Diff: hil.cpp

Revision:

92:00460f6df439

Parent:

90:96c2b0ed4b96

Child:

93:b827f78a717a

--- a/hil.cpp	Tue Oct 26 05:37:25 2021 +0000
+++ b/hil.cpp	Thu Oct 28 09:44:47 2021 +0000
@@ -1,6 +1,6 @@
 #include "global.hpp"
 
-void getHILval()
+void getHilIMUval()
 {
         switch(vp.commandIndex){
         case 1:
@@ -15,17 +15,16 @@
     float sigma_acc =  sqrt(0.00020f);
     float sigma_gyro = sqrt(0.000005f);
     float sigma_mag =  sqrt(0.002f);
-    float sigma_vi =  sqrt(0.002f);
     // gx gy gz ax ay az
     // 加速度値を分解能で割って加速度(m/s^2)に変換する
-    acc.x = 9.8f*float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
-    acc.y = 9.8f*float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn();
-    acc.z = 9.8f*float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn();
+    acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + sigma_acc*randn();  //FS_SEL_0 16,384 LSB / g
+    acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + sigma_acc*randn();
+    acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + sigma_acc*randn();
     acc = accMedian.Process(acc);
     // 角速度値を分解能で割って角速度(rad per sec)に変換する
-    gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();  // (rad/s)
-    gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
-    gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
+    gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + sigma_gyro*randn();  // (rad/s)
+    gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + sigma_gyro*randn();
+    gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + sigma_gyro*randn();
     gyro = gyroMedian.Process(gyro);
     
     mag.x = float(vp.magData[0])/1000.0f + sigma_mag*randn();
@@ -33,19 +32,34 @@
     mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn();
     mag = magMedian.Process(mag);
     
+    if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
+        acc.x = 0.0f;
+        acc.y = 0.0f;
+        acc.z = -9.8f;
+        gyro.x = 0.0f;
+        gyro.y = 0.0f;
+        gyro.z = 0.0f;
+        mag.x = 1.0f;
+        mag.y = 0.0f;
+        mag.z = 0.0f;
+    }
+}
+
+void getHilGPSval()
+{
+    float sigma_vi =  2.0f/1.1774f;
+    float sigma_pi =  2.0f/1.1774f;
+    
     //GPSの速度情報m/s
     vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
     vi.y =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
     vi.z =  float(vp.viData[2])/1000.0f + sigma_vi*randn();
     
-    if(acc.Norm()<0.01f){
-        acc.x = 0.0f;
-        acc.y = 0.0f;
-        acc.z = 1.0f;
-        mag.x = 0.113657f;
-        mag.y = -0.278425f;
-        mag.z = 0.980554f;
-    }
+    //GPSの位置情報m/s
+    pi.x =  float(vp.piData[0])/1.0f + sigma_pi*randn();
+    pi.y =  float(vp.piData[1])/1.0f + sigma_pi*randn();
+    pi.z =  float(vp.piData[2])/1.0f + sigma_pi*randn();
+    
 }
 
 float randn()