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
hil.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-10-28
- Revision:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
File content as of revision 92:00460f6df439:
#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; float sigma_acc = sqrt(0.00020f); float sigma_gyro = sqrt(0.000005f); float sigma_mag = 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]) / 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]) / 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(); mag.y = float(vp.magData[1])/1000.0f + sigma_mag*randn(); 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(); //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; }