MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@12:0d978eb4d639, 2015-06-16 (annotated)
- Committer:
- ojan
- Date:
- Tue Jun 16 17:04:58 2015 +0000
- Revision:
- 12:0d978eb4d639
- Parent:
- 11:083c8c9a5b84
- Child:
- 13:df1e8a650185
add angle estimation with Kalman filter (unsuccessful)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ojan | 0:bc6f14fc60c7 | 1 | #include "mbed.h" |
ojan | 0:bc6f14fc60c7 | 2 | #include "MPU6050.h" |
ojan | 0:bc6f14fc60c7 | 3 | #include "HMC5883L.h" |
ojan | 0:bc6f14fc60c7 | 4 | #include "LPS25H.h" |
ojan | 1:6cd6d2760856 | 5 | #include "GMS6_CR6.h" |
ojan | 0:bc6f14fc60c7 | 6 | #include "ErrorLogger.h" |
ojan | 0:bc6f14fc60c7 | 7 | #include "Vector.h" |
ojan | 3:5358a691a100 | 8 | #include "Matrix.h" |
ojan | 3:5358a691a100 | 9 | #include "Vector_Matrix_operator.h" |
ojan | 0:bc6f14fc60c7 | 10 | #include "myConstants.h" |
onaka | 7:0ec343d29641 | 11 | #include "SDFileSystem.h" |
onaka | 7:0ec343d29641 | 12 | #include "BufferedSerial.h" |
onaka | 7:0ec343d29641 | 13 | #include "ConfigFile.h" |
ojan | 0:bc6f14fc60c7 | 14 | |
ojan | 0:bc6f14fc60c7 | 15 | /********** private define **********/ |
ojan | 0:bc6f14fc60c7 | 16 | #define TRUE 1 |
ojan | 0:bc6f14fc60c7 | 17 | #define FALSE 0 |
ojan | 8:602865d8fca3 | 18 | |
ojan | 9:6d4578dcc1ed | 19 | #define x 1 |
ojan | 9:6d4578dcc1ed | 20 | #define y 2 |
ojan | 9:6d4578dcc1ed | 21 | #define z 3 |
ojan | 9:6d4578dcc1ed | 22 | |
ojan | 8:602865d8fca3 | 23 | const float dt = 0.1f; // 割り込み周期(s) |
ojan | 8:602865d8fca3 | 24 | const float ServoMax = 0.0023f; // サーボの最大パルス長(s) |
ojan | 8:602865d8fca3 | 25 | const float ServoMin = 0.0006f; // サーボの最小パルス長(s) |
ojan | 9:6d4578dcc1ed | 26 | const float PullMax = 25.0f; // 引っ張れる紐の最大量(mm) |
ojan | 0:bc6f14fc60c7 | 27 | /********** private macro **********/ |
ojan | 1:6cd6d2760856 | 28 | |
ojan | 0:bc6f14fc60c7 | 29 | /********** private typedef **********/ |
ojan | 1:6cd6d2760856 | 30 | |
ojan | 0:bc6f14fc60c7 | 31 | /********** private variables **********/ |
ojan | 10:8ee11e412ad7 | 32 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 10:8ee11e412ad7 | 33 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 10:8ee11e412ad7 | 34 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 10:8ee11e412ad7 | 35 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 10:8ee11e412ad7 | 36 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 10:8ee11e412ad7 | 37 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 38 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 39 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 7:0ec343d29641 | 40 | SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD |
onaka | 7:0ec343d29641 | 41 | BufferedSerial xbee(PA_9, PA_10, PC_1); // Xbee |
onaka | 7:0ec343d29641 | 42 | ConfigFile cfg; //ConfigFile |
ojan | 10:8ee11e412ad7 | 43 | PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力 |
ojan | 10:8ee11e412ad7 | 44 | AnalogIn optSensor(PC_0); // 照度センサ用アナログ入力 |
ojan | 10:8ee11e412ad7 | 45 | AnalogIn servoVcc(PA_0); // バッテリー電圧監視用アナログ入力(サーボ用) |
ojan | 10:8ee11e412ad7 | 46 | AnalogIn logicVcc(PA_1); // バッテリー電圧監視用アナログ入力(ロジック用) |
ojan | 10:8ee11e412ad7 | 47 | Ticker INT_timer; // 割り込みタイマー |
ojan | 0:bc6f14fc60c7 | 48 | |
ojan | 8:602865d8fca3 | 49 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 8:602865d8fca3 | 50 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 8:602865d8fca3 | 51 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 8:602865d8fca3 | 52 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 8:602865d8fca3 | 53 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 8:602865d8fca3 | 54 | float raw_press; // 気圧(hPa) 生 |
ojan | 8:602865d8fca3 | 55 | Vector acc(3); // 加速度(m/s^2) |
ojan | 8:602865d8fca3 | 56 | Vector gyro(3); // 角速度(deg/s) |
ojan | 8:602865d8fca3 | 57 | Vector geomag(3); // 地磁気(?) |
ojan | 8:602865d8fca3 | 58 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 59 | |
ojan | 8:602865d8fca3 | 60 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 8:602865d8fca3 | 61 | Vector g(3); // 重力ベクトル |
ojan | 9:6d4578dcc1ed | 62 | Vector p(2); // 位置情報(経度, 緯度) |
ojan | 9:6d4578dcc1ed | 63 | Vector pre_p(2); // 過去の位置情報(経度, 緯度) |
ojan | 9:6d4578dcc1ed | 64 | int UTC_t = 0; // UTC時刻 |
ojan | 9:6d4578dcc1ed | 65 | int pre_UTC_t = 0; // 前のUTC時刻 |
ojan | 8:602865d8fca3 | 66 | //Vector n(3); // 地磁気ベクトル |
ojan | 8:602865d8fca3 | 67 | |
ojan | 9:6d4578dcc1ed | 68 | Vector b_f(3); // 機体座標に固定された、機体前方向きのベクトル(x軸) |
ojan | 9:6d4578dcc1ed | 69 | Vector b_u(3); // 機体座標に固定された、機体上方向きのベクトル(z軸) |
ojan | 9:6d4578dcc1ed | 70 | Vector b_l(3); // 機体座標に固定された、機体左方向きのベクトル(y軸) |
ojan | 9:6d4578dcc1ed | 71 | |
ojan | 9:6d4578dcc1ed | 72 | Vector r_f(3); // 参照座標に固定された、北向きのベクトル(X軸) |
ojan | 9:6d4578dcc1ed | 73 | Vector r_u(3); // 参照座標に固定された、上向きのベクトル(Z軸) |
ojan | 9:6d4578dcc1ed | 74 | Vector r_l(3); // 参照座標に固定された、西向きのベクトル(Y軸) |
ojan | 9:6d4578dcc1ed | 75 | |
ojan | 9:6d4578dcc1ed | 76 | int pull_L = 0; // 左サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 77 | int pull_R = 0; // 右サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 78 | |
ojan | 9:6d4578dcc1ed | 79 | float yaw = 0.0f; // 本体のヨー角(deg) |
ojan | 9:6d4578dcc1ed | 80 | float pitch = 0.0f; // 本体のピッチ角(deg) |
ojan | 9:6d4578dcc1ed | 81 | float roll = 0.0f; // 本体のロール角(deg) |
ojan | 3:5358a691a100 | 82 | |
onaka | 7:0ec343d29641 | 83 | /** config.txt ** |
onaka | 7:0ec343d29641 | 84 | * #から始めるのはコメント行 |
onaka | 7:0ec343d29641 | 85 | * #イコールの前後に空白を入れない |
onaka | 7:0ec343d29641 | 86 | * target_x=111.222 |
onaka | 7:0ec343d29641 | 87 | * target_y=33.444 |
onaka | 7:0ec343d29641 | 88 | */ |
onaka | 7:0ec343d29641 | 89 | float target_x, target_y; |
onaka | 7:0ec343d29641 | 90 | |
ojan | 3:5358a691a100 | 91 | /* ----- Kalman Filter ----- */ |
ojan | 11:083c8c9a5b84 | 92 | // 地磁気ベクトル用 |
ojan | 11:083c8c9a5b84 | 93 | Vector pri_x1(6); |
ojan | 11:083c8c9a5b84 | 94 | Matrix pri_P1(6, 6); |
ojan | 11:083c8c9a5b84 | 95 | Vector post_x1(6); |
ojan | 11:083c8c9a5b84 | 96 | Matrix post_P1(6, 6); |
ojan | 11:083c8c9a5b84 | 97 | Matrix F1(6, 6), H1(3, 6); |
ojan | 11:083c8c9a5b84 | 98 | Matrix R1(6, 6), Q1(3, 3); |
ojan | 11:083c8c9a5b84 | 99 | Matrix I1(6, 6); |
ojan | 11:083c8c9a5b84 | 100 | Matrix K1(6, 3); |
ojan | 11:083c8c9a5b84 | 101 | Matrix S1(3, 3), S_inv1(3, 3); |
ojan | 11:083c8c9a5b84 | 102 | |
ojan | 11:083c8c9a5b84 | 103 | // 重力ベクトル用 |
ojan | 11:083c8c9a5b84 | 104 | // ジャイロのバイアスも同時に推定する |
ojan | 12:0d978eb4d639 | 105 | Vector pri_x2(4); |
ojan | 12:0d978eb4d639 | 106 | Matrix pri_P2(4, 4); |
ojan | 12:0d978eb4d639 | 107 | Vector post_x2(4); |
ojan | 12:0d978eb4d639 | 108 | Matrix post_P2(4, 4); |
ojan | 12:0d978eb4d639 | 109 | Matrix F2(4, 4), H2(2, 4); |
ojan | 12:0d978eb4d639 | 110 | Matrix R2(4, 4), Q2(2, 2); |
ojan | 12:0d978eb4d639 | 111 | Matrix I2(4, 4); |
ojan | 12:0d978eb4d639 | 112 | Matrix K2(4, 2); |
ojan | 12:0d978eb4d639 | 113 | Matrix S2(2, 2), S_inv2(2, 2); |
ojan | 3:5358a691a100 | 114 | /* ----- ------------- ----- */ |
ojan | 3:5358a691a100 | 115 | |
ojan | 3:5358a691a100 | 116 | Timer timer; |
ojan | 3:5358a691a100 | 117 | |
onaka | 6:2b68f85a984a | 118 | char data[512] = {}; |
ojan | 1:6cd6d2760856 | 119 | |
ojan | 0:bc6f14fc60c7 | 120 | /********** private functions **********/ |
ojan | 10:8ee11e412ad7 | 121 | void LoadConfig(); // config読み取り |
ojan | 10:8ee11e412ad7 | 122 | int find_last(); // SDカード初期化用関数 |
ojan | 9:6d4578dcc1ed | 123 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 9:6d4578dcc1ed | 124 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 9:6d4578dcc1ed | 125 | float distance(Vector p1, Vector p2); // 緯度・経度の差から2点間の距離を算出(m) |
ojan | 9:6d4578dcc1ed | 126 | void INT_func(); // 割り込み用関数 |
ojan | 3:5358a691a100 | 127 | void toString(Matrix& m); |
ojan | 3:5358a691a100 | 128 | void toString(Vector& v); |
ojan | 1:6cd6d2760856 | 129 | |
ojan | 0:bc6f14fc60c7 | 130 | /********** main function **********/ |
ojan | 0:bc6f14fc60c7 | 131 | |
ojan | 0:bc6f14fc60c7 | 132 | int main() { |
ojan | 0:bc6f14fc60c7 | 133 | |
ojan | 0:bc6f14fc60c7 | 134 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 0:bc6f14fc60c7 | 135 | |
ojan | 0:bc6f14fc60c7 | 136 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 137 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 11:083c8c9a5b84 | 138 | /* |
onaka | 7:0ec343d29641 | 139 | //Config読み取り |
onaka | 7:0ec343d29641 | 140 | LoadConfig(); |
ojan | 3:5358a691a100 | 141 | |
onaka | 7:0ec343d29641 | 142 | //SDカード初期化 |
onaka | 7:0ec343d29641 | 143 | FILE *fp; |
onaka | 7:0ec343d29641 | 144 | char filename[15]; |
onaka | 7:0ec343d29641 | 145 | int n = find_last(); |
onaka | 7:0ec343d29641 | 146 | if(n < 0){ |
onaka | 7:0ec343d29641 | 147 | pc.printf("Could not read a SD Card.\n"); |
onaka | 7:0ec343d29641 | 148 | return 0; |
onaka | 7:0ec343d29641 | 149 | } |
onaka | 7:0ec343d29641 | 150 | sprintf(filename, "/sd/log%03d.csv", n+1); |
onaka | 7:0ec343d29641 | 151 | fp = fopen(filename, "w"); |
onaka | 7:0ec343d29641 | 152 | fprintf(fp, "log data\r\n"); |
onaka | 7:0ec343d29641 | 153 | xbee.printf("log data\r\n"); |
ojan | 11:083c8c9a5b84 | 154 | */ |
ojan | 10:8ee11e412ad7 | 155 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 8:602865d8fca3 | 156 | servoR.period(0.020f); |
ojan | 8:602865d8fca3 | 157 | |
onaka | 7:0ec343d29641 | 158 | //カルマンフィルタ初期化 |
ojan | 3:5358a691a100 | 159 | KalmanInit(); |
ojan | 3:5358a691a100 | 160 | |
ojan | 3:5358a691a100 | 161 | INT_timer.attach(&INT_func, dt); // 割り込み有効化(Freq = 0.01fなので、10msおきの割り込み) |
ojan | 1:6cd6d2760856 | 162 | |
ojan | 1:6cd6d2760856 | 163 | //重力ベクトルの初期化 |
ojan | 4:45dc5590abc0 | 164 | raw_g.SetComp(1, 0.0f); |
ojan | 4:45dc5590abc0 | 165 | raw_g.SetComp(2, 0.0f); |
ojan | 4:45dc5590abc0 | 166 | raw_g.SetComp(3, 1.0f); |
ojan | 0:bc6f14fc60c7 | 167 | |
ojan | 9:6d4578dcc1ed | 168 | // 機体に固定されたベクトルの初期化 |
ojan | 11:083c8c9a5b84 | 169 | b_f.SetComp(1, 1.0f); |
ojan | 9:6d4578dcc1ed | 170 | b_f.SetComp(2, 0.0f); |
ojan | 11:083c8c9a5b84 | 171 | b_f.SetComp(3, 0.0f); |
ojan | 11:083c8c9a5b84 | 172 | b_u.SetComp(1, 0.0f); |
ojan | 9:6d4578dcc1ed | 173 | b_u.SetComp(2, 0.0f); |
ojan | 11:083c8c9a5b84 | 174 | b_u.SetComp(3, 1.0f); |
ojan | 9:6d4578dcc1ed | 175 | b_l = Cross(b_u, b_f); |
ojan | 9:6d4578dcc1ed | 176 | |
ojan | 2:d2b60a1d0cd9 | 177 | /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */ |
ojan | 0:bc6f14fc60c7 | 178 | while(1) { |
ojan | 4:45dc5590abc0 | 179 | timer.stop(); |
ojan | 4:45dc5590abc0 | 180 | timer.reset(); |
ojan | 4:45dc5590abc0 | 181 | timer.start(); |
ojan | 3:5358a691a100 | 182 | // 0.1秒おきにセンサーの出力をpcへ出力 |
ojan | 4:45dc5590abc0 | 183 | myled = 1; // LED is ON |
ojan | 8:602865d8fca3 | 184 | |
ojan | 0:bc6f14fc60c7 | 185 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 0:bc6f14fc60c7 | 186 | |
ojan | 9:6d4578dcc1ed | 187 | // データ処理 |
ojan | 9:6d4578dcc1ed | 188 | { |
ojan | 9:6d4578dcc1ed | 189 | gms.read(); // GPSデータ取得 |
ojan | 9:6d4578dcc1ed | 190 | UTC_t = (int)gms.time; |
ojan | 9:6d4578dcc1ed | 191 | |
ojan | 9:6d4578dcc1ed | 192 | // 参照座標系の基底を求める |
ojan | 9:6d4578dcc1ed | 193 | r_u = g; |
ojan | 9:6d4578dcc1ed | 194 | r_f = geomag.GetPerpCompTo(g).Normalize(); |
ojan | 9:6d4578dcc1ed | 195 | r_l = Cross(r_u, r_f); |
ojan | 9:6d4578dcc1ed | 196 | |
ojan | 11:083c8c9a5b84 | 197 | |
ojan | 9:6d4578dcc1ed | 198 | // 回転行列を経由してオイラー角を求める |
ojan | 9:6d4578dcc1ed | 199 | // オイラー角はヨー・ピッチ・ロールの順に回転したものとする |
ojan | 9:6d4578dcc1ed | 200 | // 各オイラー角を求めるのに回転行列の全成分は要らないので、一部だけ計算する。 |
ojan | 9:6d4578dcc1ed | 201 | |
ojan | 9:6d4578dcc1ed | 202 | float R_11 = r_f * b_f; // 回転行列の(1,1)成分 |
ojan | 9:6d4578dcc1ed | 203 | float R_12 = r_f * b_l; // 回転行列の(1,2)成分 |
ojan | 9:6d4578dcc1ed | 204 | float R_13 = r_f * b_u; // 回転行列の(1,3)成分 |
ojan | 9:6d4578dcc1ed | 205 | float R_23 = r_l * b_u; // 回転行列の(2,3)成分 |
ojan | 9:6d4578dcc1ed | 206 | float R_33 = r_u * b_u; // 回転行列の(3,3)成分 |
ojan | 9:6d4578dcc1ed | 207 | |
ojan | 11:083c8c9a5b84 | 208 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG; |
ojan | 11:083c8c9a5b84 | 209 | roll = atan2(-R_23, R_33) * RAD_TO_DEG; |
ojan | 11:083c8c9a5b84 | 210 | pitch = asin(R_13) * RAD_TO_DEG; |
ojan | 12:0d978eb4d639 | 211 | /* |
ojan | 12:0d978eb4d639 | 212 | pc.printf("%.3f, %.3f, %.3f, %.3f\r\n", |
ojan | 12:0d978eb4d639 | 213 | gyro.GetComp(1), post_x2.GetComp(3), |
ojan | 12:0d978eb4d639 | 214 | gyro.GetComp(2), post_x2.GetComp(4)); |
ojan | 12:0d978eb4d639 | 215 | */ |
ojan | 11:083c8c9a5b84 | 216 | |
ojan | 12:0d978eb4d639 | 217 | /*pc.printf("%.3f, %.3f, %.3f\r\n", |
ojan | 12:0d978eb4d639 | 218 | yaw, roll, pitch); |
ojan | 12:0d978eb4d639 | 219 | */ |
ojan | 9:6d4578dcc1ed | 220 | |
ojan | 9:6d4578dcc1ed | 221 | if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら |
ojan | 9:6d4578dcc1ed | 222 | p.SetComp(1, gms.longitude * DEG_TO_RAD); |
ojan | 9:6d4578dcc1ed | 223 | p.SetComp(2, gms.latitude * DEG_TO_RAD); |
ojan | 9:6d4578dcc1ed | 224 | } else { // 更新されていなかったら |
ojan | 9:6d4578dcc1ed | 225 | |
ojan | 9:6d4578dcc1ed | 226 | } |
ojan | 9:6d4578dcc1ed | 227 | |
ojan | 9:6d4578dcc1ed | 228 | pre_p = p; |
ojan | 9:6d4578dcc1ed | 229 | pre_UTC_t = UTC_t; |
ojan | 9:6d4578dcc1ed | 230 | } |
ojan | 9:6d4578dcc1ed | 231 | |
ojan | 5:182f6356bce1 | 232 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 233 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 234 | |
ojan | 5:182f6356bce1 | 235 | sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", |
ojan | 5:182f6356bce1 | 236 | g.GetComp(1), g.GetComp(2), g.GetComp(3), |
ojan | 4:45dc5590abc0 | 237 | geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), |
ojan | 5:182f6356bce1 | 238 | press, gms.longitude, gms.latitude, |
ojan | 10:8ee11e412ad7 | 239 | sv, lv, optSensor.read_u16()); |
ojan | 11:083c8c9a5b84 | 240 | //fprintf(fp, data); |
ojan | 11:083c8c9a5b84 | 241 | //fflush(fp); |
ojan | 11:083c8c9a5b84 | 242 | //xbee.printf(data); |
ojan | 4:45dc5590abc0 | 243 | |
ojan | 0:bc6f14fc60c7 | 244 | INT_flag = TRUE; // 割り込み許可 |
ojan | 0:bc6f14fc60c7 | 245 | |
ojan | 5:182f6356bce1 | 246 | // 制御ルーチン |
ojan | 9:6d4578dcc1ed | 247 | { |
ojan | 11:083c8c9a5b84 | 248 | pull_L = (pull_L+5)%30; |
ojan | 11:083c8c9a5b84 | 249 | pull_R = (pull_R+5)%30; |
ojan | 11:083c8c9a5b84 | 250 | //pull_L = 0; |
ojan | 11:083c8c9a5b84 | 251 | //pull_R = 30; |
ojan | 9:6d4578dcc1ed | 252 | servoL.pulsewidth((ServoMax - ServoMin) * pull_L / PullMax + ServoMin); |
ojan | 9:6d4578dcc1ed | 253 | servoR.pulsewidth((ServoMax - ServoMin) * pull_R / PullMax + ServoMin); |
ojan | 8:602865d8fca3 | 254 | |
ojan | 9:6d4578dcc1ed | 255 | } |
ojan | 9:6d4578dcc1ed | 256 | |
ojan | 9:6d4578dcc1ed | 257 | myled = 0; // LED is OFF |
ojan | 11:083c8c9a5b84 | 258 | /*pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", |
ojan | 11:083c8c9a5b84 | 259 | post_x.GetComp(4), post_x.GetComp(5), post_x.GetComp(6), |
ojan | 11:083c8c9a5b84 | 260 | yaw, pitch, roll, |
ojan | 11:083c8c9a5b84 | 261 | geomag.GetNorm());*/ |
ojan | 5:182f6356bce1 | 262 | |
ojan | 9:6d4578dcc1ed | 263 | // ループはきっかり0.2秒ごと |
ojan | 9:6d4578dcc1ed | 264 | while(timer.read_ms() < 200); |
ojan | 5:182f6356bce1 | 265 | |
ojan | 4:45dc5590abc0 | 266 | |
ojan | 0:bc6f14fc60c7 | 267 | } |
ojan | 2:d2b60a1d0cd9 | 268 | |
ojan | 2:d2b60a1d0cd9 | 269 | /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */ |
onaka | 7:0ec343d29641 | 270 | //fclose(fp); |
onaka | 7:0ec343d29641 | 271 | } |
onaka | 7:0ec343d29641 | 272 | |
onaka | 7:0ec343d29641 | 273 | void LoadConfig(){ |
onaka | 7:0ec343d29641 | 274 | char value[20]; |
onaka | 7:0ec343d29641 | 275 | //Read a configuration file from a mbed. |
onaka | 7:0ec343d29641 | 276 | if (!cfg.read("/sd/config.txt")){ |
onaka | 7:0ec343d29641 | 277 | pc.printf("Config file does not exist\n"); |
onaka | 7:0ec343d29641 | 278 | }else{ |
onaka | 7:0ec343d29641 | 279 | //Get values |
onaka | 7:0ec343d29641 | 280 | if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value); |
onaka | 7:0ec343d29641 | 281 | else{ |
onaka | 7:0ec343d29641 | 282 | pc.printf("Failed to get value for target_x\n"); |
onaka | 7:0ec343d29641 | 283 | } |
onaka | 7:0ec343d29641 | 284 | if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value); |
onaka | 7:0ec343d29641 | 285 | else{ |
onaka | 7:0ec343d29641 | 286 | pc.printf("Failed to get value for target_y\n"); |
onaka | 7:0ec343d29641 | 287 | } |
onaka | 7:0ec343d29641 | 288 | } |
onaka | 7:0ec343d29641 | 289 | } |
onaka | 7:0ec343d29641 | 290 | |
onaka | 7:0ec343d29641 | 291 | int find_last() { |
onaka | 7:0ec343d29641 | 292 | int i, n = 0; |
onaka | 7:0ec343d29641 | 293 | char c; |
onaka | 7:0ec343d29641 | 294 | DIR *dp; |
onaka | 7:0ec343d29641 | 295 | struct dirent *dirst; |
onaka | 7:0ec343d29641 | 296 | dp = opendir("/sd/"); |
onaka | 7:0ec343d29641 | 297 | if (!dp){ |
onaka | 7:0ec343d29641 | 298 | pc.printf("Could not open directry.\n"); |
onaka | 7:0ec343d29641 | 299 | return -1; |
onaka | 7:0ec343d29641 | 300 | } |
onaka | 7:0ec343d29641 | 301 | while((dirst = readdir(dp)) != NULL) { |
onaka | 7:0ec343d29641 | 302 | if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) { |
onaka | 7:0ec343d29641 | 303 | n = i; |
onaka | 7:0ec343d29641 | 304 | } |
onaka | 7:0ec343d29641 | 305 | } |
onaka | 7:0ec343d29641 | 306 | closedir(dp); |
onaka | 7:0ec343d29641 | 307 | return n; |
ojan | 0:bc6f14fc60c7 | 308 | } |
ojan | 0:bc6f14fc60c7 | 309 | |
ojan | 3:5358a691a100 | 310 | void KalmanInit() { |
ojan | 11:083c8c9a5b84 | 311 | // 重力 |
ojan | 11:083c8c9a5b84 | 312 | { |
ojan | 11:083c8c9a5b84 | 313 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 12:0d978eb4d639 | 314 | float alpha_R2 = 0.001f; |
ojan | 12:0d978eb4d639 | 315 | float alpha_Q2 = 0.5f; |
ojan | 11:083c8c9a5b84 | 316 | R2 *= alpha_R2; |
ojan | 12:0d978eb4d639 | 317 | R2.SetComp(3, 3, 0.003f); |
ojan | 12:0d978eb4d639 | 318 | R2.SetComp(4, 4, 0.003f); |
ojan | 11:083c8c9a5b84 | 319 | Q2 *= alpha_Q2; |
ojan | 11:083c8c9a5b84 | 320 | |
ojan | 12:0d978eb4d639 | 321 | // 状態方程式のヤコビアンの初期値を代入(時間変化無し) |
ojan | 12:0d978eb4d639 | 322 | float f[16] = { |
ojan | 12:0d978eb4d639 | 323 | 1.0f, 0.0f, -dt, 0.0f, |
ojan | 12:0d978eb4d639 | 324 | 0.0f, 1.0f, 0.0f, -dt, |
ojan | 12:0d978eb4d639 | 325 | 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 12:0d978eb4d639 | 326 | 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 327 | }; |
ojan | 11:083c8c9a5b84 | 328 | |
ojan | 11:083c8c9a5b84 | 329 | F2.SetComps(f); |
ojan | 11:083c8c9a5b84 | 330 | |
ojan | 11:083c8c9a5b84 | 331 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 12:0d978eb4d639 | 332 | float h[8] = { |
ojan | 12:0d978eb4d639 | 333 | 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 12:0d978eb4d639 | 334 | 0.0f, 1.0f, 0.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 335 | }; |
ojan | 11:083c8c9a5b84 | 336 | |
ojan | 11:083c8c9a5b84 | 337 | H2.SetComps(h); |
ojan | 11:083c8c9a5b84 | 338 | } |
ojan | 3:5358a691a100 | 339 | |
ojan | 11:083c8c9a5b84 | 340 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 341 | { |
ojan | 11:083c8c9a5b84 | 342 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 11:083c8c9a5b84 | 343 | float alpha_R1 = 500.0f; |
ojan | 11:083c8c9a5b84 | 344 | float alpha_Q1 = 1000.0f; |
ojan | 11:083c8c9a5b84 | 345 | R1 *= alpha_R1; |
ojan | 11:083c8c9a5b84 | 346 | Q1 *= alpha_Q1; |
ojan | 11:083c8c9a5b84 | 347 | |
ojan | 11:083c8c9a5b84 | 348 | // 状態方程式のヤコビアンの初期値を代入(時間変化あり) |
ojan | 11:083c8c9a5b84 | 349 | float f[36] = { |
ojan | 11:083c8c9a5b84 | 350 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 351 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 352 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 353 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 354 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 355 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 356 | }; |
ojan | 11:083c8c9a5b84 | 357 | |
ojan | 11:083c8c9a5b84 | 358 | F1.SetComps(f); |
ojan | 11:083c8c9a5b84 | 359 | |
ojan | 11:083c8c9a5b84 | 360 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 11:083c8c9a5b84 | 361 | float h[18] = { |
ojan | 11:083c8c9a5b84 | 362 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 363 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 364 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 365 | }; |
ojan | 11:083c8c9a5b84 | 366 | |
ojan | 11:083c8c9a5b84 | 367 | H1.SetComps(h); |
ojan | 11:083c8c9a5b84 | 368 | } |
ojan | 3:5358a691a100 | 369 | } |
ojan | 3:5358a691a100 | 370 | |
ojan | 3:5358a691a100 | 371 | void KalmanUpdate() { |
ojan | 11:083c8c9a5b84 | 372 | { |
ojan | 12:0d978eb4d639 | 373 | // 入力ベクトル(角速度) |
ojan | 12:0d978eb4d639 | 374 | Vector u(4); |
ojan | 12:0d978eb4d639 | 375 | u.SetComp(1, raw_gyro.GetComp(1) * dt); |
ojan | 12:0d978eb4d639 | 376 | u.SetComp(2, raw_gyro.GetComp(2) * dt); |
ojan | 12:0d978eb4d639 | 377 | u.SetComp(3, 0.0f); |
ojan | 12:0d978eb4d639 | 378 | u.SetComp(4, 0.0f); |
ojan | 11:083c8c9a5b84 | 379 | |
ojan | 11:083c8c9a5b84 | 380 | // 事前推定値の更新 |
ojan | 11:083c8c9a5b84 | 381 | pri_x2 = F2 * post_x2; |
ojan | 11:083c8c9a5b84 | 382 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 383 | pri_P2 = F2 * post_P2 * F2.Transpose() + R2; |
ojan | 11:083c8c9a5b84 | 384 | |
ojan | 11:083c8c9a5b84 | 385 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 386 | S2 = Q2 + H2 * pri_P2 * H2.Transpose(); |
ojan | 11:083c8c9a5b84 | 387 | float det; |
ojan | 11:083c8c9a5b84 | 388 | if((det = S2.Inverse(S_inv2)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 389 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 390 | return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了 |
ojan | 11:083c8c9a5b84 | 391 | } |
ojan | 11:083c8c9a5b84 | 392 | K2 = pri_P2 * H2.Transpose() * S_inv2; |
ojan | 11:083c8c9a5b84 | 393 | |
ojan | 12:0d978eb4d639 | 394 | // 観測ベクトル(重力加速度ベクトルから算出した角度) |
ojan | 12:0d978eb4d639 | 395 | Vector alpha(2); |
ojan | 12:0d978eb4d639 | 396 | alpha.SetComp(1, -atan2(raw_acc.GetComp(2), raw_acc.GetComp(3))); |
ojan | 12:0d978eb4d639 | 397 | alpha.SetComp(2, -atan2(raw_acc.GetComp(1), raw_acc.GetComp(3))); |
ojan | 12:0d978eb4d639 | 398 | |
ojan | 11:083c8c9a5b84 | 399 | // 事後推定値の更新 |
ojan | 12:0d978eb4d639 | 400 | post_x2 = pri_x2 + K2 * (alpha - H2 * pri_x2); |
ojan | 11:083c8c9a5b84 | 401 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 402 | post_P2 = (I2 - K2 * H2) * pri_P2; |
ojan | 11:083c8c9a5b84 | 403 | } |
ojan | 3:5358a691a100 | 404 | |
ojan | 11:083c8c9a5b84 | 405 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 406 | { |
ojan | 11:083c8c9a5b84 | 407 | // ヤコビアンの更新 |
ojan | 11:083c8c9a5b84 | 408 | float f[36] = { |
ojan | 11:083c8c9a5b84 | 409 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 410 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 411 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 412 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 413 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 11:083c8c9a5b84 | 414 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 415 | }; |
ojan | 11:083c8c9a5b84 | 416 | |
ojan | 11:083c8c9a5b84 | 417 | F1.SetComps(f); |
ojan | 11:083c8c9a5b84 | 418 | |
ojan | 11:083c8c9a5b84 | 419 | // 事前推定値の更新 |
ojan | 11:083c8c9a5b84 | 420 | pri_x1 = F1 * post_x1; |
ojan | 11:083c8c9a5b84 | 421 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 422 | pri_P1 = F1 * post_P1 * F1.Transpose() + R1; |
ojan | 11:083c8c9a5b84 | 423 | |
ojan | 11:083c8c9a5b84 | 424 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 425 | S1 = Q1 + H1 * pri_P1 * H1.Transpose(); |
ojan | 11:083c8c9a5b84 | 426 | float det; |
ojan | 11:083c8c9a5b84 | 427 | if((det = S1.Inverse(S_inv1)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 428 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 429 | return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了 |
ojan | 11:083c8c9a5b84 | 430 | } |
ojan | 11:083c8c9a5b84 | 431 | K1 = pri_P1 * H1.Transpose() * S_inv1; |
ojan | 11:083c8c9a5b84 | 432 | |
ojan | 11:083c8c9a5b84 | 433 | // 事後推定値の更新 |
ojan | 11:083c8c9a5b84 | 434 | post_x1 = pri_x1 + K1 * (raw_geomag - H1 * pri_x1); |
ojan | 11:083c8c9a5b84 | 435 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 436 | post_P1 = (I1 - K1 * H1) * pri_P1; |
ojan | 3:5358a691a100 | 437 | } |
ojan | 3:5358a691a100 | 438 | } |
ojan | 3:5358a691a100 | 439 | |
ojan | 9:6d4578dcc1ed | 440 | float distance(Vector p1, Vector p2) { |
ojan | 9:6d4578dcc1ed | 441 | if(p1.GetDim() != p2.GetDim()) return 0.0f; |
ojan | 9:6d4578dcc1ed | 442 | |
ojan | 9:6d4578dcc1ed | 443 | float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f; |
ojan | 9:6d4578dcc1ed | 444 | float s_mu_y = sin(mu_y); |
ojan | 9:6d4578dcc1ed | 445 | float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y); |
ojan | 9:6d4578dcc1ed | 446 | float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w); |
ojan | 9:6d4578dcc1ed | 447 | float n = GPS_A / w; |
ojan | 9:6d4578dcc1ed | 448 | float d1 = m * (p1.GetComp(2) - p2.GetComp(2)); |
ojan | 9:6d4578dcc1ed | 449 | float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1)); |
ojan | 9:6d4578dcc1ed | 450 | |
ojan | 9:6d4578dcc1ed | 451 | return sqrt(d1 * d1 + d2 * d2); |
ojan | 9:6d4578dcc1ed | 452 | } |
ojan | 9:6d4578dcc1ed | 453 | |
ojan | 9:6d4578dcc1ed | 454 | /* -------------------- 割り込み関数 -------------------- */ |
ojan | 9:6d4578dcc1ed | 455 | |
ojan | 0:bc6f14fc60c7 | 456 | void INT_func() { |
ojan | 4:45dc5590abc0 | 457 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 458 | mpu.read(); |
ojan | 4:45dc5590abc0 | 459 | hmc.read(); |
ojan | 4:45dc5590abc0 | 460 | |
ojan | 4:45dc5590abc0 | 461 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 462 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 463 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 464 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 465 | } |
ojan | 0:bc6f14fc60c7 | 466 | |
ojan | 4:45dc5590abc0 | 467 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 468 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 469 | raw_g = raw_g.Normalize(); |
ojan | 4:45dc5590abc0 | 470 | |
ojan | 4:45dc5590abc0 | 471 | KalmanUpdate(); |
ojan | 0:bc6f14fc60c7 | 472 | |
ojan | 4:45dc5590abc0 | 473 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 474 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 475 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 476 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 477 | } |
ojan | 4:45dc5590abc0 | 478 | //pc.printf("%d(us)\r\n", timer.read_us()); |
ojan | 4:45dc5590abc0 | 479 | |
ojan | 4:45dc5590abc0 | 480 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 481 | g = raw_g; |
ojan | 4:45dc5590abc0 | 482 | for(int i=0; i<3; i++) { |
ojan | 11:083c8c9a5b84 | 483 | geomag.SetComp(i+1, post_x1.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 484 | } |
ojan | 4:45dc5590abc0 | 485 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 486 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 487 | press = raw_press; |
ojan | 1:6cd6d2760856 | 488 | |
ojan | 0:bc6f14fc60c7 | 489 | } |
ojan | 3:5358a691a100 | 490 | } |
ojan | 3:5358a691a100 | 491 | |
ojan | 9:6d4578dcc1ed | 492 | /* -------------------- デバッグ用関数 -------------------- */ |
ojan | 9:6d4578dcc1ed | 493 | |
ojan | 3:5358a691a100 | 494 | void toString(Matrix& m) { |
ojan | 3:5358a691a100 | 495 | |
ojan | 3:5358a691a100 | 496 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 497 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 498 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 499 | } |
ojan | 3:5358a691a100 | 500 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 501 | } |
ojan | 3:5358a691a100 | 502 | |
ojan | 3:5358a691a100 | 503 | } |
ojan | 3:5358a691a100 | 504 | |
ojan | 3:5358a691a100 | 505 | void toString(Vector& v) { |
ojan | 3:5358a691a100 | 506 | |
ojan | 3:5358a691a100 | 507 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 508 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 509 | } |
ojan | 3:5358a691a100 | 510 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 511 | |
ojan | 0:bc6f14fc60c7 | 512 | } |