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
Diff: hil.cpp
- Revision:
- 77:2bf856e3eca4
- Parent:
- 76:7fd3ac1afe3e
- Child:
- 82:c183c29d2427
--- a/hil.cpp Sat Aug 07 06:54:58 2021 +0000 +++ b/hil.cpp Tue Sep 07 08:13:45 2021 +0000 @@ -11,20 +11,28 @@ } rpy_align.x = 0.0f; rpy_align.y = 0.0f; - accref.z = 1.0f; + //accref.z = 1.0f; + + ax = accelgyro.getAccelerationX() - agoffset[0]; + ay = accelgyro.getAccelerationY() - agoffset[1]; + az = accelgyro.getAccelerationZ() - agoffset[2]; + gx = accelgyro.getRotationX() - agoffset[3]; + gy = accelgyro.getRotationY() - agoffset[4]; + gz = accelgyro.getRotationZ() - agoffset[5]; + float sigma_acc = sqrt(0.000020f); float sigma_gyro = sqrt(0.000005f); float sigma_mag = sqrt(0.00001f); // gx gy gz ax ay az // 加速度値を分解能で割って加速度(G)に変換する - acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g - acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); - acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn(); + acc.x = float(vp.accData[0]) / ACCEL_SSF + mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f); //FS_SEL_0 16,384 LSB / g + acc.y = float(vp.accData[1]) / ACCEL_SSF + mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f); + acc.z = float(vp.accData[2]) / ACCEL_SSF + mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f)-accref.z; 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]) / GYRO_SSF * 0.0174533f + float(gx) / GYRO_SSF * 0.0174533f; // (rad/s) + gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + float(gy) / GYRO_SSF * 0.0174533f; + gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + float(gz) / GYRO_SSF * 0.0174533f; gyro = gyroMedian.Process(gyro); mag.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); @@ -34,6 +42,9 @@ acc.x = 0.0f; acc.y = 0.0f; acc.z = 1.0f; + gyro.x = 0.0f; + gyro.y = 0.0f; + gyro.z = 0.0f; mag.x = 0.113657f; mag.y = -0.278425f; mag.z = 0.980554f;