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
transferData.cpp@103:fec71c2051c5, 2021-11-10 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Nov 10 05:22:31 2021 +0000
- Revision:
- 103:fec71c2051c5
- Parent:
- 102:1c77ff6e2a85
- Child:
- 104:20b8caa29185
imu update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 87:89bbbcdb667b | 1 | #include "global.hpp" |
osaka | 87:89bbbcdb667b | 2 | |
osaka | 87:89bbbcdb667b | 3 | void sendData2PC() |
osaka | 87:89bbbcdb667b | 4 | { |
osaka | 87:89bbbcdb667b | 5 | sp.da = da; |
osaka | 87:89bbbcdb667b | 6 | sp.de = de; |
osaka | 87:89bbbcdb667b | 7 | sp.dT = dT; |
osaka | 87:89bbbcdb667b | 8 | sp.rpy[0] = rpy.x*180.0f/M_PI; |
osaka | 87:89bbbcdb667b | 9 | sp.rpy[1] = rpy.y*180.0f/M_PI; |
osaka | 87:89bbbcdb667b | 10 | sp.rpy[2] = rpy.z*180.0f/M_PI; |
NaotoMorita | 93:b827f78a717a | 11 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 93:b827f78a717a | 12 | sp.vihat[0] = vihat(1,1); |
NaotoMorita | 93:b827f78a717a | 13 | sp.vihat[1] = vihat(2,1); |
NaotoMorita | 93:b827f78a717a | 14 | sp.vihat[2] = vihat(3,1); |
osaka | 87:89bbbcdb667b | 15 | pc.Send(0000, &(sp)); |
osaka | 87:89bbbcdb667b | 16 | } |
osaka | 87:89bbbcdb667b | 17 | |
osaka | 87:89bbbcdb667b | 18 | void sendTelemetry() |
osaka | 87:89bbbcdb667b | 19 | { |
NaotoMorita | 93:b827f78a717a | 20 | Matrix pihat = eskf.getPihat(); |
NaotoMorita | 93:b827f78a717a | 21 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 93:b827f78a717a | 22 | Matrix accBias = eskf.getAccBias(); |
NaotoMorita | 93:b827f78a717a | 23 | Matrix gyroBias = eskf.getGyroBias(); |
NaotoMorita | 93:b827f78a717a | 24 | Matrix gravity = eskf.getGravity(); |
NaotoMorita | 103:fec71c2051c5 | 25 | Matrix magField = eskf.getMagField(); |
NaotoMorita | 102:1c77ff6e2a85 | 26 | Matrix magGamma = magCalibrator.getGamma(); |
NaotoMorita | 93:b827f78a717a | 27 | |
osaka | 88:be349faa1976 | 28 | //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); |
NaotoMorita | 94:579e875a4244 | 29 | //twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI, pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1),gravity(1,1),gravity(2,1),gravity(3,1)); |
NaotoMorita | 103:fec71c2051c5 | 30 | twelite.printf("%f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,mag.x,mag.y,mag.z,magField(1,1),magField(2,1),magField(3,1),magres); |
NaotoMorita | 93:b827f78a717a | 31 | //twelite.printf("%f %f %f %f %f %f\r\n",accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1)); |
NaotoMorita | 92:00460f6df439 | 32 | //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z); |
NaotoMorita | 102:1c77ff6e2a85 | 33 | //twelite.printf("%f %f %f %f %f %f %f \r\n", magGamma(7,1), magGamma(8,1), magGamma(9,1), mag.x, mag.y, mag.z,magres); |
osaka | 87:89bbbcdb667b | 34 | } |
osaka | 87:89bbbcdb667b | 35 | |
osaka | 87:89bbbcdb667b | 36 | void writeSDcard() |
osaka | 87:89bbbcdb667b | 37 | { |
NaotoMorita | 94:579e875a4244 | 38 | Matrix pihat = eskf.getPihat(); |
NaotoMorita | 94:579e875a4244 | 39 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 94:579e875a4244 | 40 | Matrix accBias = eskf.getAccBias(); |
NaotoMorita | 94:579e875a4244 | 41 | Matrix gyroBias = eskf.getGyroBias(); |
NaotoMorita | 94:579e875a4244 | 42 | Matrix gravity = eskf.getGravity(); |
NaotoMorita | 94:579e875a4244 | 43 | //sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); |
NaotoMorita | 94:579e875a4244 | 44 | sd.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",_t.read(),1.0f/att_dt,da,de,dT,rc[0],rc[1],rc[2],rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI, pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1)); |
NaotoMorita | 94:579e875a4244 | 45 | |
osaka | 88:be349faa1976 | 46 | //sd.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); |
osaka | 87:89bbbcdb667b | 47 | } |