938fab9d | 74 | double var_accx = (axs2 - double(axs*axs))/ ACCEL_SSF / ACCEL_SSF; |
NaotoMorita | 68:b9f6938fab9d | 75 | double var_accy = (ays2 - double(ays*ays))/ ACCEL_SSF / ACCEL_SSF; |
NaotoMorita | 68:b9f6938fab9d | 76 | double var_accz = (azs2 - double(azs*azs))/ ACCEL_SSF / ACCEL_SSF; |
NaotoMorita | 68:b9f6938fab9d | 77 | double var_gyrox = (gxs2 - double(gxs*gxs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; |
NaotoMorita | 68:b9f6938fab9d | 78 | double var_gyroy = (gys2 - double(gys*gys))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; |
NaotoMorita | 68:b9f6938fab9d | 79 | double var_gyroz = (gzs2 - double(gzs*gzs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; |
NaotoMorita | 68:b9f6938fab9d | 80 | pc.serial.printf("AccCovariance : %f, %f, %f \r\n",var_accx,var_accy,var_accz); |
NaotoMorita | 68:b9f6938fab9d | 81 | pc.serial.printf("GyroCovariance : %f, %f, %f \r\n",var_gyrox,var_gyroy,var_gyroz); |
NaotoMorita | 68:b9f6938fab9d | 82 | |
NaotoMorita | 65:ea184054e659 | 83 | pc.serial.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs); |
NaotoMorita | 65:ea184054e659 | 84 | |
NaotoMorita | 61:c05353850017 | 85 | |
NaotoMorita | 65:ea184054e659 | 86 | pc.serial.printf("Initial Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]); |
NaotoMorita | 65:ea184054e659 | 87 | pc.serial.printf("Initial Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]); |
NaotoMorita | 65:ea184054e659 | 88 | |
NaotoMorita | 65:ea184054e659 | 89 | pc.serial.printf("Mag Calibration Start\r\n"); |
cocorlow | 56:888379912f81 | 90 | |
NaotoMorita | 61:c05353850017 | 91 | float inputMag[3]; |
NaotoMorita | 61:c05353850017 | 92 | float outputMag[3]; |
cocorlow | 56:888379912f81 | 93 | while(1) |
cocorlow | 56:888379912f81 | 94 | { |
cocorlow | 56:888379912f81 | 95 | mag_sensor.getAxis(mdata); // flush the magnetmeter |
NaotoMorita | 61:c05353850017 | 96 | inputMag[0] = mdata.x; |
NaotoMorita | 61:c05353850017 | 97 | inputMag[1] = mdata.y; |
NaotoMorita | 61:c05353850017 | 98 | inputMag[2] = mdata.z; |
NaotoMorita | 61:c05353850017 | 99 | magCalibrator.run(inputMag,outputMag); |
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 | } |
NaotoMorita | 61:c05353850017 | 106 | magCalibrator.getExtremes(magbiasMin,magbiasMax); |
NaotoMorita | 65:ea184054e659 | 107 | pc.serial.printf("Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]); |
NaotoMorita | 65:ea184054e659 | 108 | pc.serial.printf("Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]); |
NaotoMorita | 68:b9f6938fab9d | 109 | magCalibrator.setExtremes(magbiasMin,magbiasMax); |
cocorlow | 56:888379912f81 | 110 | |
NaotoMorita | 65:ea184054e659 | 111 | pc.serial.printf("Calculating pitch/roll Offset \r\n"); |
cocorlow | 56:888379912f81 | 112 | //姿勢オフセットを計算 |
cocorlow | 56:888379912f81 | 113 | rpy_align.y = 0.0f*M_PI/180.0f; |
cocorlow | 56:888379912f81 | 114 | rpy_align.x = 0.0f*M_PI/180.0f; |
cocorlow | 56:888379912f81 | 115 | float ave_pitch = 0.0f; |
cocorlow | 56:888379912f81 | 116 | float ave_roll = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 117 | ekf.Q(4,4) = 0.00001f; |
NaotoMorita | 68:b9f6938fab9d | 118 | ekf.Q(5,5) = 0.00001f; |
NaotoMorita | 68:b9f6938fab9d | 119 | ekf.Q(6,6) = 0.00001f; |
NaotoMorita | 68:b9f6938fab9d | 120 | ekf.Qab(1,1) = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 121 | ekf.Qab(2,2) = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 122 | ekf.Qab(3,3) = 0.0f; |
NaotoMorita | 68:b9f6938fab9d | 123 | getIMUval(); |
NaotoMorita | 68:b9f6938fab9d | 124 | ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm()); |
cocorlow | 56:888379912f81 | 125 | Timer _t; |
cocorlow | 56:888379912f81 | 126 | _t.start(); |
cocorlow | 56:888379912f81 | 127 | for (int i = 0 ; i < 2200; i++) |
cocorlow | 56:888379912f81 | 128 | { |
cocorlow | 56:888379912f81 | 129 | float tstart = _t.read(); |
cocorlow | 56:888379912f81 | 130 | //姿勢角を更新 |
cocorlow | 56:888379912f81 | 131 | getIMUval(); |
NaotoMorita | 68:b9f6938fab9d | 132 | ekf.updateQhat(gyro, att_dt); |
NaotoMorita | 68:b9f6938fab9d | 133 | ekf.updateErrState(gyro, att_dt); |
NaotoMorita | 68:b9f6938fab9d | 134 | ekf.updateStaticAccMeasures(acc,accref); |
NaotoMorita | 68:b9f6938fab9d | 135 | ekf.fuseErr2Qhat(); |
NaotoMorita | 68:b9f6938fab9d | 136 | ekf.updateMagMeasures(mag); |
NaotoMorita | 68:b9f6938fab9d | 137 | ekf.computeAngles(rpy, rpy_align); |
cocorlow | 56:888379912f81 | 138 | if(i>199) |
cocorlow | 56:888379912f81 | 139 | { |
cocorlow | 56:888379912f81 | 140 | ave_pitch += rpy.y; |
cocorlow | 56:888379912f81 | 141 | ave_roll += rpy.x; |
cocorlow | 56:888379912f81 | 142 | } |
cocorlow | 56:888379912f81 | 143 | wait(0.001); |
cocorlow | 56:888379912f81 | 144 | float tend = _t.read(); |
cocorlow | 56:888379912f81 | 145 | att_dt = (tend-tstart); |
cocorlow | 56:888379912f81 | 146 | } |
cocorlow | 56:888379912f81 | 147 | |
NaotoMorita | 65:ea184054e659 | 148 | pc.serial.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 | 149 | |
cocorlow | 56:888379912f81 | 150 | while(1) |
cocorlow | 56:888379912f81 | 151 | { |
cocorlow | 56:888379912f81 | 152 | wait(1000); |
cocorlow | 56:888379912f81 | 153 | } |
cocorlow | 56:888379912f81 | 154 | } |