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

main.cpp@44:f571273d3223, 2021-04-08 (annotated)

Committer:
NaotoMorita
Date:
Thu Apr 08 07:37:23 2021 +0000
Revision:
44:f571273d3223
Parent:
43:f0dd73430192
Child:
45:b439a135c24b
Child:
46:99ffb98e1257
flighttest3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
cocorlow 6:2cba569272fe 4 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 5 #include "MPU6050.h"
NaotoMorita 38:acc7cdcf56dd 6 #include "MAG3110.h"
NaotoMorita 38:acc7cdcf56dd 7 #include "I2Cdev.h"
NaotoMorita 36:e68ce293306e 8 #include "FastPWM.h"
NaotoMorita 36:e68ce293306e 9 #include "Matrix.h"
NaotoMorita 36:e68ce293306e 10 #include "MatrixMath.h"
NaotoMorita 38:acc7cdcf56dd 11 #include "math.h"
cocorlow 6:2cba569272fe 12
NaotoMorita 17:6b7a363d06d2 13 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 14 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 15 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 16 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 38:acc7cdcf56dd 17 #define ACCEL_SSF 4096.0
NaotoMorita 17:6b7a363d06d2 18 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 19 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 20 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 38:acc7cdcf56dd 21 #define gyro_th 20.0
NaotoMorita 38:acc7cdcf56dd 22 #define PID_dt 0.015
NaotoMorita 38:acc7cdcf56dd 23 #define servoPwmMax 1800.0
NaotoMorita 38:acc7cdcf56dd 24 #define servoPwmMin 1200.0
NaotoMorita 38:acc7cdcf56dd 25 #define motorPwmMax 2000.0
NaotoMorita 38:acc7cdcf56dd 26 #define motorPwmMin 1100.0
NaotoMorita 38:acc7cdcf56dd 27 #define pitch_align 8.0*3.141562/180.0
NaotoMorita 38:acc7cdcf56dd 28 #define roll_align -2.8*3.141562/180.0
NaotoMorita 27:43bd0e444633 29
NaotoMorita 17:6b7a363d06d2 30 MPU6050 accelgyro;
NaotoMorita 38:acc7cdcf56dd 31 MAG3110 mag(PB_9,PB_8);
NaotoMorita 0:6b18a09a6628 32 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 33 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 34 Serial sd(PG_14,PG_9);
NaotoMorita 38:acc7cdcf56dd 35 DigitalIn userButton(USER_BUTTON);
NaotoMorita 36:e68ce293306e 36 FastPWM servoRight(PE_9);
NaotoMorita 36:e68ce293306e 37 FastPWM servoLeft(PE_11);
NaotoMorita 38:acc7cdcf56dd 38 FastPWM servoThrust(PE_13);
NaotoMorita 36:e68ce293306e 39 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 38:acc7cdcf56dd 40 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 36:e68ce293306e 41 PID rollPID(5.0,0.0,0.0,PID_dt);
NaotoMorita 38:acc7cdcf56dd 42 PID rollratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 43 Timer t;
cocorlow 3:79e62f9b13c8 44
NaotoMorita 36:e68ce293306e 45 Matrix qhat(4,1);
NaotoMorita 44:f571273d3223 46 Matrix qhat_gyro(4,1);
NaotoMorita 36:e68ce293306e 47 Matrix Phat(4,4);
NaotoMorita 37:dad55cf05e3d 48 Matrix Qgyro(3,3);
NaotoMorita 36:e68ce293306e 49 Matrix Racc(3,3);
NaotoMorita 38:acc7cdcf56dd 50 Matrix Rmag(3,3);
NaotoMorita 38:acc7cdcf56dd 51 Matrix D(3,3);
NaotoMorita 36:e68ce293306e 52
NaotoMorita 38:acc7cdcf56dd 53 int loop_count = 0;
NaotoMorita 40:869f3791a3e2 54 int obs_count = 0;
NaotoMorita 36:e68ce293306e 55 float att_dt = 0.01;
naker 23:4a490fa8bf4a 56 float rc[16];
NaotoMorita 38:acc7cdcf56dd 57 float pitch = 0.0;
NaotoMorita 38:acc7cdcf56dd 58 float roll = 0.0;
NaotoMorita 38:acc7cdcf56dd 59 float yaw = 0.0;
NaotoMorita 44:f571273d3223 60
NaotoMorita 44:f571273d3223 61 float pitch_g = 0.0;
NaotoMorita 44:f571273d3223 62 float roll_g = 0.0;
NaotoMorita 44:f571273d3223 63 float yaw_g = 0.0;
NaotoMorita 44:f571273d3223 64
NaotoMorita 17:6b7a363d06d2 65 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 66 int16_t gx, gy, gz;
NaotoMorita 38:acc7cdcf56dd 67 MotionSensorDataUnits mdata;
NaotoMorita 38:acc7cdcf56dd 68 float magval[3] = {1.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 69 float acc_x,acc_y,acc_z;
NaotoMorita 38:acc7cdcf56dd 70 float dynacc_x,dynacc_y,dynacc_z;
NaotoMorita 38:acc7cdcf56dd 71 float gyro_x,gyro_y,gyro_z;
NaotoMorita 38:acc7cdcf56dd 72 float mag_x,mag_y,mag_z;
NaotoMorita 40:869f3791a3e2 73
NaotoMorita 40:869f3791a3e2 74 float LPacc_x=0.0;
NaotoMorita 40:869f3791a3e2 75 float LPacc_y=0.0;
NaotoMorita 40:869f3791a3e2 76 float LPacc_z=0.0;
NaotoMorita 40:869f3791a3e2 77 float LPmag_x = 0.0;
NaotoMorita 40:869f3791a3e2 78 float LPmag_y = 0.0;
NaotoMorita 40:869f3791a3e2 79 float LPmag_z = 0.0;;
NaotoMorita 40:869f3791a3e2 80
cocorlow 3:79e62f9b13c8 81 int out1, out2;
NaotoMorita 36:e68ce293306e 82 float scaledServoOut[3]= {0,0};
NaotoMorita 28:fc6c46c1db65 83 float scaledMotorOut[1]= {-1};
NaotoMorita 36:e68ce293306e 84 float servoOut[3] = {1500.0,1500.0};
NaotoMorita 36:e68ce293306e 85 float motorOut[1] = {1100.0};
NaotoMorita 38:acc7cdcf56dd 86
NaotoMorita 38:acc7cdcf56dd 87 float accnorm;
NaotoMorita 38:acc7cdcf56dd 88 float magnorm;
NaotoMorita 40:869f3791a3e2 89 float LPaccnorm;
NaotoMorita 40:869f3791a3e2 90 float LPmagnorm;
NaotoMorita 38:acc7cdcf56dd 91 float accrefnorm;
NaotoMorita 38:acc7cdcf56dd 92 float magrefnorm;
NaotoMorita 38:acc7cdcf56dd 93
NaotoMorita 40:869f3791a3e2 94
NaotoMorita 38:acc7cdcf56dd 95 float val_thmg = 0.0;
NaotoMorita 40:869f3791a3e2 96 float th_mg = 0.0;
NaotoMorita 40:869f3791a3e2 97 float dynaccnorm = 0.0;
NaotoMorita 40:869f3791a3e2 98 float accnormerr = 0.0;
NaotoMorita 38:acc7cdcf56dd 99 float accref[3] = {0, 0, -0.98};
NaotoMorita 38:acc7cdcf56dd 100 float magref[3] = {0.65, 0, 0.75};
NaotoMorita 38:acc7cdcf56dd 101
NaotoMorita 44:f571273d3223 102 int agoffset[6] = {0, 0, 0, -117, -563, 2 };
NaotoMorita 44:f571273d3223 103 float magbias[4] = {-140.868240, 121.863251, -162.735092, 37.112610};
cocorlow 3:79e62f9b13c8 104
NaotoMorita 38:acc7cdcf56dd 105 void writeSdcard()
NaotoMorita 38:acc7cdcf56dd 106 {
NaotoMorita 38:acc7cdcf56dd 107 //magcal.getExtremes(&magmin[0],&magmax[0]);
NaotoMorita 38:acc7cdcf56dd 108 //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]);
NaotoMorita 38:acc7cdcf56dd 109 //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]);
NaotoMorita 44:f571273d3223 110 sd.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 111 //pc.printf("%f %f %f %f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 112 //pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 113 //pc.printf("%d \r\n",userButton.read());
NaotoMorita 38:acc7cdcf56dd 114 //pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 115 //pc.printf("%f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 116 //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 44:f571273d3223 117 //pc.printf("%f %f %f : %f %f %f\r\n",magref[0],magref[1],magref[2],mag_x,mag_y,mag_z);
NaotoMorita 38:acc7cdcf56dd 118 //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z);
NaotoMorita 38:acc7cdcf56dd 119 }
NaotoMorita 27:43bd0e444633 120
NaotoMorita 35:4535af88f7bf 121 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 122 {
cocorlow 7:70161eb0f854 123 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 124 }
NaotoMorita 27:43bd0e444633 125
NaotoMorita 38:acc7cdcf56dd 126 void calcMagRef(float mx, float my, float mz){
NaotoMorita 44:f571273d3223 127
NaotoMorita 44:f571273d3223 128 Matrix magvec(3,1);
NaotoMorita 44:f571273d3223 129 magvec << mx << my << mz;
NaotoMorita 44:f571273d3223 130 Matrix magnedvec = MatrixMath::Transpose(D)*magvec;
NaotoMorita 44:f571273d3223 131 magref[0] = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 38:acc7cdcf56dd 132 magref[1] = 0.0;
NaotoMorita 44:f571273d3223 133 magref[2] = magnedvec(3,1);
NaotoMorita 38:acc7cdcf56dd 134 }
NaotoMorita 38:acc7cdcf56dd 135
NaotoMorita 38:acc7cdcf56dd 136
NaotoMorita 38:acc7cdcf56dd 137 void getIMUval(){
NaotoMorita 38:acc7cdcf56dd 138 // gx gy gz ax ay az
NaotoMorita 38:acc7cdcf56dd 139 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 140 ax = ax - agoffset[0];
NaotoMorita 38:acc7cdcf56dd 141 ay = ay - agoffset[1];
NaotoMorita 38:acc7cdcf56dd 142 az = -az - agoffset[2];
NaotoMorita 38:acc7cdcf56dd 143 gx = gx - agoffset[3];
NaotoMorita 38:acc7cdcf56dd 144 gy = gy - agoffset[4];
NaotoMorita 38:acc7cdcf56dd 145 gz = -gz - agoffset[5];
NaotoMorita 38:acc7cdcf56dd 146 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 38:acc7cdcf56dd 147 acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 38:acc7cdcf56dd 148 acc_y = float(ay) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 149 acc_z = float(az) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 150 // 角速度値を分解能で割って角速度(rad per sec)に変換する
NaotoMorita 38:acc7cdcf56dd 151 gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
NaotoMorita 38:acc7cdcf56dd 152 gyro_y = float(gy) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 153 gyro_z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 154 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 155 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 156 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 157 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 158 mag_x = -magval[0]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 159 mag_y = -magval[1]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 160 mag_z = -magval[2]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 161
NaotoMorita 40:869f3791a3e2 162 float lpc_acc = 0.15;
NaotoMorita 40:869f3791a3e2 163 LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x;
NaotoMorita 40:869f3791a3e2 164 LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y;
NaotoMorita 40:869f3791a3e2 165 LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z;
NaotoMorita 40:869f3791a3e2 166
NaotoMorita 40:869f3791a3e2 167 float lpc_mag = 0.15;
NaotoMorita 40:869f3791a3e2 168 LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x;
NaotoMorita 40:869f3791a3e2 169 LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y;
NaotoMorita 40:869f3791a3e2 170 LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z;
NaotoMorita 40:869f3791a3e2 171
NaotoMorita 38:acc7cdcf56dd 172 accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z);
NaotoMorita 38:acc7cdcf56dd 173 magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z);
NaotoMorita 40:869f3791a3e2 174 LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z);
NaotoMorita 40:869f3791a3e2 175 LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z);
NaotoMorita 38:acc7cdcf56dd 176 accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]);
NaotoMorita 38:acc7cdcf56dd 177 magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]);
NaotoMorita 40:869f3791a3e2 178 calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm);
NaotoMorita 40:869f3791a3e2 179
NaotoMorita 40:869f3791a3e2 180
NaotoMorita 38:acc7cdcf56dd 181 }
NaotoMorita 38:acc7cdcf56dd 182
NaotoMorita 38:acc7cdcf56dd 183 void updateBetweenMeasures(){
NaotoMorita 40:869f3791a3e2 184 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 185 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 186 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 187 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 188
NaotoMorita 40:869f3791a3e2 189 Matrix B(4,3);
NaotoMorita 40:869f3791a3e2 190 B << q1 << q2 << q3
NaotoMorita 40:869f3791a3e2 191 <<-q0 << q3 <<-q2
NaotoMorita 40:869f3791a3e2 192 <<-q3 <<-q0 << q1
NaotoMorita 40:869f3791a3e2 193 << q2 <<-q1 <<-q0;
NaotoMorita 40:869f3791a3e2 194 B *= 0.5f;
NaotoMorita 40:869f3791a3e2 195
NaotoMorita 38:acc7cdcf56dd 196 Matrix phi(4,4);
NaotoMorita 38:acc7cdcf56dd 197 phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 198 << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 199 << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 200 << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0;
NaotoMorita 44:f571273d3223 201
NaotoMorita 38:acc7cdcf56dd 202 qhat = phi*qhat;
NaotoMorita 38:acc7cdcf56dd 203 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 204 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 205
NaotoMorita 44:f571273d3223 206 qhat_gyro = phi*qhat_gyro;
NaotoMorita 44:f571273d3223 207 qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat_gyro),qhat_gyro));
NaotoMorita 44:f571273d3223 208 qhat_gyro *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 209
NaotoMorita 38:acc7cdcf56dd 210 Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B);
NaotoMorita 38:acc7cdcf56dd 211
NaotoMorita 40:869f3791a3e2 212 q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 213 q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 214 q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 215 q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 216
NaotoMorita 40:869f3791a3e2 217 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 218 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 40:869f3791a3e2 219 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 40:869f3791a3e2 220 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 40:869f3791a3e2 221 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 222 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 40:869f3791a3e2 223 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 40:869f3791a3e2 224 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 40:869f3791a3e2 225 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 38:acc7cdcf56dd 226
NaotoMorita 38:acc7cdcf56dd 227 }
NaotoMorita 38:acc7cdcf56dd 228
NaotoMorita 38:acc7cdcf56dd 229 void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){
NaotoMorita 38:acc7cdcf56dd 230
NaotoMorita 38:acc7cdcf56dd 231 Matrix u(3,1);
NaotoMorita 38:acc7cdcf56dd 232 Matrix v(3,1);
NaotoMorita 38:acc7cdcf56dd 233
NaotoMorita 38:acc7cdcf56dd 234 u << u1 << u2 <<u3;
NaotoMorita 38:acc7cdcf56dd 235 v << v1 << v2 <<v3;
NaotoMorita 38:acc7cdcf56dd 236
NaotoMorita 38:acc7cdcf56dd 237 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 238 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 239 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 240 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 241
NaotoMorita 38:acc7cdcf56dd 242 Matrix A1(3,3);
NaotoMorita 38:acc7cdcf56dd 243 A1 << q0 << q3 << -q2
NaotoMorita 38:acc7cdcf56dd 244 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 245 <<q2 <<-q1 <<q0;
NaotoMorita 38:acc7cdcf56dd 246 A1 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 247
NaotoMorita 38:acc7cdcf56dd 248 Matrix A2(3,3);
NaotoMorita 38:acc7cdcf56dd 249 A2 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 250 << q2 <<-q1 << q0
NaotoMorita 38:acc7cdcf56dd 251 << q3 <<-q0 <<-q1;
NaotoMorita 38:acc7cdcf56dd 252 A2 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 253
NaotoMorita 38:acc7cdcf56dd 254 Matrix A3(3,3);
NaotoMorita 38:acc7cdcf56dd 255 A3 <<-q2 << q1 <<-q0
NaotoMorita 38:acc7cdcf56dd 256 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 257 << q0 << q3 <<-q2;
NaotoMorita 38:acc7cdcf56dd 258 A3 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 259
NaotoMorita 38:acc7cdcf56dd 260 Matrix A4(3,3);
NaotoMorita 38:acc7cdcf56dd 261 A4 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 262 <<-q0 <<-q3 << q2
NaotoMorita 38:acc7cdcf56dd 263 << q1 << q2 << q3;
NaotoMorita 38:acc7cdcf56dd 264 A4 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 265
NaotoMorita 38:acc7cdcf56dd 266 Matrix H(3,4);
NaotoMorita 38:acc7cdcf56dd 267
NaotoMorita 38:acc7cdcf56dd 268 Matrix ab1(A1*u);
NaotoMorita 38:acc7cdcf56dd 269 Matrix ab2(A2*u);
NaotoMorita 38:acc7cdcf56dd 270 Matrix ab3(A3*u);
NaotoMorita 38:acc7cdcf56dd 271 Matrix ab4(A4*u);
NaotoMorita 38:acc7cdcf56dd 272
NaotoMorita 38:acc7cdcf56dd 273 H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 274 << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 275 << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 276
NaotoMorita 38:acc7cdcf56dd 277
NaotoMorita 38:acc7cdcf56dd 278 Matrix K(4,3);
NaotoMorita 38:acc7cdcf56dd 279 K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 38:acc7cdcf56dd 280
NaotoMorita 38:acc7cdcf56dd 281 Matrix dq(4,1);
NaotoMorita 38:acc7cdcf56dd 282 dq = K*(v-D*u);
NaotoMorita 38:acc7cdcf56dd 283 qhat = qhat+dq;
NaotoMorita 38:acc7cdcf56dd 284
NaotoMorita 38:acc7cdcf56dd 285 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 286 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 287
NaotoMorita 38:acc7cdcf56dd 288 Matrix eye4(4,4);
NaotoMorita 38:acc7cdcf56dd 289 eye4 << 1 << 0 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 290 << 0 << 1 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 291 << 0 << 0 << 1 << 0
NaotoMorita 38:acc7cdcf56dd 292 << 0 << 0 << 0 << 1;
NaotoMorita 38:acc7cdcf56dd 293 Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 38:acc7cdcf56dd 294 }
NaotoMorita 38:acc7cdcf56dd 295
NaotoMorita 38:acc7cdcf56dd 296 void computeAngles()
naker 20:2c3f113a8e8f 297 {
NaotoMorita 38:acc7cdcf56dd 298 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 299 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 300 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 301 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 302 roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 38:acc7cdcf56dd 303 pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 38:acc7cdcf56dd 304 yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 305
NaotoMorita 44:f571273d3223 306 q0 = qhat_gyro.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 307 q1 = qhat_gyro.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 308 q2 = qhat_gyro.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 309 q3 = qhat_gyro.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 310 roll_g = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 44:f571273d3223 311 pitch_g = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 44:f571273d3223 312 yaw_g = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 313
NaotoMorita 38:acc7cdcf56dd 314 }
NaotoMorita 38:acc7cdcf56dd 315
NaotoMorita 38:acc7cdcf56dd 316 void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){
NaotoMorita 38:acc7cdcf56dd 317 Matrix W1(3,1);
NaotoMorita 38:acc7cdcf56dd 318 W1 << fb1 << fb2<< fb3;
NaotoMorita 38:acc7cdcf56dd 319 Matrix W2(3,1);
NaotoMorita 38:acc7cdcf56dd 320 W2 << mb1 << mb2<< mb3;
NaotoMorita 38:acc7cdcf56dd 321
NaotoMorita 38:acc7cdcf56dd 322 Matrix V1(3,1);
NaotoMorita 38:acc7cdcf56dd 323 V1 << fn1 << fn2<< fn3;
NaotoMorita 38:acc7cdcf56dd 324 Matrix V2(3,1);
NaotoMorita 38:acc7cdcf56dd 325 V2 << mn1 << mn2<< mn3;
NaotoMorita 38:acc7cdcf56dd 326
NaotoMorita 38:acc7cdcf56dd 327
NaotoMorita 38:acc7cdcf56dd 328 Matrix Ou2(3,1);
NaotoMorita 38:acc7cdcf56dd 329 Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 330 Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 38:acc7cdcf56dd 331 Matrix Ou3(3,1);
NaotoMorita 38:acc7cdcf56dd 332 Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 333 Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 38:acc7cdcf56dd 334 Matrix R2(3,1);
NaotoMorita 38:acc7cdcf56dd 335 R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 336 R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 38:acc7cdcf56dd 337 Matrix R3(3,1);
NaotoMorita 38:acc7cdcf56dd 338 R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 339 R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 38:acc7cdcf56dd 340
NaotoMorita 38:acc7cdcf56dd 341 Matrix Mou(3,3);
NaotoMorita 38:acc7cdcf56dd 342 Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 343 << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 344 << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 345 Matrix Mr(3,3);
NaotoMorita 38:acc7cdcf56dd 346 Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 347 << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 348 << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 349
NaotoMorita 38:acc7cdcf56dd 350 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 38:acc7cdcf56dd 351
NaotoMorita 38:acc7cdcf56dd 352 float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 ));
NaotoMorita 38:acc7cdcf56dd 353
NaotoMorita 38:acc7cdcf56dd 354 qhat.add(1,1,0.5*sqtrp1);
NaotoMorita 38:acc7cdcf56dd 355 qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 356 qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 357 qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 358
NaotoMorita 38:acc7cdcf56dd 359 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 360 qhat *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 361
NaotoMorita 44:f571273d3223 362 qhat_gyro = qhat;
NaotoMorita 44:f571273d3223 363
NaotoMorita 44:f571273d3223 364 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 365 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 366 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 367 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 368
NaotoMorita 44:f571273d3223 369 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 370 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 44:f571273d3223 371 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 44:f571273d3223 372 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 44:f571273d3223 373 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 374 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 44:f571273d3223 375 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 44:f571273d3223 376 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 44:f571273d3223 377 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 44:f571273d3223 378
NaotoMorita 38:acc7cdcf56dd 379 }
NaotoMorita 38:acc7cdcf56dd 380
NaotoMorita 38:acc7cdcf56dd 381 void calcDynAcc(){
NaotoMorita 40:869f3791a3e2 382 dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 383 dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 384 dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 385 }
NaotoMorita 38:acc7cdcf56dd 386
NaotoMorita 38:acc7cdcf56dd 387 void execCalibration(){
NaotoMorita 38:acc7cdcf56dd 388 pc.printf("\r\nEnter to Calibration Mode\r\n");
NaotoMorita 38:acc7cdcf56dd 389 wait(5);
NaotoMorita 38:acc7cdcf56dd 390 pc.printf("\r\n Acc and Gyro Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 391 int axs = 0;
NaotoMorita 38:acc7cdcf56dd 392 int ays = 0;
NaotoMorita 38:acc7cdcf56dd 393 int azs = 0;
NaotoMorita 38:acc7cdcf56dd 394 int gxs = 0;
NaotoMorita 38:acc7cdcf56dd 395 int gys = 0;
NaotoMorita 38:acc7cdcf56dd 396 int gzs = 0;
NaotoMorita 38:acc7cdcf56dd 397 int iter_n = 5000;
NaotoMorita 38:acc7cdcf56dd 398 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 399 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 400 axs += ax;
NaotoMorita 38:acc7cdcf56dd 401 ays += ay;
NaotoMorita 38:acc7cdcf56dd 402 azs -= az;
NaotoMorita 38:acc7cdcf56dd 403 gxs += gx;
NaotoMorita 38:acc7cdcf56dd 404 gys += gy;
NaotoMorita 38:acc7cdcf56dd 405 gzs -= gz;
NaotoMorita 38:acc7cdcf56dd 406 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 407 }
NaotoMorita 38:acc7cdcf56dd 408 axs = axs /iter_n;
NaotoMorita 38:acc7cdcf56dd 409 ays = ays /iter_n;
NaotoMorita 38:acc7cdcf56dd 410 azs = azs /iter_n;
NaotoMorita 38:acc7cdcf56dd 411 gxs = gxs /iter_n;
NaotoMorita 38:acc7cdcf56dd 412 gys = gys /iter_n;
NaotoMorita 38:acc7cdcf56dd 413 gzs = gzs /iter_n;
NaotoMorita 38:acc7cdcf56dd 414 pc.printf("\r\nagoffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 38:acc7cdcf56dd 415
NaotoMorita 38:acc7cdcf56dd 416 pc.printf("\r\n Mag Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 417 float f = 0;
NaotoMorita 38:acc7cdcf56dd 418 while(1){
NaotoMorita 38:acc7cdcf56dd 419 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 420 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 421 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 422 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 423 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
NaotoMorita 38:acc7cdcf56dd 424 float lr = 0.00001f;
NaotoMorita 38:acc7cdcf56dd 425 f = mag_r - magbias[3]*magbias[3];
NaotoMorita 38:acc7cdcf56dd 426 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
NaotoMorita 38:acc7cdcf56dd 427 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
NaotoMorita 38:acc7cdcf56dd 428 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
NaotoMorita 38:acc7cdcf56dd 429 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
NaotoMorita 38:acc7cdcf56dd 430
NaotoMorita 38:acc7cdcf56dd 431 if(userButton.read() == 1){
NaotoMorita 38:acc7cdcf56dd 432 break;
NaotoMorita 38:acc7cdcf56dd 433 }
NaotoMorita 38:acc7cdcf56dd 434 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 435 }
NaotoMorita 38:acc7cdcf56dd 436 pc.printf("magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]);
NaotoMorita 38:acc7cdcf56dd 437 pc.printf("\r\n Refvec Calibration waiting\r\n");
NaotoMorita 38:acc7cdcf56dd 438 wait(5);
NaotoMorita 38:acc7cdcf56dd 439 pc.printf("\r\n Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 440 float arefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 441 float mrefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 442 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 443 getIMUval();
NaotoMorita 38:acc7cdcf56dd 444 arefs[0] += acc_x;
NaotoMorita 38:acc7cdcf56dd 445 arefs[1] += acc_y;
NaotoMorita 38:acc7cdcf56dd 446 arefs[2] += acc_z;
NaotoMorita 38:acc7cdcf56dd 447 mrefs[0] += mag_x;
NaotoMorita 38:acc7cdcf56dd 448 mrefs[1] += mag_y;
NaotoMorita 38:acc7cdcf56dd 449 mrefs[2] += mag_z;
NaotoMorita 38:acc7cdcf56dd 450 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 451 }
NaotoMorita 38:acc7cdcf56dd 452 arefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 453 arefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 454 arefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 455 mrefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 456 mrefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 457 mrefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 458 pc.printf("\r\naccreg : %f, %f, %f\r\n",arefs[0],arefs[1],arefs[2]);
NaotoMorita 38:acc7cdcf56dd 459 pc.printf("\r\nmagreg : %f, %f, %f\r\n",mrefs[0],mrefs[1],mrefs[2]);
NaotoMorita 38:acc7cdcf56dd 460 while(1) {wait(1000);}
naker 20:2c3f113a8e8f 461 }
NaotoMorita 27:43bd0e444633 462
naker 22:da9893b71f24 463 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 464 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 465 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 466 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 467 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 468 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 469 }
NaotoMorita 28:fc6c46c1db65 470 }
NaotoMorita 28:fc6c46c1db65 471
NaotoMorita 28:fc6c46c1db65 472 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 473 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 474 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 475 rollratePID.setProcessValue(gyro_x);
NaotoMorita 38:acc7cdcf56dd 476 float de = pitchPID.compute()+pitchratePID.compute()-rc[1]+rc[0];
NaotoMorita 36:e68ce293306e 477 float da = rollPID.compute()+rollratePID.compute()+rc[0]+rc[1];
NaotoMorita 28:fc6c46c1db65 478 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 479
NaotoMorita 28:fc6c46c1db65 480 scaledServoOut[0]=de+da;
NaotoMorita 36:e68ce293306e 481 scaledServoOut[1]=-de+da;
NaotoMorita 28:fc6c46c1db65 482 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 483
NaotoMorita 38:acc7cdcf56dd 484 float LP_servo = 0.2;
NaotoMorita 38:acc7cdcf56dd 485 float LP_motor = 0.2;
NaotoMorita 36:e68ce293306e 486 for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){
NaotoMorita 36:e68ce293306e 487 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
NaotoMorita 28:fc6c46c1db65 488 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 489 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 490 };
NaotoMorita 28:fc6c46c1db65 491 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 492 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 493 };
NaotoMorita 28:fc6c46c1db65 494 }
NaotoMorita 28:fc6c46c1db65 495
NaotoMorita 36:e68ce293306e 496 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 36:e68ce293306e 497 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 28:fc6c46c1db65 498 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 499 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 500 };
NaotoMorita 28:fc6c46c1db65 501 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 502 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 503 };
NaotoMorita 28:fc6c46c1db65 504 }
NaotoMorita 36:e68ce293306e 505 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 36:e68ce293306e 506 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 36:e68ce293306e 507 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 32:c4f06cb0e1d6 508
NaotoMorita 44:f571273d3223 509 //観測アップデート
NaotoMorita 44:f571273d3223 510 calcDynAcc();
NaotoMorita 44:f571273d3223 511 th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg);
NaotoMorita 44:f571273d3223 512 dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z);
NaotoMorita 44:f571273d3223 513 accnormerr = abs(LPaccnorm-accrefnorm);
NaotoMorita 44:f571273d3223 514 //静止時100個の平均　0.01877522 0.00514146 0.00477393
NaotoMorita 44:f571273d3223 515
NaotoMorita 44:f571273d3223 516 //int ang_th = th_mg < 0.01877522;
NaotoMorita 44:f571273d3223 517 //int dyn_th = dynaccnorm < 0.00514146;
NaotoMorita 44:f571273d3223 518 //int norm_th = accnormerr< 0.00477393;
NaotoMorita 44:f571273d3223 519 int ang_th = th_mg < 0.01877522/5.0;
NaotoMorita 44:f571273d3223 520 int dyn_th = dynaccnorm < 0.00514146/5.0;
NaotoMorita 44:f571273d3223 521 int norm_th = accnormerr< 0.00477393/5.0;
NaotoMorita 44:f571273d3223 522 if(dyn_th+ang_th+norm_th>0){
NaotoMorita 44:f571273d3223 523 //if(dyn_th+ang_th+norm_th>-1){
NaotoMorita 44:f571273d3223 524 obs_count += 1;
NaotoMorita 44:f571273d3223 525 updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 44:f571273d3223 526 updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 44:f571273d3223 527 }
NaotoMorita 44:f571273d3223 528
NaotoMorita 44:f571273d3223 529 if(loop_count >= 10){
NaotoMorita 31:8d02f3b9a067 530 writeSdcard();
NaotoMorita 36:e68ce293306e 531 loop_count = 1;
NaotoMorita 40:869f3791a3e2 532 obs_count = 0;
NaotoMorita 27:43bd0e444633 533 }else{
NaotoMorita 27:43bd0e444633 534 loop_count +=1;
naker 26:62d9857eaecc 535 }
NaotoMorita 44:f571273d3223 536
NaotoMorita 44:f571273d3223 537
naker 22:da9893b71f24 538 }
cocorlow 7:70161eb0f854 539
NaotoMorita 27:43bd0e444633 540 int main()
NaotoMorita 36:e68ce293306e 541 {
NaotoMorita 28:fc6c46c1db65 542 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 543 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 544 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 545 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 546 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 547 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 548 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 549 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 550 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 551 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 552 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 553 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 554 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 555 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 556 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 557 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 558
NaotoMorita 36:e68ce293306e 559 servoRight.period_us(15000.0);
NaotoMorita 36:e68ce293306e 560 servoLeft.period_us(15000.0);
NaotoMorita 36:e68ce293306e 561 servoThrust.period_us(15000.0);
NaotoMorita 36:e68ce293306e 562 servoRight.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 563 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 564 servoThrust.pulsewidth_us(1100.0);
NaotoMorita 36:e68ce293306e 565
NaotoMorita 38:acc7cdcf56dd 566 pc.baud(57600);
NaotoMorita 38:acc7cdcf56dd 567 sd.baud(57600);
NaotoMorita 38:acc7cdcf56dd 568 sd.printf("\r\n Program Start \r\n");
NaotoMorita 36:e68ce293306e 569 accelgyro.initialize();
NaotoMorita 36:e68ce293306e 570 //加速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 571 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 38:acc7cdcf56dd 572 //角速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 573 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 36:e68ce293306e 574 //MPU6050のLPFを設定
NaotoMorita 36:e68ce293306e 575 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 38:acc7cdcf56dd 576 //地磁気
NaotoMorita 38:acc7cdcf56dd 577 mag.enable();
NaotoMorita 38:acc7cdcf56dd 578
NaotoMorita 38:acc7cdcf56dd 579 if(userButton.read() == 0){
NaotoMorita 38:acc7cdcf56dd 580 qhat << 1 << 0 << 0 << 0;
NaotoMorita 44:f571273d3223 581
NaotoMorita 44:f571273d3223 582 D.add(1,1,1.0);
NaotoMorita 44:f571273d3223 583 D.add(2,2,1.0);
NaotoMorita 44:f571273d3223 584 D.add(3,3,1.0);
NaotoMorita 38:acc7cdcf56dd 585
NaotoMorita 38:acc7cdcf56dd 586 Phat << 0.01 << 0 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 587 << 0 << 0.01 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 588 << 0 << 0 <<0.001 <<0
NaotoMorita 38:acc7cdcf56dd 589 << 0 << 0 << 0 << 0.001;
NaotoMorita 38:acc7cdcf56dd 590
NaotoMorita 44:f571273d3223 591 Qgyro << 0.0224<< 0 <<0
NaotoMorita 44:f571273d3223 592 << 0 <<0.0224<<0
NaotoMorita 44:f571273d3223 593 << 0 << 0 <<0.0224;
naker 22:da9893b71f24 594
NaotoMorita 44:f571273d3223 595 Racc.add(1,1,0.0330*100);
NaotoMorita 44:f571273d3223 596 Racc.add(2,2,0.0330*100);
NaotoMorita 44:f571273d3223 597 Racc.add(3,3,0.0330*100);
NaotoMorita 44:f571273d3223 598
NaotoMorita 44:f571273d3223 599 Rmag.add(1,1,1.0);
NaotoMorita 44:f571273d3223 600 Rmag.add(2,2,1.0);
NaotoMorita 44:f571273d3223 601 Rmag.add(3,3,1.0);
NaotoMorita 44:f571273d3223 602
NaotoMorita 38:acc7cdcf56dd 603 getIMUval();
NaotoMorita 38:acc7cdcf56dd 604 triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
NaotoMorita 43:f0dd73430192 605 float sumLPaccnorm = 0;
NaotoMorita 38:acc7cdcf56dd 606 for(int i = 0; i<1000 ;i++){
NaotoMorita 38:acc7cdcf56dd 607 getIMUval();
NaotoMorita 38:acc7cdcf56dd 608 val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 43:f0dd73430192 609 sumLPaccnorm += LPaccnorm;
NaotoMorita 38:acc7cdcf56dd 610 }
NaotoMorita 43:f0dd73430192 611 accref[2]=-sumLPaccnorm/1000;
NaotoMorita 38:acc7cdcf56dd 612 val_thmg /= 1000;
NaotoMorita 38:acc7cdcf56dd 613 LoopTicker PIDtick;
NaotoMorita 38:acc7cdcf56dd 614 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 38:acc7cdcf56dd 615
NaotoMorita 38:acc7cdcf56dd 616 t.start();
NaotoMorita 28:fc6c46c1db65 617
NaotoMorita 38:acc7cdcf56dd 618 while(1) {
NaotoMorita 38:acc7cdcf56dd 619 float tstart = t.read();
NaotoMorita 38:acc7cdcf56dd 620 //姿勢角を更新
NaotoMorita 38:acc7cdcf56dd 621 getIMUval();
NaotoMorita 38:acc7cdcf56dd 622 updateBetweenMeasures();
NaotoMorita 38:acc7cdcf56dd 623 computeAngles();
NaotoMorita 38:acc7cdcf56dd 624 PIDtick.loop();
NaotoMorita 38:acc7cdcf56dd 625
NaotoMorita 38:acc7cdcf56dd 626 float tend = t.read();
NaotoMorita 38:acc7cdcf56dd 627 att_dt = (tend-tstart);
NaotoMorita 38:acc7cdcf56dd 628 }
NaotoMorita 38:acc7cdcf56dd 629 }else{
NaotoMorita 38:acc7cdcf56dd 630 execCalibration();
naker 20:2c3f113a8e8f 631 }
NaotoMorita 0:6b18a09a6628 632 }