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

global.cpp@74:f67062e7813e, 2021-07-20 (annotated)

Committer:
NaotoMorita
Date:
Tue Jul 20 05:52:29 2021 +0000
Revision:
74:f67062e7813e
Parent:
73:84ffa0166e6c
Child:
75:a505b9896da1
errStateEKF bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
NaotoMorita 67:41fcdfb7cc5a 3
cocorlow 56:888379912f81 4 // var
cocorlow 56:888379912f81 5
cocorlow 56:888379912f81 6 // communication
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 67:41fcdfb7cc5a 8 UsaPack pc(USBTX, USBRX, 57600); // log - tail
cocorlow 56:888379912f81 9
cocorlow 56:888379912f81 10 // sensor
cocorlow 56:888379912f81 11 MPU6050 accelgyro;
cocorlow 56:888379912f81 12 MAG3110 mag_sensor(PB_9,PB_8);
NaotoMorita 61:c05353850017 13 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 14
cocorlow 56:888379912f81 15 // io
cocorlow 56:888379912f81 16 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 17 SBUS sbus(PD_5, PD_6);
NaotoMorita 73:84ffa0166e6c 18 Joystick joystick(PC_3,PF_3,PF_5);
NaotoMorita 70:99f974d8960e 19
cocorlow 56:888379912f81 20 // control
NaotoMorita 70:99f974d8960e 21 FastPWM servoRight(PE_9);
NaotoMorita 70:99f974d8960e 22 FastPWM servoLeft(PE_11);
NaotoMorita 70:99f974d8960e 23 FastPWM servoThrust(PE_13);
NaotoMorita 74:f67062e7813e 24 PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
NaotoMorita 74:f67062e7813e 25 PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
NaotoMorita 74:f67062e7813e 26 PID rollPID(5.0f,0.0f,0.0f,PID_dt);
NaotoMorita 74:f67062e7813e 27 PID rollratePID(0.5f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 67:41fcdfb7cc5a 28 errStateEKF ekf; // EKF class
cocorlow 56:888379912f81 29
NaotoMorita 70:99f974d8960e 30 float rc[16];
cocorlow 56:888379912f81 31 int loop_count = 0;
cocorlow 56:888379912f81 32 float att_dt = 0.01f;
cocorlow 56:888379912f81 33 int16_t ax, ay, az;
cocorlow 56:888379912f81 34 int16_t gx, gy, gz;
cocorlow 56:888379912f81 35 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 36 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 37
cocorlow 56:888379912f81 38 // position
cocorlow 56:888379912f81 39 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 40 Vector3 acc;
NaotoMorita 68:b9f6938fab9d 41 Vector3 accref(0.0f, 0.0f, 0.98f);
NaotoMorita 68:b9f6938fab9d 42 Vector3 dynacc;
cocorlow 56:888379912f81 43 Vector3 mag;
cocorlow 56:888379912f81 44 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 45 Vector3 gyro;
NaotoMorita 73:84ffa0166e6c 46 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 47 float da = 0.0f;
NaotoMorita 73:84ffa0166e6c 48 float dT = 0.0f;
NaotoMorita 70:99f974d8960e 49 MedianFilter accMedian(3);
NaotoMorita 70:99f974d8960e 50 MedianFilter gyroMedian(3);
NaotoMorita 70:99f974d8960e 51 MedianFilter magMedian(3);
NaotoMorita 72:267e2cfddb0b 52
NaotoMorita 70:99f974d8960e 53 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 54 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 55 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 56 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 57
cocorlow 56:888379912f81 58 int calibrationFlag = 0;
NaotoMorita 73:84ffa0166e6c 59 int agoffset[6] = {0, 0, 0, -616, -108, 60};
NaotoMorita 70:99f974d8960e 60 float magbiasMin[3] = {-177.574768, 90.129456, -199.611603};
NaotoMorita 70:99f974d8960e 61 float magbiasMax[3] = {-108.064606, 160.956711, -125.601234};
NaotoMorita 70:99f974d8960e 62 float accMin[3] = {-0.958801, -1.016878, -1.054199};
NaotoMorita 70:99f974d8960e 63 float accMax[3] = { 1.050249, 0.965697, 0.946194};
cocorlow 56:888379912f81 64
NaotoMorita 73:84ffa0166e6c 65 Vector3 rpy_align(8.798061f*M_PI/180.0f, 0.953862f*M_PI/180.0f, 0.0f*M_PI/180.0f);
cocorlow 56:888379912f81 66
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 // UsaPack
NaotoMorita 73:84ffa0166e6c 69 valuePack vp;
NaotoMorita 73:84ffa0166e6c 70
NaotoMorita 73:84ffa0166e6c 71 // HIL
NaotoMorita 74:f67062e7813e 72 bool hilFlag = false;
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 75 {
cocorlow 56:888379912f81 76 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 77 }