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

run.cpp@103:fec71c2051c5, 2021-11-10 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 10 05:22:31 2021 +0000
Revision:
103:fec71c2051c5
Parent:
102:1c77ff6e2a85
Child:
104:20b8caa29185
imu update

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 run()
cocorlow 56:888379912f81 4 {
NaotoMorita 68:b9f6938fab9d 5 wait(0.5);
NaotoMorita 77:2bf856e3eca4 6
osaka 87:89bbbcdb667b 7 //センサの初期化・ジャイロバイアス・加速度スケールの取得
NaotoMorita 77:2bf856e3eca4 8 if(hilFlag == false){
NaotoMorita 90:96c2b0ed4b96 9 eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z);
NaotoMorita 77:2bf856e3eca4 10 }
NaotoMorita 99:98b892ca70ec 11
NaotoMorita 93:b827f78a717a 12 int n_init = 1000;
NaotoMorita 93:b827f78a717a 13 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 14 lsm.readAccel();
NaotoMorita 93:b827f78a717a 15 lsm.readMag();
NaotoMorita 93:b827f78a717a 16 lsm.readGyro();
NaotoMorita 93:b827f78a717a 17 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 18 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 19 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 20 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 21 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 22 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 99:98b892ca70ec 23 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 103:fec71c2051c5 24 magref.x += lsm.mx;
NaotoMorita 103:fec71c2051c5 25 magref.y += lsm.my;
NaotoMorita 103:fec71c2051c5 26 magref.z += lsm.mz;
NaotoMorita 93:b827f78a717a 27 }
NaotoMorita 93:b827f78a717a 28 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 29 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 30 }
NaotoMorita 103:fec71c2051c5 31 magref.x /= float(n_init);
NaotoMorita 103:fec71c2051c5 32 magref.y /= float(n_init);
NaotoMorita 103:fec71c2051c5 33 magref.z /= float(n_init);
NaotoMorita 103:fec71c2051c5 34 if(hilFlag == false){
NaotoMorita 103:fec71c2051c5 35 eskf.setMagField(magref.x,magref.y,-magref.z);
NaotoMorita 103:fec71c2051c5 36 }else{
NaotoMorita 103:fec71c2051c5 37 eskf.setMagField(magref.x,magref.y,magref.z);
NaotoMorita 102:1c77ff6e2a85 38 }
NaotoMorita 99:98b892ca70ec 39 gps.Update();
NaotoMorita 99:98b892ca70ec 40 gps.CalculateUnit();
NaotoMorita 98:bdaa6bbfb1d9 41 palt0 /= float(n_init);
NaotoMorita 93:b827f78a717a 42 twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]);
osaka 87:89bbbcdb667b 43 //センサ正常性チェック
osaka 87:89bbbcdb667b 44 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 45 pc.Subscribe(0000, &(vp));
NaotoMorita 77:2bf856e3eca4 46
osaka 87:89bbbcdb667b 47 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 48 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 49 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 50
NaotoMorita 99:98b892ca70ec 51 //ESKFの共分散設定
NaotoMorita 93:b827f78a717a 52 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 53 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 54 eskf.setPhatVelocity(0.1f);
NaotoMorita 100:7589b663d462 55 eskf.setPhatAngleError(0.1f);
NaotoMorita 94:579e875a4244 56 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 57 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 58 eskf.setPhatGravity(0.0000001f);
NaotoMorita 103:fec71c2051c5 59 eskf.setPhatMagField(0.00001f);
NaotoMorita 93:b827f78a717a 60
NaotoMorita 93:b827f78a717a 61 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 62 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 63 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 64 eskf.setQGyroBias(0.000001f);
NaotoMorita 103:fec71c2051c5 65 eskf.setQMagField(0.001f);
NaotoMorita 93:b827f78a717a 66
NaotoMorita 99:98b892ca70ec 67 Matrix Rgpspos(2,2);
NaotoMorita 99:98b892ca70ec 68 setDiag(Rgpspos,2.0f);
NaotoMorita 99:98b892ca70ec 69 //Rgpspos(3,3) = 5.0f;
NaotoMorita 92:00460f6df439 70 Matrix Rgpsvel(3,3);
NaotoMorita 99:98b892ca70ec 71 setDiag(Rgpsvel,2.0f);
NaotoMorita 100:7589b663d462 72 Matrix Rgps(5,5);
NaotoMorita 100:7589b663d462 73 setDiag(Rgps,2.0f);
NaotoMorita 99:98b892ca70ec 74
NaotoMorita 93:b827f78a717a 75
NaotoMorita 94:579e875a4244 76 Matrix RaccConst(4,4);
NaotoMorita 94:579e875a4244 77 setDiag(RaccConst,50.0f);
NaotoMorita 102:1c77ff6e2a85 78 RaccConst(4,4) = 1.0f;
NaotoMorita 93:b827f78a717a 79 //Matrix RgyroConst(2,2);
NaotoMorita 93:b827f78a717a 80 //setDiag(RgyroConst,100);
NaotoMorita 102:1c77ff6e2a85 81 Matrix Rmag(2,2);
NaotoMorita 103:fec71c2051c5 82 Rmag(1,1) = 10.0f;
NaotoMorita 102:1c77ff6e2a85 83 Rmag(2,2) = 1.0f;
NaotoMorita 102:1c77ff6e2a85 84
NaotoMorita 103:fec71c2051c5 85 Matrix RImuConst(5,5);
NaotoMorita 103:fec71c2051c5 86 setDiag(RImuConst,50.0f);
NaotoMorita 103:fec71c2051c5 87 RImuConst(4,4) = 50.0f;
NaotoMorita 103:fec71c2051c5 88 RImuConst(5,5) = 50.0f;
NaotoMorita 94:579e875a4244 89 _t.start();
NaotoMorita 93:b827f78a717a 90 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 91 while(1)
NaotoMorita 77:2bf856e3eca4 92 {
NaotoMorita 68:b9f6938fab9d 93 float tstart = _t.read();
osaka 87:89bbbcdb667b 94 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 95 if(hilFlag == true){
NaotoMorita 92:00460f6df439 96 getHilIMUval();
NaotoMorita 93:b827f78a717a 97 }else{
NaotoMorita 92:00460f6df439 98 getIMUval();
NaotoMorita 73:84ffa0166e6c 99 }
osaka 87:89bbbcdb667b 100 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 101 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 102 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 103:fec71c2051c5 103
NaotoMorita 103:fec71c2051c5 104
NaotoMorita 100:7589b663d462 105 if(hilFlag == true){
NaotoMorita 100:7589b663d462 106 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 107 getHilGPSval();
NaotoMorita 100:7589b663d462 108 tgps = _t.read();
NaotoMorita 100:7589b663d462 109 gpsUpdateFlag = true;
NaotoMorita 92:00460f6df439 110 }else{
NaotoMorita 100:7589b663d462 111 gpsUpdateFlag = false;
NaotoMorita 92:00460f6df439 112 }
NaotoMorita 92:00460f6df439 113 }else{
NaotoMorita 103:fec71c2051c5 114 getGPSval();
NaotoMorita 92:00460f6df439 115 }
NaotoMorita 100:7589b663d462 116 if(gpsUpdateFlag == true){
NaotoMorita 100:7589b663d462 117 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos);
NaotoMorita 100:7589b663d462 118 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel);
NaotoMorita 103:fec71c2051c5 119 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 103:fec71c2051c5 120
NaotoMorita 100:7589b663d462 121 }
NaotoMorita 103:fec71c2051c5 122 eskf.updateImuConstraints(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(mag),RImuConst);
NaotoMorita 103:fec71c2051c5 123 //eskf.updateMag(MatrixMath::Vector2mat(mag),Rmag);
NaotoMorita 77:2bf856e3eca4 124 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 125
osaka 87:89bbbcdb667b 126 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 127 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 128 att_dt = (tend-tstart);
cocorlow 56:888379912f81 129 }
osaka 87:89bbbcdb667b 130 }