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
main.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-05-21
- Revision:
- 49:73fe59148dd4
- Parent:
- 48:1065506191f2
- Child:
- 52:abec61ea3cd3
File content as of revision 49:73fe59148dd4:
#include "mbed.h" #include "PIDcontroller.h" #include "SBUS.hpp" #include "LoopTicker.hpp" #include "MPU6050.h" #include "MAG3110.h" #include "I2Cdev.h" #include "FastPWM.h" #include "Matrix.h" #include "MatrixMath.h" #include "math.h" #define MPU6050_PWR_MGMT_1 0x6B #define MPU_ADDRESS 0x68 #define pi 3.141562 #define ACCEL_FSR MPU6050_ACCEL_FS_8 #define ACCEL_SSF 4096.0 #define GYRO_FSR MPU6050_GYRO_FS_250 #define GYRO_SSF 131.0 #define MPU6050_LPF MPU6050_DLPF_BW_256 #define gyro_th 20.0 #define PID_dt 0.015 #define servoPwmMax 1800.0 #define servoPwmMin 1200.0 #define motorPwmMax 2000.0 #define motorPwmMin 1100.0 #define N_EEPROM 8 MPU6050 accelgyro; MAG3110 mag(PB_9,PB_8); SBUS sbus(PD_5, PD_6); Serial pc(USBTX, USBRX); DigitalIn userButton(USER_BUTTON); DigitalIn locdef1(PG_2); DigitalIn locdef2(PG_3); FastPWM servo(PE_9); PID pitchPID(5.0, 0,0,PID_dt); //rad PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s Timer t; Matrix qhat(4,1); Matrix qhat_gyro(4,1); Matrix Phat(4,4); Matrix Qgyro(3,3); Matrix Racc(3,3); Matrix Rmag(3,3); Matrix D(3,3); int loop_count = 0; int obs_count = 0; float att_dt = 0.01; float rc[16]; float pitch = 0.0; float roll = 0.0; float yaw = 0.0; float pitch_g = 0.0; float roll_g = 0.0; float yaw_g = 0.0; int16_t ax, ay, az; int16_t gx, gy, gz; MotionSensorDataUnits mdata; float magval[3] = {1.0,0.0,0.0}; float acc_x,acc_y,acc_z; float dynacc_x,dynacc_y,dynacc_z; float gyro_x,gyro_y,gyro_z; float mag_x,mag_y,mag_z; float LPacc_x=0.0; float LPacc_y=0.0; float LPacc_z=0.0; float LPmag_x = 0.0; float LPmag_y = 0.0; float LPmag_z = 0.0;; int out1, out2; float scaledServoOut[1]= {0}; float servoOut[1] = {1500.0}; float accnorm; float magnorm; float LPaccnorm; float LPmagnorm; float accrefnorm; float magrefnorm; float val_thmg = 0.0; float th_mg = 0.0; float dynaccnorm = 0.0; float accnormerr = 0.0; float accref[3] = {0, 0, -0.98}; float magref[3] = {0.65, 0, 0.75}; int calibrationFlag = 0; int pos_tail = 1;//1:left 2:center 3:right int agoffset[6] = {0, 0, 0, 386, -450, 48}; float magbias[4] = {-215.833374, 207.740616, -167.444565, 36.688690}; float pitch_align = 0.0*3.141562/180.0 float roll_align = 0.0*3.141562/180.0 // eepromのread writeのためのunionを定義 int address = 0xAE; // EEPROMの3つの入力が全て+より int pointeraddress = 0; I2C i2c(PB_9,PB_8); // sda, scl union U{ int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 8~10: acc bias char c[N_EEPROM*4]; // floatはcharの4倍 }; void writeSdcard() { //magcal.getExtremes(&magmin[0],&magmax[0]); //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]); //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]); //pc.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi); //pc.printf("%f %f %f %f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi); //pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); //pc.printf("%f %f \r\n",rc[1],servoOut[0]); pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi); //pc.printf("%f %f\r\n",roll_g*180.0f/pi,pitch_g*180.0f/pi); //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); //pc.printf("%f %f %f : %f %f %f\r\n",magref[0],magref[1],magref[2],mag_x,mag_y,mag_z); //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z); } // eeprom書き込み・読み込みに必要な関数 void writeEEPROM(int address, unsigned int eeaddress, char *data, int size) { char i2cBuffer[size + 2]; i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB for (int i = 0; i < size; i++) { i2cBuffer[i + 2] = data[i]; } int result = i2c.write(address, i2cBuffer, size + 2, false); //sleep_ms(500); } // this function has no read limit void readEEPROM(int address, unsigned int eeaddress, char *data, int size) { char i2cBuffer[2]; i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB // Reset eeprom pointer address int result = i2c.write(address, i2cBuffer, 2, false); //sleep_ms(500); // Read eeprom i2c.read(address, data, size); //sleep_ms(500); } float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } void calcMagRef(float mx, float my, float mz){ Matrix magvec(3,1); magvec << mx << my << mz; Matrix magnedvec = MatrixMath::Transpose(D)*magvec; magref[0] = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1)); magref[1] = 0.0; magref[2] = magnedvec(3,1); } void getIMUval(){ // gx gy gz ax ay az accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz); ax = ax - agoffset[0]; ay = ay - agoffset[1]; az = -az - agoffset[2]; gx = gx - agoffset[3]; gy = gy - agoffset[4]; gz = -gz - agoffset[5]; // 加速度値を分解能で割って加速度(G)に変換する acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g acc_y = float(ay) / ACCEL_SSF; acc_z = float(az) / ACCEL_SSF; // 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(gx) / GYRO_SSF * 0.0174533f; // (rad/s) gyro_y = float(gy) / GYRO_SSF * 0.0174533f; gyro_z = float(gz) / GYRO_SSF * 0.0174533f; mag.getAxis(mdata); // flush the magnetmeter magval[0] = (mdata.x - magbias[0]); magval[1] = (mdata.y - magbias[1]); magval[2] = (mdata.z - magbias[2]); mag_x = -magval[0]/magbias[3]; mag_y = -magval[1]/magbias[3]; mag_z = -magval[2]/magbias[3]; float lpc_acc = 0.15; LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x; LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y; LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z; float lpc_mag = 0.15; LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x; LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y; LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z; accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z); magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z); LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z); LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z); accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]); magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]); calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm); } void updateBetweenMeasures(){ float q0 = qhat.getNumber( 1, 1 ); float q1 = qhat.getNumber( 2, 1 ); float q2 = qhat.getNumber( 3, 1 ); float q3 = qhat.getNumber( 4, 1 ); Matrix B(4,3); B << q1 << q2 << q3 <<-q0 << q3 <<-q2 <<-q3 <<-q0 << q1 << q2 <<-q1 <<-q0; B *= 0.5f; Matrix phi(4,4); phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0; qhat = phi*qhat; float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); qhat *= (1.0f/ qnorm); qhat_gyro = phi*qhat_gyro; qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat_gyro),qhat_gyro)); qhat_gyro *= (1.0f/ qnorm); Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B); q0 = qhat.getNumber( 1, 1 ); q1 = qhat.getNumber( 2, 1 ); q2 = qhat.getNumber( 3, 1 ); q3 = qhat.getNumber( 4, 1 ); D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3); D.add(1,2,2*(q1*q2 + q0*q3)); D.add(1,3,2*(q1*q3 - q0*q2)); D.add(2,1,2*(q1*q2 - q0*q3)); D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3); D.add(2,3,2*(q2*q3 + q0*q1)); D.add(3,1,2*(q1*q3 + q0*q2)); D.add(3,2,2*(q2*q3 - q0*q1)); D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3); } void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){ Matrix u(3,1); Matrix v(3,1); u << u1 << u2 <<u3; v << v1 << v2 <<v3; float q0 = qhat.getNumber( 1, 1 ); float q1 = qhat.getNumber( 2, 1 ); float q2 = qhat.getNumber( 3, 1 ); float q3 = qhat.getNumber( 4, 1 ); Matrix A1(3,3); A1 << q0 << q3 << -q2 <<-q3 << q0 << q1 <<q2 <<-q1 <<q0; A1 *= 2.0f; Matrix A2(3,3); A2 << q1 << q2 << q3 << q2 <<-q1 << q0 << q3 <<-q0 <<-q1; A2 *= 2.0f; Matrix A3(3,3); A3 <<-q2 << q1 <<-q0 << q1 << q2 << q3 << q0 << q3 <<-q2; A3 *= 2.0f; Matrix A4(3,3); A4 <<-q3 << q0 << q1 <<-q0 <<-q3 << q2 << q1 << q2 << q3; A4 *= 2.0f; Matrix H(3,4); Matrix ab1(A1*u); Matrix ab2(A2*u); Matrix ab3(A3*u); Matrix ab4(A4*u); H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 ) << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 ) << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 ); Matrix K(4,3); K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix dq(4,1); dq = K*(v-D*u); qhat = qhat+dq; float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); qhat *= (1.0f/ qnorm); Matrix eye4(4,4); eye4 << 1 << 0 << 0 << 0 << 0 << 1 << 0 << 0 << 0 << 0 << 1 << 0 << 0 << 0 << 0 << 1; Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K); } void computeAngles() { float q0 = qhat.getNumber( 1, 1 ); float q1 = qhat.getNumber( 2, 1 ); float q2 = qhat.getNumber( 3, 1 ); float q3 = qhat.getNumber( 4, 1 ); roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align; pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align; yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); q0 = qhat_gyro.getNumber( 1, 1 ); q1 = qhat_gyro.getNumber( 2, 1 ); q2 = qhat_gyro.getNumber( 3, 1 ); q3 = qhat_gyro.getNumber( 4, 1 ); roll_g = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align; pitch_g = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align; yaw_g = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); } void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){ Matrix W1(3,1); W1 << fb1 << fb2<< fb3; Matrix W2(3,1); W2 << mb1 << mb2<< mb3; Matrix V1(3,1); V1 << fn1 << fn2<< fn3; Matrix V2(3,1); V2 << mn1 << mn2<< mn3; Matrix Ou2(3,1); Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 ); Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2)); Matrix Ou3(3,1); Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 ); Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3)); Matrix R2(3,1); R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 ); R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2)); Matrix R3(3,1); R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 ); R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3)); Matrix Mou(3,3); Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 ) << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 ) << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 ); Matrix Mr(3,3); Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 ) << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 ) << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 ); Matrix Cbn = Mr*MatrixMath::Transpose(Mou); float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 )); qhat.add(1,1,0.5*sqtrp1); qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1); qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1); qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1); float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); qhat *= (1.0f/ qnorm); qhat_gyro = qhat; float q0 = qhat.getNumber( 1, 1 ); float q1 = qhat.getNumber( 2, 1 ); float q2 = qhat.getNumber( 3, 1 ); float q3 = qhat.getNumber( 4, 1 ); D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3); D.add(1,2,2*(q1*q2 + q0*q3)); D.add(1,3,2*(q1*q3 - q0*q2)); D.add(2,1,2*(q1*q2 - q0*q3)); D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3); D.add(2,3,2*(q2*q3 + q0*q1)); D.add(3,1,2*(q1*q3 + q0*q2)); D.add(3,2,2*(q2*q3 - q0*q1)); D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3); } void calcDynAcc(){ dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]); dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]); dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]); } // 割り込まれた時点での出力(computeの結果)を返す関数 void calcServoOut(){ if(sbus.failSafe == false) { // sbusデータの読み込み for (int i =0 ; i < 16;i ++){ rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input } } pitchPID.setProcessValue(pitch); pitchratePID.setProcessValue(gyro_y); float de = pitchPID.compute()+pitchratePID.compute()-rc[1]; scaledServoOut[0]=de; float LP_servo = 0.2; for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){ servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; if(servoOut[i]<servoPwmMin) { servoOut[i] = servoPwmMin; }; if(servoOut[i]>servoPwmMax) { servoOut[i] = servoPwmMax; }; } servo.pulsewidth_us(servoOut[0]); //観測アップデート calcDynAcc(); th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg); dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z); accnormerr = abs(LPaccnorm-accrefnorm); //静止時100個の平均 0.01877522 0.00514146 0.00477393 //int ang_th = th_mg < 0.01877522; //int dyn_th = dynaccnorm < 0.00514146; //int norm_th = accnormerr< 0.00477393; int ang_th = th_mg < 0.01877522/5.0; int dyn_th = dynaccnorm < 0.00514146/5.0; int norm_th = accnormerr< 0.00477393/5.0; if(dyn_th+ang_th+norm_th>0){ //if(dyn_th+ang_th+norm_th>-1){ obs_count += 1; updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag); updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc); } if(loop_count >= 10){ writeSdcard(); loop_count = 1; obs_count = 0; }else{ loop_count +=1; } } int main() { pitchPID.setSetPoint(0.0); pitchratePID.setSetPoint(0.0); pitchPID.setBias(0.0); pitchratePID.setBias(0.0); pitchPID.setOutputLimits(-1.0,1.0); pitchratePID.setOutputLimits(-1.0,1.0); pitchPID.setInputLimits(-pi,pi); pitchratePID.setInputLimits(-pi,pi); servo.period_us(15000.0); servo.pulsewidth_us(1500.0); pc.baud(57600); accelgyro.initialize(); //加速度計のフルスケールレンジを設定 accelgyro.setFullScaleAccelRange(ACCEL_FSR); //角速度計のフルスケールレンジを設定 accelgyro.setFullScaleGyroRange(GYRO_FSR); //MPU6050のLPFを設定 accelgyro.setDLPFMode(MPU6050_LPF); //地磁気 mag.enable(); qhat << 1 << 0 << 0 << 0; D.add(1,1,1.0); D.add(2,2,1.0); D.add(3,3,1.0); Phat.add(1,1,0.1); Phat.add(2,2,0.1); Phat.add(3,3,0.1); Phat.add(4,4,0.1); Qgyro.add(1,1,0.0224); Qgyro.add(2,2,0.0224); Qgyro.add(3,3,0.0224); Racc.add(1,1,0.0330*100); Racc.add(2,2,0.0330*100); Racc.add(3,3,0.0330*100); Rmag.add(1,1,1.0); Rmag.add(2,2,1.0); Rmag.add(3,3,1.0); calibrationFlag = userButton.read(); if(calibrationFlag == 0){ pc.printf("reading calibration value\r\n"); //キャリブレーション値を取得 U read_calib; readEEPROM(address, pointeraddress, read_calib.c, 32); wait(3); for (int i = 0 ; i < N_EEPROM; i ++){ pos_tail = read_calib.i[0]; agoffset[3] = float(read_calib.i[5]); agoffset[4] = float(read_calib.i[6]); agoffset[5] = float(read_calib.i[7]); magbias[0] = float(read_calib.i[1])/1000.0; magbias[1] = float(read_calib.i[2])/1000.0; magbias[2] = float(read_calib.i[3])/1000.0; magbias[3] = float(read_calib.i[4])/1000.0; } switch(pos_tail){ case 1: pc.printf("This MBED is Located at Left \r\n"); break; case 2: pc.printf("This MBED is Located at Center \r\n"); break; case 3: pc.printf("This MBED is Located at Right \r\n"); break; default: // error situation pc.printf("error\r\n"); break; } getIMUval(); triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm); float sumLPaccnorm = 0; for(int i = 0; i<1000 ;i++){ getIMUval(); val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm); sumLPaccnorm += LPaccnorm; } accref[2]=-sumLPaccnorm/1000; val_thmg /= 1000; LoopTicker PIDtick; PIDtick.attach(calcServoOut,PID_dt); t.start(); while(1) { float tstart = t.read(); //姿勢角を更新 getIMUval(); updateBetweenMeasures(); computeAngles(); PIDtick.loop(); float tend = t.read(); att_dt = (tend-tstart); } }else{ pc.printf("\r\nEnter to Calibration Mode\r\n"); wait(5); pc.printf("Acc and Gyro Calibration Start\r\n"); int gxs = 0; int gys = 0; int gzs = 0; int iter_n = 10000; for(int i = 0;i<iter_n ;i++){ accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz); gxs += gx; gys += gy; gzs -= gz; //wait(0.01); } gxs = gxs /iter_n; gys = gys /iter_n; gzs = gzs /iter_n; agoffset[3] = gxs; agoffset[4] = gys; agoffset[5] = gzs; pc.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs); pc.printf("Mag Calibration Start\r\n"); float f = 0; while(1){ mag.getAxis(mdata); // flush the magnetmeter magval[0] = (mdata.x - magbias[0]); magval[1] = (mdata.y - magbias[1]); magval[2] = (mdata.z - magbias[2]); float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2]; float lr = 0.00001f; f = mag_r - magbias[3]*magbias[3]; magbias[0] = magbias[0] + 4 * lr * f * magval[0]; magbias[1] = magbias[1] + 4 * lr * f * magval[1]; magbias[2] = magbias[2] + 4 * lr * f * magval[2]; magbias[3] = magbias[3] + 4 * lr * f * magbias[3]; if(userButton.read() == 1){ break; } wait(0.001); } pc.printf("Magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]); pc.printf("Determine Position of MBED\r\n"); wait(1); pc.printf("Press the user button\r\n"); while(userButton.read() == 0){wait(0.01);}; while(1){ pc.printf("Left\r\n"); wait(2); if(userButton.read() == 0){ pos_tail=1; break; }; pc.printf("Center\r\n"); wait(2); if(userButton.read() == 0){ pos_tail=2; break; }; pc.printf("Right\r\n"); wait(2); if(userButton.read() == 0){ pos_tail=3; break; }; }; switch(pos_tail){ case 1: pc.printf("This MBED is Located at Left \r\n"); break; case 2: pc.printf("This MBED is Located at Center \r\n"); break; case 3: pc.printf("This MBED is Located at Right \r\n"); break; default: // error situation pc.printf("error\r\n"); break; } pc.printf("Writing to EEPROM...\r\n"); U transfer_data; transfer_data.i[0] = pos_tail; for (int i = 1; i < 5; i++) { if (!isnan(magbias[i - 1])) transfer_data.i[i] = int(magbias[i - 1]*1000); // intに丸めた値を送る。 else { pc.printf("Mag bias is NOT transferred\n"); transfer_data.i[i] = 100; } } // gxs,gys,gzsを送る int gxyzs[3] = {gxs, gys, gzs}; for (int i = 5; i < 8; i++) { if (!isnan(gxyzs[i - 5])) transfer_data.i[i] = gxyzs[i - 5]; else { pc.printf("gxyzs is NOT transferred\n"); transfer_data.i[i] = 0; } } for (int i = 0; i < N_EEPROM; i++) { pc.printf("transfer_data[%d]: %\d\r\n", i, transfer_data.i[i]); } writeEEPROM(address, pointeraddress, transfer_data.c, N_EEPROM*4); wait(3); U read_test; readEEPROM(address, pointeraddress, read_test.c, N_EEPROM*4); wait(3); for (int i = 0 ; i < N_EEPROM; i ++){ pc.printf("transfer_data[%d]: %d\r\n",i, read_test.i[i]); } float pitch_align = 0.0*3.141562/180.0 float roll_align = 0.0*3.141562/180.0 for (int i =1 ; i<1000; i++){ float tstart = t.read(); //姿勢角を更新 getIMUval(); updateBetweenMeasures(); updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag); updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc); computeAngles(); float tend = t.read(); att_dt = (tend-tstart); } while(1) {wait(1000);} } }