Diff: hil.cpp

Revision:

141:725321fe2949

Parent:

139:b378528c05f2

Child:

143:53808e4e684c

--- a/hil.cpp	Mon Dec 06 11:37:55 2021 +0000
+++ b/hil.cpp	Fri Dec 10 10:43:50 2021 +0000
@@ -1,84 +1,84 @@
-//#include "global.hpp"
-//
-//void getHilIMUval()
-//{
-//        switch(vp.commandIndex){
-//        case 1:
-//            NVIC_SystemReset();
-//            break;
-//        default : 
-//            break;
-//        }
-//    rpy_align.x = 0.0f;
-//    rpy_align.y = 0.0f;
-//    accref.z =  1.0f;
-//    
-//    
-//    lsm.readAccel();
-//    lsm.readMag();
-//    lsm.readGyro();
-//    
-//    float accmx = lsm.ax * 9.8f - agoffset[0];
-//    float accmy = lsm.ay * 9.8f - agoffset[1];
-//    float accmz = lsm.az * 9.8f - agoffset[2];
-//    float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3];
-//    float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4];
-//    float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5];      
-//    
-//    // 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]) / 4096.0f + accmx;  //FS_SEL_0 16,384 LSB / g
-//    acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy;
-//    acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy;
-//    
-//    // 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]) / 131.0f * 0.0174533f + gyromx;  // (rad/s)
-//    gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy;
-//    gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz;
-//    
-//    Matrix magraw(3,1);
-//    magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x);
-//    magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y);
-//    magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z);
-//
-//    //magres = magCalibrator.calcResidial(magraw);
-//    //if(magres > magresThreshold){
-//    //    magCalibrator.updateParams(magraw,0.001f);
-//    //};
-//    Matrix magmod = magraw;
-//    mag.x = magmod(1,1);
-//    mag.y = magmod(2,1);
-//    mag.z = magmod(3,1);
-//    
-//    palt =  float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);;
-//    
-//    if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
-//        acc.z += -9.8f;
-//        mag.x += 0.5;
-//    }
-//}
-//
-//void getHilGPSval()
-//{
-//    float sigma_vi =  0.1f;
-//    float sigma_pi =  1.0f;
-//    
-//    //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();
-//    
-//    //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()
-//{
-//    float x = (float)rand()/RAND_MAX;
-//    float y = (float)rand()/RAND_MAX;
-//    float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y);
-//    return z1;
-//}
\ No newline at end of file
+#include "global.hpp"
+
+void getHilIMUval()
+{
+        switch(vp.commandIndex){
+        case 1:
+            NVIC_SystemReset();
+            break;
+        default : 
+            break;
+        }
+    rpy_align(0) = 0.0f;
+    rpy_align(1) = 0.0f;
+    accref(2) =  1.0f;
+    
+    
+    lsm.readAccel();
+    lsm.readMag();
+    lsm.readGyro();
+    
+    float accmx = lsm.ax * 9.8f - agoffset[0];
+    float accmy = lsm.ay * 9.8f - agoffset[1];
+    float accmz = lsm.az * 9.8f - agoffset[2];
+    float gyromx = (lsm.gx * M_PI_F / 180.0f) - agoffset[3];
+    float gyromy = (lsm.gy * M_PI_F / 180.0f) - agoffset[4];
+    float gyromz = (lsm.gz * M_PI_F / 180.0f) - agoffset[5];      
+    
+    // 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(0) = 9.8f*float(vp.accData[0]) / 4096.0f + accmx;  //FS_SEL_0 16,384 LSB / g
+    acc(1) = 9.8f*float(vp.accData[1]) / 4096.0f + accmy;
+    acc(2) = 9.8f*float(vp.accData[2]) / 4096.0f + accmy;
+    
+    // 角速度値を分解能で割って角速度(rad per sec)に変換する
+    gyro(0) = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx;  // (rad/s)
+    gyro(1) = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy;
+    gyro(2) = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz;
+    
+    Vector3f magraw;
+    magraw(0) = float(vp.magData[0])/1000.0f + (lsm.mx-magref(0));
+    magraw(1) = float(vp.magData[1])/1000.0f + (lsm.my-magref(1));
+    magraw(2) = float(vp.magData[2])/1000.0f + (lsm.mz-magref(2));
+
+    //magres = magCalibrator.calcResidial(magraw);
+    //if(magres > magresThreshold){
+    //    magCalibrator.updateParams(magraw,0.001f);
+    //};
+    Vector3f magmod = magraw;
+    mag(0) = magmod(0);
+    mag(1) = magmod(1);
+    mag(2) = magmod(2);
+    
+    palt =  float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);;
+    
+    if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
+        acc(2) += -9.8f;
+        mag(0) += 0.5;
+    }
+}
+
+void getHilGPSval()
+{
+    float sigma_vi =  0.1f;
+    float sigma_pi =  1.0f;
+    
+    //GPSの速度情報m/s
+    vi(0) =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
+    vi(1) =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
+    vi(2) =  float(vp.viData[2])/1000.0f + sigma_vi*randn();
+    
+    //GPSの位置情報m/s
+    pi(0) =  float(vp.piData[0])/1.0f + sigma_pi*randn();
+    pi(1) =  float(vp.piData[1])/1.0f + sigma_pi*randn();
+    pi(2) =  float(vp.piData[2])/1.0f + sigma_pi*randn();
+    
+}
+
+float randn()
+{
+    float x = (float)rand()/RAND_MAX;
+    float y = (float)rand()/RAND_MAX;
+    float z1 = std::sqrt(-2.0 * std::log(x)) * std::cos(2.0 * M_PI_F * y);
+    return z1;
+}
\ No newline at end of file