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@73:84ffa0166e6c, 2021-07-15 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Jul 15 05:26:15 2021 +0000
- Revision:
- 73:84ffa0166e6c
- Child:
- 74:f67062e7813e
9state
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 73:84ffa0166e6c | 1 | #include "global.hpp" |
NaotoMorita | 73:84ffa0166e6c | 2 | |
NaotoMorita | 73:84ffa0166e6c | 3 | void getHILval() |
NaotoMorita | 73:84ffa0166e6c | 4 | { |
NaotoMorita | 73:84ffa0166e6c | 5 | rpy_align.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 6 | rpy_align.y = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 7 | accref.z = 1.0f; |
NaotoMorita | 73:84ffa0166e6c | 8 | float sigma_acc = sqrt(0.000020f); |
NaotoMorita | 73:84ffa0166e6c | 9 | float sigma_gyro = sqrt(0.000005f); |
NaotoMorita | 73:84ffa0166e6c | 10 | float sigma_mag = sqrt(0.002f); |
NaotoMorita | 73:84ffa0166e6c | 11 | // gx gy gz ax ay az |
NaotoMorita | 73:84ffa0166e6c | 12 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 73:84ffa0166e6c | 13 | acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 73:84ffa0166e6c | 14 | acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); |
NaotoMorita | 73:84ffa0166e6c | 15 | acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn(); |
NaotoMorita | 73:84ffa0166e6c | 16 | acc = accMedian.Process(acc); |
NaotoMorita | 73:84ffa0166e6c | 17 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 73:84ffa0166e6c | 18 | gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); // (rad/s) |
NaotoMorita | 73:84ffa0166e6c | 19 | gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 73:84ffa0166e6c | 20 | gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 73:84ffa0166e6c | 21 | gyro = gyroMedian.Process(gyro); |
NaotoMorita | 73:84ffa0166e6c | 22 | mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 73:84ffa0166e6c | 23 | mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 73:84ffa0166e6c | 24 | mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 73:84ffa0166e6c | 25 | mag = magMedian.Process(mag); |
NaotoMorita | 73:84ffa0166e6c | 26 | if(acc.Norm()<0.01f || mag.Norm() < 0.001f){ |
NaotoMorita | 73:84ffa0166e6c | 27 | acc.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 28 | acc.y = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 29 | acc.z = 1.0f; |
NaotoMorita | 73:84ffa0166e6c | 30 | mag.x = 0.113657f; |
NaotoMorita | 73:84ffa0166e6c | 31 | mag.y = -0.278425f; |
NaotoMorita | 73:84ffa0166e6c | 32 | mag.z = 0.980554f; |
NaotoMorita | 73:84ffa0166e6c | 33 | } |
NaotoMorita | 73:84ffa0166e6c | 34 | } |
NaotoMorita | 73:84ffa0166e6c | 35 | |
NaotoMorita | 73:84ffa0166e6c | 36 | float randn() |
NaotoMorita | 73:84ffa0166e6c | 37 | { |
NaotoMorita | 73:84ffa0166e6c | 38 | float x = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 39 | float y = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 40 | float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
NaotoMorita | 73:84ffa0166e6c | 41 | return z1; |
NaotoMorita | 73:84ffa0166e6c | 42 | } |