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Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: hil.cpp
- Revision:
- 141:725321fe2949
- Parent:
- 139:b378528c05f2
- Child:
- 143:53808e4e684c
--- a/hil.cpp Mon Dec 06 11:37:55 2021 +0000
+++ b/hil.cpp Fri Dec 10 10:43:50 2021 +0000
@@ -1,84 +1,84 @@
-//#include "global.hpp"
-//
-//void getHilIMUval()
-//{
-// switch(vp.commandIndex){
-// case 1:
-// NVIC_SystemReset();
-// break;
-// default :
-// break;
-// }
-// rpy_align.x = 0.0f;
-// rpy_align.y = 0.0f;
-// accref.z = 1.0f;
-//
-//
-// lsm.readAccel();
-// lsm.readMag();
-// lsm.readGyro();
-//
-// float accmx = lsm.ax * 9.8f - agoffset[0];
-// float accmy = lsm.ay * 9.8f - agoffset[1];
-// float accmz = lsm.az * 9.8f - agoffset[2];
-// float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3];
-// float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4];
-// float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5];
-//
-// // gx gy gz ax ay az
-// // 加速度値を分解能で割って加速度(m/s^2)に変換する
-// acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g
-// acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy;
-// acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy;
-//
-// // 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(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s)
-// gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy;
-// gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz;
-//
-// Matrix magraw(3,1);
-// magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x);
-// magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y);
-// magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z);
-//
-// //magres = magCalibrator.calcResidial(magraw);
-// //if(magres > magresThreshold){
-// // magCalibrator.updateParams(magraw,0.001f);
-// //};
-// Matrix magmod = magraw;
-// mag.x = magmod(1,1);
-// mag.y = magmod(2,1);
-// mag.z = magmod(3,1);
-//
-// palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);;
-//
-// if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
-// acc.z += -9.8f;
-// mag.x += 0.5;
-// }
-//}
-//
-//void getHilGPSval()
-//{
-// float sigma_vi = 0.1f;
-// float sigma_pi = 1.0f;
-//
-// //GPSの速度情報m/s
-// vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn();
-// vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn();
-// vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn();
-//
-// //GPSの位置情報m/s
-// pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn();
-// pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn();
-// pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn();
-//
-//}
-//
-//float randn()
-//{
-// float x = (float)rand()/RAND_MAX;
-// float y = (float)rand()/RAND_MAX;
-// float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y);
-// return z1;
-//}
\ No newline at end of file
+#include "global.hpp"
+
+void getHilIMUval()
+{
+ switch(vp.commandIndex){
+ case 1:
+ NVIC_SystemReset();
+ break;
+ default :
+ break;
+ }
+ rpy_align(0) = 0.0f;
+ rpy_align(1) = 0.0f;
+ accref(2) = 1.0f;
+
+
+ lsm.readAccel();
+ lsm.readMag();
+ lsm.readGyro();
+
+ float accmx = lsm.ax * 9.8f - agoffset[0];
+ float accmy = lsm.ay * 9.8f - agoffset[1];
+ float accmz = lsm.az * 9.8f - agoffset[2];
+ float gyromx = (lsm.gx * M_PI_F / 180.0f) - agoffset[3];
+ float gyromy = (lsm.gy * M_PI_F / 180.0f) - agoffset[4];
+ float gyromz = (lsm.gz * M_PI_F / 180.0f) - agoffset[5];
+
+ // gx gy gz ax ay az
+ // 加速度値を分解能で割って加速度(m/s^2)に変換する
+ acc(0) = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g
+ acc(1) = 9.8f*float(vp.accData[1]) / 4096.0f + accmy;
+ acc(2) = 9.8f*float(vp.accData[2]) / 4096.0f + accmy;
+
+ // 角速度値を分解能で割って角速度(rad per sec)に変換する
+ gyro(0) = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s)
+ gyro(1) = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy;
+ gyro(2) = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz;
+
+ Vector3f magraw;
+ magraw(0) = float(vp.magData[0])/1000.0f + (lsm.mx-magref(0));
+ magraw(1) = float(vp.magData[1])/1000.0f + (lsm.my-magref(1));
+ magraw(2) = float(vp.magData[2])/1000.0f + (lsm.mz-magref(2));
+
+ //magres = magCalibrator.calcResidial(magraw);
+ //if(magres > magresThreshold){
+ // magCalibrator.updateParams(magraw,0.001f);
+ //};
+ Vector3f magmod = magraw;
+ mag(0) = magmod(0);
+ mag(1) = magmod(1);
+ mag(2) = magmod(2);
+
+ palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);;
+
+ if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){
+ acc(2) += -9.8f;
+ mag(0) += 0.5;
+ }
+}
+
+void getHilGPSval()
+{
+ float sigma_vi = 0.1f;
+ float sigma_pi = 1.0f;
+
+ //GPSの速度情報m/s
+ vi(0) = float(vp.viData[0])/1000.0f + sigma_vi*randn();
+ vi(1) = float(vp.viData[1])/1000.0f + sigma_vi*randn();
+ vi(2) = float(vp.viData[2])/1000.0f + sigma_vi*randn();
+
+ //GPSの位置情報m/s
+ pi(0) = float(vp.piData[0])/1.0f + sigma_pi*randn();
+ pi(1) = float(vp.piData[1])/1.0f + sigma_pi*randn();
+ pi(2) = float(vp.piData[2])/1.0f + sigma_pi*randn();
+
+}
+
+float randn()
+{
+ float x = (float)rand()/RAND_MAX;
+ float y = (float)rand()/RAND_MAX;
+ float z1 = std::sqrt(-2.0 * std::log(x)) * std::cos(2.0 * M_PI_F * y);
+ return z1;
+}
\ No newline at end of file