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
setup.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-08-07
- Revision:
- 76:7fd3ac1afe3e
- Parent:
- 73:84ffa0166e6c
- Child:
- 77:2bf856e3eca4
File content as of revision 76:7fd3ac1afe3e:
#include "global.hpp" void setup() { pitchPID.setSetPoint(0.0); pitchratePID.setSetPoint(0.0); rollPID.setSetPoint(0.0); rollratePID.setSetPoint(0.0); pitchPID.setBias(0.0); pitchratePID.setBias(0.0); rollPID.setBias(0.0); rollratePID.setBias(0.0); pitchPID.setOutputLimits(-1.0,1.0); pitchratePID.setOutputLimits(-1.0,1.0); rollPID.setOutputLimits(-1.0,1.0); rollratePID.setOutputLimits(-1.0,1.0); pitchPID.setInputLimits(-M_PI,M_PI); pitchratePID.setInputLimits(-M_PI,M_PI); rollPID.setInputLimits(-M_PI,M_PI); rollratePID.setInputLimits(-M_PI,M_PI); servoRight.period_us(15000.0); servoLeft.period_us(15000.0); servoThrust.period_us(15000.0); servoRight.pulsewidth_us(1500.0); servoLeft.pulsewidth_us(1500.0); servoThrust.pulsewidth_us(1100.0); sd.baud(57600); sd.printf("\r\nFlight Start\r\n"); 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); //MPU6050のレートを設定 accelgyro.setRate(MPU6050_SAMPLERATE); //地磁気 mag_sensor.enable(); } void calibrate() { pc.serial.printf("\r\nEnter to Calibration Mode\r\n"); wait(5); pc.serial.printf("Acc and Gyro Calibration Start\r\n"); int iter_n = 10000; long axs = 0; long ays = 0; long azs = 0; double axs2 = 0.0f; double ays2 = 0.0f; double azs2 = 0.0f; long gxs = 0; long gys = 0; long gzs = 0; double gxs2 = 0.0f; double gys2 = 0.0f; double gzs2 = 0.0f; for(int i = 0;i<iter_n ;i++) { accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); axs += ax; ays += ay; azs += az; axs2 += double(ax*ax)/iter_n; ays2 += double(ay*ay)/iter_n; azs2 += double(az*az)/iter_n; gxs += gx; gys += gy; gzs += gz; gxs2 += double(gx*gx)/iter_n; gys2 += double(gy*gy)/iter_n; gzs2 += double(gz*gz)/iter_n; //wait(0.01); } axs = axs /iter_n; ays = ays /iter_n; azs = azs /iter_n; gxs = gxs /iter_n; gys = gys /iter_n; gzs = gzs /iter_n; double var_accx = (axs2 - double(axs*axs))/ ACCEL_SSF / ACCEL_SSF; double var_accy = (ays2 - double(ays*ays))/ ACCEL_SSF / ACCEL_SSF; double var_accz = (azs2 - double(azs*azs))/ ACCEL_SSF / ACCEL_SSF; double var_gyrox = (gxs2 - double(gxs*gxs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; double var_gyroy = (gys2 - double(gys*gys))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; double var_gyroz = (gzs2 - double(gzs*gzs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f; pc.serial.printf("AccCovariance : %f, %f, %f \r\n",var_accx,var_accy,var_accz); pc.serial.printf("GyroCovariance : %f, %f, %f \r\n",var_gyrox,var_gyroy,var_gyroz); pc.serial.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs); /* pc.serial.printf("Initial Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]); pc.serial.printf("Initial Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]); */ pc.serial.printf("Initial Magbias : %f, %f, %f, %f \r\n", magbias[0], magbias[1], magbias[2], magbias[3]); pc.serial.printf("Acc Scale and Mag Calibration Start\r\n"); for(int i = 0;i<3;i++){ accMin[i] = -1.0f; accMax[i] = 1.0f; } accMax[2] = accScaleCalibrate(5); accMin[0] = accScaleCalibrate(1); accMax[0] = accScaleCalibrate(2); accMin[1] = accScaleCalibrate(3); accMax[1] = accScaleCalibrate(4); accMin[2] = accScaleCalibrate(6); /* magCalibrator.getExtremes(magbiasMin,magbiasMax); pc.serial.printf("Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]); pc.serial.printf("Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]); magCalibrator.setExtremes(magbiasMin,magbiasMax); */ pc.serial.printf("Magbias : %f, %f, %f, %f \r\n", magbias[0], magbias[1], magbias[2], magbias[3]); pc.serial.printf("accMin : %f, %f, %f\r\n", accMin[0], accMin[1], accMin[2]); pc.serial.printf("accMax : %f, %f, %f\r\n", accMax[0], accMax[1], accMax[2]); pc.serial.printf("Keep Level \r\n"); wait(5); pc.serial.printf("Calculating pitch/roll Offset \r\n"); //姿勢オフセットを計算 rpy_align.y = 0.0f*M_PI/180.0f; rpy_align.x = 0.0f*M_PI/180.0f; float ave_pitch = 0.0f; float ave_roll = 0.0f; ekf.setQgbias(0.0f); ekf.setQab(0.0f); getIMUval(); //ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm()); Timer _t; _t.start(); for (int i = 0 ; i < 2200; i++) { float tstart = _t.read(); //姿勢角を更新 getIMUval(); ekf.updateQhat(gyro, att_dt); ekf.updateErrState(gyro, att_dt); ekf.updateStaticAccMeasures(acc,accref); ekf.fuseErr2Qhat(); ekf.updateMagMeasures(mag); ekf.computeAngles(rpy, rpy_align); if(i>199) { ave_pitch += rpy.x; ave_roll += rpy.y; } wait(0.001); float tend = _t.read(); att_dt = (tend-tstart); } pc.serial.printf("aliginment data(rpy.x, rpy.y, rpy.z) : %ff*M_PI/180.0f, %ff*M_PI/180.0f, 0.0f*M_PI/180.0f\r\n",ave_pitch/2000.0f*180.0f/M_PI,ave_roll/2000.0f*180.0f/M_PI); pc.serial.printf("Calibration Complete\r\n"); while(1) { wait(1000); } } float accScaleCalibrate(int attNo) { //attNo 1:Right down (acc.x Negative) //attNo 2:Left down (acc.x Positive) //attNo 3:Nose down (acc.y Negative) //attNo 4:Tail down (acc.y Positive) //attNo 5:Level (acc.z Positive) //attNo 6:upside down (acc.z Negative) //acc scale calibration switch(attNo){ case 1: pc.serial.printf("Right down (acc.x Negative)\r\n"); break; case 2: pc.serial.printf("Left down (acc.x Positive)\r\n"); break; case 3: pc.serial.printf("Nose down (acc.y Negative)\r\n"); break; case 4: pc.serial.printf("Tail down (acc.y Positive)\r\n"); break; case 5: pc.serial.printf("Level (acc.z Positive)\r\n"); break; case 6: pc.serial.printf("Upside down (acc.z Negative)\r\n"); break; default : pc.serial.printf("error"); break; } while(1){ double accx = 0.0; double accy = 0.0; double accz = 0.0; for(int i = 0;i<100 ;i++) { accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); accx += ax/ ACCEL_SSF; accy += ay/ ACCEL_SSF; accz += az/ ACCEL_SSF; wait(0.01); } bool breakFlag = false; switch(attNo){ case 1: if(abs(accx/100.0+1.0)<0.1){ breakFlag = true; }; break; case 2: if(abs(accx/100.0-1.0)<0.1){ breakFlag = true; }; break; case 3: if(abs(accy/100.0+1.0)<0.1){ breakFlag = true; }; break; case 4: if(abs(accy/100.0-1.0)<0.1){ breakFlag = true; }; break; case 5: if(abs(accz/100.0-1.0)<0.1){ breakFlag = true; }; break; case 6: if(abs(accz/100.0+1.0)<0.1){ breakFlag = true; }; break; } if(breakFlag){break;}; pc.serial.printf("acc %f %f %f\r\n", accx/100.0,accy/100.0,accz/100.0); } pc.serial.printf("Keep it hold\r\n"); int iter_n = 1000; double accx = 0.0; double accy = 0.0; double accz = 0.0; float magval[3] = {0,0,0}; for(int i = 0;i<iter_n ;i++) { accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); accx += ax/ ACCEL_SSF; accy += ay/ ACCEL_SSF; accz += az/ ACCEL_SSF; mag_sensor.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; float 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]; wait(0.001); } float returnval = 0.0f; switch(attNo){ case 1: returnval = accx/1000.0f; break; case 2: returnval = accx/1000.0f; break; case 3: returnval = accy/1000.0f; break; case 4: returnval = accy/1000.0f; break; case 5: returnval = accz/1000.0f; break; case 6: returnval = accz/1000.0f; break; } return returnval; }