MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@7:0ec343d29641, 2015-06-15 (annotated)
- Committer:
- onaka
- Date:
- Mon Jun 15 00:50:28 2015 +0000
- Revision:
- 7:0ec343d29641
- Parent:
- 6:2b68f85a984a
- Child:
- 10:8ee11e412ad7
add config loader
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 | 0:bc6f14fc60c7 | 18 | /********** private macro **********/ |
ojan | 1:6cd6d2760856 | 19 | |
ojan | 0:bc6f14fc60c7 | 20 | /********** private typedef **********/ |
ojan | 1:6cd6d2760856 | 21 | |
ojan | 0:bc6f14fc60c7 | 22 | /********** private variables **********/ |
onaka | 7:0ec343d29641 | 23 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
onaka | 7:0ec343d29641 | 24 | I2C i2c(PB_9, PB_8); // I2Cポート |
onaka | 7:0ec343d29641 | 25 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
onaka | 7:0ec343d29641 | 26 | HMC5883L hmc(&i2c); // 地磁気センサ |
onaka | 7:0ec343d29641 | 27 | LPS25H lps(&i2c); // 気圧センサ |
onaka | 7:0ec343d29641 | 28 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
onaka | 7:0ec343d29641 | 29 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
onaka | 7:0ec343d29641 | 30 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 7:0ec343d29641 | 31 | Ticker INT_timer; // 割り込みタイマー |
onaka | 7:0ec343d29641 | 32 | SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD |
onaka | 7:0ec343d29641 | 33 | BufferedSerial xbee(PA_9, PA_10, PC_1); // Xbee |
onaka | 7:0ec343d29641 | 34 | ConfigFile cfg; //ConfigFile |
onaka | 7:0ec343d29641 | 35 | PwmOut servoL(PC_7), servoR(PB_6); |
onaka | 7:0ec343d29641 | 36 | AnalogIn rf(PC_0); |
onaka | 7:0ec343d29641 | 37 | AnalogIn servoVcc(PA_0); |
onaka | 7:0ec343d29641 | 38 | AnalogIn logicVcc(PA_1); |
ojan | 5:182f6356bce1 | 39 | |
ojan | 0:bc6f14fc60c7 | 40 | |
ojan | 3:5358a691a100 | 41 | const float dt = 0.1f; // 割り込み周期(s) |
ojan | 0:bc6f14fc60c7 | 42 | |
ojan | 0:bc6f14fc60c7 | 43 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 3:5358a691a100 | 44 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 4:45dc5590abc0 | 45 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 4:45dc5590abc0 | 46 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 4:45dc5590abc0 | 47 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 4:45dc5590abc0 | 48 | float raw_press; // 気圧(hPa) 生 |
ojan | 1:6cd6d2760856 | 49 | Vector acc(3); // 加速度(m/s^2) |
ojan | 1:6cd6d2760856 | 50 | Vector gyro(3); // 角速度(deg/s) |
ojan | 1:6cd6d2760856 | 51 | Vector geomag(3); // 地磁気(?) |
ojan | 0:bc6f14fc60c7 | 52 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 53 | |
ojan | 4:45dc5590abc0 | 54 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 4:45dc5590abc0 | 55 | Vector g(3); // 重力ベクトル 生 |
ojan | 3:5358a691a100 | 56 | //Vector n(3); // 地磁気ベクトル |
ojan | 3:5358a691a100 | 57 | |
onaka | 7:0ec343d29641 | 58 | /** config.txt ** |
onaka | 7:0ec343d29641 | 59 | * #から始めるのはコメント行 |
onaka | 7:0ec343d29641 | 60 | * #イコールの前後に空白を入れない |
onaka | 7:0ec343d29641 | 61 | * target_x=111.222 |
onaka | 7:0ec343d29641 | 62 | * target_y=33.444 |
onaka | 7:0ec343d29641 | 63 | */ |
onaka | 7:0ec343d29641 | 64 | float target_x, target_y; |
onaka | 7:0ec343d29641 | 65 | |
ojan | 3:5358a691a100 | 66 | /* ----- Kalman Filter ----- */ |
ojan | 3:5358a691a100 | 67 | Vector pri_x(6); |
ojan | 3:5358a691a100 | 68 | Matrix pri_P(6, 6); |
ojan | 3:5358a691a100 | 69 | Vector post_x(6); |
ojan | 3:5358a691a100 | 70 | Matrix post_P(6, 6); |
ojan | 3:5358a691a100 | 71 | Matrix F(6, 6), H(3, 6); |
ojan | 3:5358a691a100 | 72 | Matrix R(6, 6), Q(3, 3); |
ojan | 3:5358a691a100 | 73 | Matrix I(6, 6); |
ojan | 3:5358a691a100 | 74 | Matrix K(6, 3); |
ojan | 3:5358a691a100 | 75 | Matrix S(3, 3), inv(3, 3); |
ojan | 3:5358a691a100 | 76 | /* ----- ------------- ----- */ |
ojan | 3:5358a691a100 | 77 | |
ojan | 3:5358a691a100 | 78 | Timer timer; |
ojan | 3:5358a691a100 | 79 | |
onaka | 6:2b68f85a984a | 80 | char data[512] = {}; |
ojan | 1:6cd6d2760856 | 81 | |
ojan | 0:bc6f14fc60c7 | 82 | /********** private functions **********/ |
onaka | 7:0ec343d29641 | 83 | void LoadConfig(); // config読み取り |
onaka | 7:0ec343d29641 | 84 | int find_last(); // SDカード初期化用関数 |
ojan | 4:45dc5590abc0 | 85 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 4:45dc5590abc0 | 86 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 0:bc6f14fc60c7 | 87 | void INT_func(); // 割り込み用関数 |
ojan | 3:5358a691a100 | 88 | void toString(Matrix& m); |
ojan | 3:5358a691a100 | 89 | void toString(Vector& v); |
ojan | 1:6cd6d2760856 | 90 | |
ojan | 0:bc6f14fc60c7 | 91 | /********** main function **********/ |
ojan | 0:bc6f14fc60c7 | 92 | |
ojan | 0:bc6f14fc60c7 | 93 | int main() { |
ojan | 0:bc6f14fc60c7 | 94 | |
ojan | 0:bc6f14fc60c7 | 95 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 0:bc6f14fc60c7 | 96 | |
ojan | 0:bc6f14fc60c7 | 97 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 98 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 0:bc6f14fc60c7 | 99 | |
onaka | 7:0ec343d29641 | 100 | //Config読み取り |
onaka | 7:0ec343d29641 | 101 | LoadConfig(); |
ojan | 3:5358a691a100 | 102 | |
onaka | 7:0ec343d29641 | 103 | //SDカード初期化 |
onaka | 7:0ec343d29641 | 104 | FILE *fp; |
onaka | 7:0ec343d29641 | 105 | char filename[15]; |
onaka | 7:0ec343d29641 | 106 | int n = find_last(); |
onaka | 7:0ec343d29641 | 107 | if(n < 0){ |
onaka | 7:0ec343d29641 | 108 | pc.printf("Could not read a SD Card.\n"); |
onaka | 7:0ec343d29641 | 109 | return 0; |
onaka | 7:0ec343d29641 | 110 | } |
onaka | 7:0ec343d29641 | 111 | sprintf(filename, "/sd/log%03d.csv", n+1); |
onaka | 7:0ec343d29641 | 112 | fp = fopen(filename, "w"); |
onaka | 7:0ec343d29641 | 113 | fprintf(fp, "log data\r\n"); |
onaka | 7:0ec343d29641 | 114 | xbee.printf("log data\r\n"); |
onaka | 7:0ec343d29641 | 115 | |
onaka | 7:0ec343d29641 | 116 | //カルマンフィルタ初期化 |
ojan | 3:5358a691a100 | 117 | KalmanInit(); |
ojan | 3:5358a691a100 | 118 | |
ojan | 3:5358a691a100 | 119 | 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 | 120 | |
ojan | 1:6cd6d2760856 | 121 | //重力ベクトルの初期化 |
ojan | 4:45dc5590abc0 | 122 | raw_g.SetComp(1, 0.0f); |
ojan | 4:45dc5590abc0 | 123 | raw_g.SetComp(2, 0.0f); |
ojan | 4:45dc5590abc0 | 124 | raw_g.SetComp(3, 1.0f); |
ojan | 0:bc6f14fc60c7 | 125 | |
ojan | 2:d2b60a1d0cd9 | 126 | /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */ |
ojan | 0:bc6f14fc60c7 | 127 | while(1) { |
ojan | 4:45dc5590abc0 | 128 | timer.stop(); |
ojan | 4:45dc5590abc0 | 129 | timer.reset(); |
ojan | 4:45dc5590abc0 | 130 | timer.start(); |
ojan | 3:5358a691a100 | 131 | // 0.1秒おきにセンサーの出力をpcへ出力 |
ojan | 4:45dc5590abc0 | 132 | myled = 1; // LED is ON |
ojan | 4:45dc5590abc0 | 133 | wait(0.05f); // 50 ms |
ojan | 4:45dc5590abc0 | 134 | myled = 0; // LED is OFF |
ojan | 1:6cd6d2760856 | 135 | |
ojan | 0:bc6f14fc60c7 | 136 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 0:bc6f14fc60c7 | 137 | |
ojan | 5:182f6356bce1 | 138 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 139 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 140 | |
ojan | 5:182f6356bce1 | 141 | sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", |
ojan | 5:182f6356bce1 | 142 | g.GetComp(1), g.GetComp(2), g.GetComp(3), |
ojan | 4:45dc5590abc0 | 143 | geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), |
ojan | 5:182f6356bce1 | 144 | press, gms.longitude, gms.latitude, |
ojan | 5:182f6356bce1 | 145 | sv, lv, gms.Ns); |
onaka | 7:0ec343d29641 | 146 | fprintf(fp, data); |
onaka | 7:0ec343d29641 | 147 | xbee.printf(data); |
ojan | 4:45dc5590abc0 | 148 | |
ojan | 0:bc6f14fc60c7 | 149 | INT_flag = TRUE; // 割り込み許可 |
ojan | 0:bc6f14fc60c7 | 150 | |
ojan | 4:45dc5590abc0 | 151 | pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f); |
ojan | 4:45dc5590abc0 | 152 | |
ojan | 5:182f6356bce1 | 153 | // 制御ルーチン |
ojan | 5:182f6356bce1 | 154 | { |
ojan | 5:182f6356bce1 | 155 | } |
ojan | 5:182f6356bce1 | 156 | |
ojan | 5:182f6356bce1 | 157 | |
ojan | 4:45dc5590abc0 | 158 | // ループはきっかり1秒ごと |
ojan | 4:45dc5590abc0 | 159 | while(timer.read_ms() < 1000); |
ojan | 4:45dc5590abc0 | 160 | |
ojan | 0:bc6f14fc60c7 | 161 | } |
ojan | 2:d2b60a1d0cd9 | 162 | |
ojan | 2:d2b60a1d0cd9 | 163 | /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */ |
onaka | 7:0ec343d29641 | 164 | //fclose(fp); |
onaka | 7:0ec343d29641 | 165 | } |
onaka | 7:0ec343d29641 | 166 | |
onaka | 7:0ec343d29641 | 167 | void LoadConfig(){ |
onaka | 7:0ec343d29641 | 168 | char value[20]; |
onaka | 7:0ec343d29641 | 169 | //Read a configuration file from a mbed. |
onaka | 7:0ec343d29641 | 170 | if (!cfg.read("/sd/config.txt")){ |
onaka | 7:0ec343d29641 | 171 | pc.printf("Config file does not exist\n"); |
onaka | 7:0ec343d29641 | 172 | }else{ |
onaka | 7:0ec343d29641 | 173 | //Get values |
onaka | 7:0ec343d29641 | 174 | if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value); |
onaka | 7:0ec343d29641 | 175 | else{ |
onaka | 7:0ec343d29641 | 176 | pc.printf("Failed to get value for target_x\n"); |
onaka | 7:0ec343d29641 | 177 | } |
onaka | 7:0ec343d29641 | 178 | if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value); |
onaka | 7:0ec343d29641 | 179 | else{ |
onaka | 7:0ec343d29641 | 180 | pc.printf("Failed to get value for target_y\n"); |
onaka | 7:0ec343d29641 | 181 | } |
onaka | 7:0ec343d29641 | 182 | } |
onaka | 7:0ec343d29641 | 183 | } |
onaka | 7:0ec343d29641 | 184 | |
onaka | 7:0ec343d29641 | 185 | int find_last() { |
onaka | 7:0ec343d29641 | 186 | int i, n = 0; |
onaka | 7:0ec343d29641 | 187 | char c; |
onaka | 7:0ec343d29641 | 188 | DIR *dp; |
onaka | 7:0ec343d29641 | 189 | struct dirent *dirst; |
onaka | 7:0ec343d29641 | 190 | dp = opendir("/sd/"); |
onaka | 7:0ec343d29641 | 191 | if (!dp){ |
onaka | 7:0ec343d29641 | 192 | pc.printf("Could not open directry.\n"); |
onaka | 7:0ec343d29641 | 193 | return -1; |
onaka | 7:0ec343d29641 | 194 | } |
onaka | 7:0ec343d29641 | 195 | while((dirst = readdir(dp)) != NULL) { |
onaka | 7:0ec343d29641 | 196 | if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) { |
onaka | 7:0ec343d29641 | 197 | n = i; |
onaka | 7:0ec343d29641 | 198 | } |
onaka | 7:0ec343d29641 | 199 | } |
onaka | 7:0ec343d29641 | 200 | closedir(dp); |
onaka | 7:0ec343d29641 | 201 | return n; |
ojan | 0:bc6f14fc60c7 | 202 | } |
ojan | 0:bc6f14fc60c7 | 203 | |
ojan | 3:5358a691a100 | 204 | void KalmanInit() { |
ojan | 3:5358a691a100 | 205 | |
ojan | 3:5358a691a100 | 206 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 3:5358a691a100 | 207 | float alpha_R = 60.0f; |
ojan | 3:5358a691a100 | 208 | float alpha_Q = 100.0f; |
ojan | 3:5358a691a100 | 209 | R *= alpha_R; |
ojan | 3:5358a691a100 | 210 | Q *= alpha_Q; |
ojan | 3:5358a691a100 | 211 | |
ojan | 3:5358a691a100 | 212 | // 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 | 3:5358a691a100 | 213 | float f[36] = { |
ojan | 4:45dc5590abc0 | 214 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 215 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 216 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 217 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 218 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 219 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 220 | }; |
ojan | 3:5358a691a100 | 221 | |
ojan | 3:5358a691a100 | 222 | F.SetComps(f); |
ojan | 3:5358a691a100 | 223 | |
ojan | 3:5358a691a100 | 224 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 3:5358a691a100 | 225 | float h[18] = { |
ojan | 3:5358a691a100 | 226 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 227 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 228 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 229 | }; |
ojan | 3:5358a691a100 | 230 | |
ojan | 3:5358a691a100 | 231 | H.SetComps(h); |
ojan | 3:5358a691a100 | 232 | } |
ojan | 3:5358a691a100 | 233 | |
ojan | 3:5358a691a100 | 234 | void KalmanUpdate() { |
ojan | 3:5358a691a100 | 235 | // ヤコビアンの更新 |
ojan | 3:5358a691a100 | 236 | float f[36] = { |
ojan | 4:45dc5590abc0 | 237 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 238 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 239 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 240 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 241 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 242 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 243 | }; |
ojan | 3:5358a691a100 | 244 | |
ojan | 3:5358a691a100 | 245 | F.SetComps(f); |
ojan | 3:5358a691a100 | 246 | |
ojan | 3:5358a691a100 | 247 | // 事前推定値の更新 |
ojan | 3:5358a691a100 | 248 | pri_x = F * post_x; |
ojan | 3:5358a691a100 | 249 | // 事前誤差分散行列の更新 |
ojan | 3:5358a691a100 | 250 | pri_P = F * post_P * F.Transpose() + R; |
ojan | 3:5358a691a100 | 251 | |
ojan | 3:5358a691a100 | 252 | // カルマンゲインの計算 |
ojan | 3:5358a691a100 | 253 | S = Q + H * pri_P * H.Transpose(); |
ojan | 3:5358a691a100 | 254 | float det; |
ojan | 3:5358a691a100 | 255 | if((det = S.Inverse(inv)) >= 0.0f) { |
ojan | 3:5358a691a100 | 256 | pc.printf("E:%.3f\r\n", det); |
ojan | 3:5358a691a100 | 257 | 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 | 3:5358a691a100 | 258 | } |
ojan | 3:5358a691a100 | 259 | K = pri_P * H.Transpose() * inv; |
ojan | 3:5358a691a100 | 260 | |
ojan | 3:5358a691a100 | 261 | // 事後推定値の更新 |
ojan | 4:45dc5590abc0 | 262 | post_x = pri_x + K * (raw_geomag - H * pri_x); |
ojan | 3:5358a691a100 | 263 | // 事後誤差分散行列の更新 |
ojan | 3:5358a691a100 | 264 | post_P = (I - K * H) * pri_P; |
ojan | 3:5358a691a100 | 265 | } |
ojan | 3:5358a691a100 | 266 | |
ojan | 0:bc6f14fc60c7 | 267 | void INT_func() { |
ojan | 4:45dc5590abc0 | 268 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 269 | mpu.read(); |
ojan | 4:45dc5590abc0 | 270 | hmc.read(); |
ojan | 4:45dc5590abc0 | 271 | |
ojan | 4:45dc5590abc0 | 272 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 273 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 274 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 275 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 276 | } |
ojan | 0:bc6f14fc60c7 | 277 | |
ojan | 4:45dc5590abc0 | 278 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 279 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 280 | raw_g = raw_g.Normalize(); |
ojan | 4:45dc5590abc0 | 281 | |
ojan | 4:45dc5590abc0 | 282 | KalmanUpdate(); |
ojan | 0:bc6f14fc60c7 | 283 | |
ojan | 4:45dc5590abc0 | 284 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 285 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 286 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 287 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 288 | } |
ojan | 4:45dc5590abc0 | 289 | //pc.printf("%d(us)\r\n", timer.read_us()); |
ojan | 4:45dc5590abc0 | 290 | |
ojan | 4:45dc5590abc0 | 291 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 292 | g = raw_g; |
ojan | 4:45dc5590abc0 | 293 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 294 | geomag.SetComp(i+1, post_x.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 295 | } |
ojan | 4:45dc5590abc0 | 296 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 297 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 298 | press = raw_press; |
ojan | 1:6cd6d2760856 | 299 | |
ojan | 0:bc6f14fc60c7 | 300 | } |
ojan | 3:5358a691a100 | 301 | } |
ojan | 3:5358a691a100 | 302 | |
ojan | 3:5358a691a100 | 303 | void toString(Matrix& m) { |
ojan | 3:5358a691a100 | 304 | |
ojan | 3:5358a691a100 | 305 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 306 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 307 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 308 | } |
ojan | 3:5358a691a100 | 309 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 310 | } |
ojan | 3:5358a691a100 | 311 | |
ojan | 3:5358a691a100 | 312 | } |
ojan | 3:5358a691a100 | 313 | |
ojan | 3:5358a691a100 | 314 | void toString(Vector& v) { |
ojan | 3:5358a691a100 | 315 | |
ojan | 3:5358a691a100 | 316 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 317 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 318 | } |
ojan | 3:5358a691a100 | 319 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 320 | |
ojan | 0:bc6f14fc60c7 | 321 | } |