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
run.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-06-28
- Revision:
- 68:b9f6938fab9d
- Parent:
- 66:e5afad70fdd8
- Child:
- 70:99f974d8960e
File content as of revision 68:b9f6938fab9d:
#include "global.hpp" void run() { pc.serial.printf("\r\nrun Mode\r\n"); wait(0.5); Timer _t; _t.start(); magCalibrator.setExtremes(magbiasMin,magbiasMax); getIMUval(); //ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm()); ekf.defineQhat(rpy_align); float sum2accnorm = 0; float sumaccnorm = 0; for(int i = 0; i < 1000; i++){ float tstart = _t.read(); getIMUval(); ekf.updateQhat(gyro, att_dt); ekf.updateErrState(gyro, att_dt); ekf.updateStaticAccMeasures(acc,accref); ekf.fuseErr2Qhat(); //ekf.resetGyroBias(gyroBias); ekf.updateMagMeasures(mag); ekf.computeAngles(rpy, rpy_align); sumaccnorm += acc.Norm(); sum2accnorm += acc.Norm()*acc.Norm(); float tend = _t.read(); att_dt = (tend-tstart); } accref.z = sumaccnorm / 1000.0f; float sigma_accnorm = sqrt(sum2accnorm/1000.0f-accref.z*accref.z); pc.serial.printf("%f \r\n",sigma_accnorm); pc.Subscribe(0000, &(posValues)); LoopTicker PIDtick; PIDtick.attach(calcServoOut,PID_dt); while(1) { float tstart = _t.read(); //姿勢角を更新 getIMUval(); ekf.updateQhat(gyro, att_dt); ekf.updateErrState(gyro, att_dt); if(ekf.determinDynStatus(acc,accref)){ ekf.updateAccMeasures(acc,accref); }else{ ekf.updateStaticAccMeasures(acc,accref); } ekf.fuseErr2Qhat(); ekf.resetBias(); ekf.updateMagMeasures(mag); ekf.computeAngles(rpy, rpy_align); PIDtick.loop(); float tend = _t.read(); att_dt = (tend-tstart); } }