MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@34:4bda9af9a0cd, 2015-08-06 (annotated)
- Committer:
- ojan
- Date:
- Thu Aug 06 15:45:48 2015 +0000
- Revision:
- 34:4bda9af9a0cd
- Parent:
- 33:56163d4e2c53
- Child:
- 36:94dc027e05cd
LAURUS_Program_v2.9.0; ; + add RULE3_1; + add "volatile" to some variables like "flag"
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 "Vector.h" |
ojan | 3:5358a691a100 | 7 | #include "Matrix.h" |
ojan | 3:5358a691a100 | 8 | #include "Vector_Matrix_operator.h" |
ojan | 0:bc6f14fc60c7 | 9 | #include "myConstants.h" |
onaka | 7:0ec343d29641 | 10 | #include "SDFileSystem.h" |
onaka | 7:0ec343d29641 | 11 | #include "BufferedSerial.h" |
onaka | 7:0ec343d29641 | 12 | #include "ConfigFile.h" |
ojan | 0:bc6f14fc60c7 | 13 | |
ojan | 14:f85cb5340cb8 | 14 | /****************************** private define ******************************/ |
ojan | 27:a26ff85bba23 | 15 | //#define RULE1 |
ojan | 15:d14d385d37e2 | 16 | //#define RULE2 |
ojan | 15:d14d385d37e2 | 17 | //#define RULE3 |
ojan | 29:59f4808e2eb6 | 18 | //#define RULE4 |
ojan | 34:4bda9af9a0cd | 19 | //#define RULE3_1 |
ojan | 31:2f88240999fe | 20 | #define SERVO_DEBUG |
ojan | 31:2f88240999fe | 21 | //#define DIRECTION_DEBUG |
ojan | 29:59f4808e2eb6 | 22 | //#define SPIRAL_DEBUG |
ojan | 25:4c72d7420d8a | 23 | |
ojan | 24:8838be99cec3 | 24 | #ifdef DIRECTION_DEBUG |
ojan | 34:4bda9af9a0cd | 25 | const float TargetDirection = -179.0f; // 指定方向に飛ぶ |
ojan | 34:4bda9af9a0cd | 26 | |
ojan | 34:4bda9af9a0cd | 27 | #elif RULE3_1 |
ojan | 34:4bda9af9a0cd | 28 | const float BetaMin = 0.2f * RAD_TO_DEG; // β最小値 |
ojan | 34:4bda9af9a0cd | 29 | const float BetaVar = 0.3f * RAD_TO_DEG; // β変化量 |
ojan | 34:4bda9af9a0cd | 30 | const float BetaMax = 1.0f * RAD_TO_DEG; // β最大値 |
ojan | 34:4bda9af9a0cd | 31 | const float Span = 10.0f; // βの値が変わる距離間隔(Span[m]ごとにβの値がBetaVarだけ変化) |
ojan | 34:4bda9af9a0cd | 32 | |
ojan | 34:4bda9af9a0cd | 33 | #elif RULE4 |
ojan | 34:4bda9af9a0cd | 34 | const float BorderHeight = 10.0f; // 制御則3と2を切り替える高度の閾値(m) |
ojan | 24:8838be99cec3 | 35 | #endif |
ojan | 34:4bda9af9a0cd | 36 | |
ojan | 14:f85cb5340cb8 | 37 | const float dt = 0.01f; // 割り込み周期(s) |
ojan | 21:d417708e84a8 | 38 | const float ServoMax = 0.0046f; // サーボの最大パルス長(s) |
ojan | 21:d417708e84a8 | 39 | const float ServoMin = 0.0012f; // サーボの最小パルス長(s) |
ojan | 33:56163d4e2c53 | 40 | const float Stabilize = 0.0f; // 滑空安定時の引っ張り量 |
ojan | 33:56163d4e2c53 | 41 | const float Turn = 25.0f; // 旋回時の引っ張り量 |
ojan | 34:4bda9af9a0cd | 42 | const float PullRate = 7.5f; // 紐の引っ張り速度 |
ojan | 33:56163d4e2c53 | 43 | const float PullMax = 25.0f; // 引っ張れる紐の最大量(mm) |
ojan | 14:f85cb5340cb8 | 44 | const float BorderSpiral = 40.0f; // スパイラル検知角度 |
ojan | 14:f85cb5340cb8 | 45 | const short BorderOpt = 30000; // 光センサーの閾値 |
ojan | 14:f85cb5340cb8 | 46 | const float BorderGravity = 0.3f; // 無重力状態の閾値 |
ojan | 14:f85cb5340cb8 | 47 | const int BorderParafoil = 0; // 物理スイッチのOFF出力 |
ojan | 14:f85cb5340cb8 | 48 | const int MaxCount = 3; // 投下シグナルを何回連続で検知したら投下と判断するか(×0.2[s]) |
ojan | 31:2f88240999fe | 49 | const int WaitTime = 6; // 投下後、安定するまで何秒滑空するか |
ojan | 15:d14d385d37e2 | 50 | const float Alpha = 30.0f; // 目標方向と自分の進行方向との差の閾値(deg)(制御則1&2&3の定数 |
ojan | 15:d14d385d37e2 | 51 | const float Beta = 60.0f; // 目標方向と自分の進行方向との間に取るべき角度差(deg)(制御則3の定数 |
ojan | 29:59f4808e2eb6 | 52 | const float BorderDistance = 5.0f; // 落下制御に入るための目標値との距離の閾値(m)(制御則2の定数 |
ojan | 1:6cd6d2760856 | 53 | |
ojan | 25:4c72d7420d8a | 54 | enum Direction {LEFT, RIGHT, NEUTRAL}; |
ojan | 25:4c72d7420d8a | 55 | |
ojan | 14:f85cb5340cb8 | 56 | /****************************** private macro ******************************/ |
ojan | 14:f85cb5340cb8 | 57 | /****************************** private typedef ******************************/ |
ojan | 14:f85cb5340cb8 | 58 | /****************************** private variables ******************************/ |
ojan | 10:8ee11e412ad7 | 59 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 10:8ee11e412ad7 | 60 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 10:8ee11e412ad7 | 61 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 10:8ee11e412ad7 | 62 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 10:8ee11e412ad7 | 63 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 10:8ee11e412ad7 | 64 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 65 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 66 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 7:0ec343d29641 | 67 | SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD |
ojan | 19:ad8ff2de68f5 | 68 | FILE * fp; // ログファイルのポインタ |
onaka | 28:d993f3bbe302 | 69 | BufferedSerial xbee(PA_9, PA_10, PC_1, 256, 16); // Xbee |
ojan | 14:f85cb5340cb8 | 70 | ConfigFile cfg; // ConfigFile |
ojan | 33:56163d4e2c53 | 71 | PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力 |
ojan | 14:f85cb5340cb8 | 72 | AnalogIn optSensor(PC_0); // 照度センサ用アナログ入力 |
ojan | 23:79cdc1432160 | 73 | AnalogIn servoVcc(PA_1); // バッテリー電圧監視用アナログ入力(サーボ用) |
ojan | 23:79cdc1432160 | 74 | AnalogIn logicVcc(PA_0); // バッテリー電圧監視用アナログ入力(ロジック用) |
ojan | 14:f85cb5340cb8 | 75 | DigitalIn paraSensor(PB_0); // パラフォイルに繋がる(予定)の物理スイッチ |
ojan | 20:00afba164688 | 76 | Ticker ticker; // 割り込みタイマー |
ojan | 14:f85cb5340cb8 | 77 | Timer timer; // 時間計測用タイマー |
ojan | 25:4c72d7420d8a | 78 | Direction dir = NEUTRAL; // 旋回方向 |
ojan | 0:bc6f14fc60c7 | 79 | |
ojan | 34:4bda9af9a0cd | 80 | volatile int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 34:4bda9af9a0cd | 81 | volatile bool INT_flag = true; // 割り込み可否フラグ |
ojan | 17:03b45055ca05 | 82 | /* こちらの変数群はメインループでは参照しない */ |
ojan | 14:f85cb5340cb8 | 83 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 14:f85cb5340cb8 | 84 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 14:f85cb5340cb8 | 85 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 14:f85cb5340cb8 | 86 | float raw_press; // 気圧(hPa) 生 |
ojan | 23:79cdc1432160 | 87 | float raw_temp; // 温度(℃) 生 |
ojan | 17:03b45055ca05 | 88 | /* メインループ内ではこちらを参照する */ |
ojan | 14:f85cb5340cb8 | 89 | Vector acc(3); // 加速度(m/s^2) |
ojan | 14:f85cb5340cb8 | 90 | Vector gyro(3); // 角速度(deg/s) |
ojan | 14:f85cb5340cb8 | 91 | Vector geomag(3); // 地磁気(?) |
ojan | 24:8838be99cec3 | 92 | float p0; // 気圧の初期値 |
ojan | 14:f85cb5340cb8 | 93 | float press; // 気圧(hPa) |
ojan | 23:79cdc1432160 | 94 | float temp; // 温度(℃) |
ojan | 24:8838be99cec3 | 95 | float height; // 高さ(m) |
ojan | 1:6cd6d2760856 | 96 | |
ojan | 14:f85cb5340cb8 | 97 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 14:f85cb5340cb8 | 98 | Vector g(3); // 重力ベクトル |
ojan | 14:f85cb5340cb8 | 99 | Vector target_p(2); // 目標情報(経度、緯度)(rad) |
ojan | 25:4c72d7420d8a | 100 | Vector p(2); // 現在の位置情報(補完含む)(経度, 緯度)(rad) |
ojan | 25:4c72d7420d8a | 101 | Vector new_p(2); // 最新の位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 102 | Vector pre_p(2); // 過去の位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 103 | int UTC_t = 0; // UTC時刻 |
ojan | 14:f85cb5340cb8 | 104 | int pre_UTC_t = 0; // 前のUTC時刻 |
ojan | 30:fb310564097b | 105 | int ss = 0; // 時刻の秒数の小数部分 |
ojan | 8:602865d8fca3 | 106 | |
ojan | 14:f85cb5340cb8 | 107 | 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 | 14:f85cb5340cb8 | 108 | 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 | 14:f85cb5340cb8 | 109 | 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 | 110 | |
ojan | 14:f85cb5340cb8 | 111 | Vector r_f(3); // 世界座標に固定された、北向きのベクトル(X軸) |
ojan | 14:f85cb5340cb8 | 112 | Vector r_u(3); // 世界座標に固定された、上向きのベクトル(Z軸) |
ojan | 14:f85cb5340cb8 | 113 | Vector r_l(3); // 世界座標に固定された、西向きのベクトル(Y軸) |
ojan | 14:f85cb5340cb8 | 114 | |
ojan | 34:4bda9af9a0cd | 115 | float pull_L = 10.0f; // 左サーボの引っ張り量(目標値)(mm:0~PullMax) |
ojan | 34:4bda9af9a0cd | 116 | float pull_R = 10.0f; // 右サーボの引っ張り量(目標値)(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 117 | |
ojan | 14:f85cb5340cb8 | 118 | float yaw = 0.0f; // 本体のヨー角(deg)z軸周り |
ojan | 14:f85cb5340cb8 | 119 | float pitch = 0.0f; // 本体のピッチ角(deg)y軸周り |
ojan | 14:f85cb5340cb8 | 120 | float roll = 0.0f; // 本体のロール角(deg)x軸周り |
ojan | 9:6d4578dcc1ed | 121 | |
ojan | 14:f85cb5340cb8 | 122 | float vrt_acc = 0.0f; // 鉛直方向の加速度成分(落下検知に使用) |
ojan | 13:df1e8a650185 | 123 | |
ojan | 34:4bda9af9a0cd | 124 | volatile int step = 0; // シーケンス制御のステップ |
ojan | 20:00afba164688 | 125 | char data[512] = {}; // 送信データ用配 |
ojan | 20:00afba164688 | 126 | int loopTime = 0; // 1ループに掛かる時間(デバッグ用 |
ojan | 25:4c72d7420d8a | 127 | float sv = 0.0f; // サーボ電源電圧 |
ojan | 25:4c72d7420d8a | 128 | float lv = 0.0f; // ロジック電源電圧 |
ojan | 3:5358a691a100 | 129 | |
ojan | 34:4bda9af9a0cd | 130 | #ifdef RULE3_1 |
ojan | 34:4bda9af9a0cd | 131 | float beta = 0.0f; // β変数 (制御則3_1で使用 |
ojan | 34:4bda9af9a0cd | 132 | #endif |
onaka | 7:0ec343d29641 | 133 | /** config.txt ** |
ojan | 15:d14d385d37e2 | 134 | * #から始めるのはコメント行 |
onaka | 7:0ec343d29641 | 135 | * #イコールの前後に空白を入れない |
onaka | 7:0ec343d29641 | 136 | * target_x=111.222 |
onaka | 7:0ec343d29641 | 137 | * target_y=33.444 |
onaka | 7:0ec343d29641 | 138 | */ |
ojan | 23:79cdc1432160 | 139 | float target_x, target_y; |
onaka | 7:0ec343d29641 | 140 | |
ojan | 14:f85cb5340cb8 | 141 | /* ---------- Kalman Filter ---------- */ |
ojan | 11:083c8c9a5b84 | 142 | // 地磁気ベクトル用 |
ojan | 14:f85cb5340cb8 | 143 | // ジャイロのz軸周りのバイアスも推定 |
ojan | 13:df1e8a650185 | 144 | Vector pri_x1(7); |
ojan | 13:df1e8a650185 | 145 | Matrix pri_P1(7, 7); |
ojan | 13:df1e8a650185 | 146 | Vector post_x1(7); |
ojan | 13:df1e8a650185 | 147 | Matrix post_P1(7, 7); |
ojan | 13:df1e8a650185 | 148 | Matrix F1(7, 7), H1(3, 7); |
ojan | 13:df1e8a650185 | 149 | Matrix R1(7, 7), Q1(3, 3); |
ojan | 13:df1e8a650185 | 150 | Matrix I1(7, 7); |
ojan | 13:df1e8a650185 | 151 | Matrix K1(7, 3); |
ojan | 11:083c8c9a5b84 | 152 | Matrix S1(3, 3), S_inv1(3, 3); |
ojan | 11:083c8c9a5b84 | 153 | |
ojan | 11:083c8c9a5b84 | 154 | // 重力ベクトル用 |
ojan | 14:f85cb5340cb8 | 155 | // ジャイロのx軸、y軸周りのバイアスも同時に推定 |
ojan | 13:df1e8a650185 | 156 | Vector pri_x2(5); |
ojan | 13:df1e8a650185 | 157 | Matrix pri_P2(5, 5); |
ojan | 13:df1e8a650185 | 158 | Vector post_x2(5); |
ojan | 13:df1e8a650185 | 159 | Matrix post_P2(5, 5); |
ojan | 13:df1e8a650185 | 160 | Matrix F2(5, 5), H2(3, 5); |
ojan | 13:df1e8a650185 | 161 | Matrix R2(5, 5), Q2(3, 3); |
ojan | 13:df1e8a650185 | 162 | Matrix I2(5, 5); |
ojan | 13:df1e8a650185 | 163 | Matrix K2(5, 3); |
ojan | 13:df1e8a650185 | 164 | Matrix S2(3, 3), S_inv2(3, 3); |
ojan | 14:f85cb5340cb8 | 165 | /* ---------- ------------- ---------- */ |
ojan | 3:5358a691a100 | 166 | |
ojan | 1:6cd6d2760856 | 167 | |
ojan | 14:f85cb5340cb8 | 168 | /****************************** private functions ******************************/ |
ojan | 21:d417708e84a8 | 169 | bool SD_Init(); // SDカード初期化 |
ojan | 23:79cdc1432160 | 170 | void SensorsInit(); // 各種センサーの初期化 |
ojan | 17:03b45055ca05 | 171 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 21:d417708e84a8 | 172 | bool LoadConfig(); // config読み取り |
ojan | 14:f85cb5340cb8 | 173 | int Find_last(); // SDカード初期化用関数 |
ojan | 20:00afba164688 | 174 | void DataProcessing(); // データ処理関数 |
ojan | 20:00afba164688 | 175 | void ControlRoutine(); // 制御ルーチン関数 |
ojan | 14:f85cb5340cb8 | 176 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 14:f85cb5340cb8 | 177 | 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 | 20:00afba164688 | 178 | bool Thrown(); // 投下されたかどうかを判断する |
ojan | 20:00afba164688 | 179 | void DataUpdate(); // データ取得&更新関数 |
ojan | 14:f85cb5340cb8 | 180 | void toString(Matrix& m); // デバッグ用 |
ojan | 14:f85cb5340cb8 | 181 | void toString(Vector& v); // デバッグ用 |
ojan | 1:6cd6d2760856 | 182 | |
ojan | 25:4c72d7420d8a | 183 | /** 小さい値を返す関数 |
ojan | 25:4c72d7420d8a | 184 | * @param a: 1つ目の入力値 |
ojan | 25:4c72d7420d8a | 185 | * @param b: 2つ目の入力値 |
ojan | 25:4c72d7420d8a | 186 | * |
ojan | 25:4c72d7420d8a | 187 | * @return a,bのうち、小さい方の値 |
ojan | 25:4c72d7420d8a | 188 | */ |
ojan | 15:d14d385d37e2 | 189 | inline float min(float a, float b) |
ojan | 15:d14d385d37e2 | 190 | { |
ojan | 14:f85cb5340cb8 | 191 | return ((a > b) ? b : a); |
ojan | 14:f85cb5340cb8 | 192 | } |
ojan | 14:f85cb5340cb8 | 193 | |
ojan | 25:4c72d7420d8a | 194 | /** 気圧の変化から高度を計算する関数 |
ojan | 25:4c72d7420d8a | 195 | * @param press: 現在の気圧 |
ojan | 25:4c72d7420d8a | 196 | * |
ojan | 25:4c72d7420d8a | 197 | * @return height: 現在の基準点からの高度 |
ojan | 25:4c72d7420d8a | 198 | */ |
ojan | 25:4c72d7420d8a | 199 | inline float Height(float press) { |
ojan | 25:4c72d7420d8a | 200 | return (153.8f * (pow((p0/press),0.1902f)-1.0f)*(25.0f+273.15f)); |
ojan | 24:8838be99cec3 | 201 | } |
ojan | 24:8838be99cec3 | 202 | |
ojan | 14:f85cb5340cb8 | 203 | /****************************** main function ******************************/ |
ojan | 0:bc6f14fc60c7 | 204 | |
ojan | 15:d14d385d37e2 | 205 | int main() |
ojan | 15:d14d385d37e2 | 206 | { |
ojan | 15:d14d385d37e2 | 207 | |
ojan | 14:f85cb5340cb8 | 208 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 23:79cdc1432160 | 209 | |
ojan | 22:3caa2983bf1d | 210 | //Config読み取り |
ojan | 26:6e09df57ee91 | 211 | xbee.printf("load..."); |
ojan | 24:8838be99cec3 | 212 | while(!LoadConfig()) { |
ojan | 24:8838be99cec3 | 213 | wait(0.1f); |
ojan | 26:6e09df57ee91 | 214 | xbee.printf("."); |
ojan | 24:8838be99cec3 | 215 | } |
ojan | 26:6e09df57ee91 | 216 | xbee.printf("complete\r\n"); |
ojan | 22:3caa2983bf1d | 217 | xbee.printf("target(%.5f, %.5f)\r\n", target_x, target_y); |
ojan | 22:3caa2983bf1d | 218 | |
ojan | 17:03b45055ca05 | 219 | // SDカード初期化 |
ojan | 26:6e09df57ee91 | 220 | xbee.printf("SD Init..."); |
ojan | 24:8838be99cec3 | 221 | while(!SD_Init()) { |
ojan | 24:8838be99cec3 | 222 | wait(0.1f); |
ojan | 26:6e09df57ee91 | 223 | xbee.printf("."); |
ojan | 24:8838be99cec3 | 224 | } |
ojan | 26:6e09df57ee91 | 225 | xbee.printf("complete\r\n"); |
ojan | 24:8838be99cec3 | 226 | |
ojan | 24:8838be99cec3 | 227 | // センサー関連の初期化 |
ojan | 26:6e09df57ee91 | 228 | xbee.printf("Sensors Init..."); |
ojan | 24:8838be99cec3 | 229 | SensorsInit(); |
ojan | 26:6e09df57ee91 | 230 | xbee.printf("complete\r\n"); |
ojan | 15:d14d385d37e2 | 231 | |
onaka | 7:0ec343d29641 | 232 | //カルマンフィルタ初期化 |
ojan | 3:5358a691a100 | 233 | KalmanInit(); |
ojan | 15:d14d385d37e2 | 234 | |
ojan | 26:6e09df57ee91 | 235 | NVIC_SetPriority(TIM5_IRQn, 5); |
ojan | 20:00afba164688 | 236 | ticker.attach(&DataUpdate, dt); // 割り込み有効化(Freq = 0.01fなので、10msおきの割り込み) |
ojan | 17:03b45055ca05 | 237 | |
ojan | 17:03b45055ca05 | 238 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 17:03b45055ca05 | 239 | servoR.period(0.020f); |
ojan | 15:d14d385d37e2 | 240 | |
ojan | 15:d14d385d37e2 | 241 | |
ojan | 14:f85cb5340cb8 | 242 | /* ------------------------------ ↓↓↓ ここからメインループ ↓↓↓ ------------------------------ */ |
ojan | 0:bc6f14fc60c7 | 243 | while(1) { |
ojan | 4:45dc5590abc0 | 244 | timer.stop(); |
ojan | 4:45dc5590abc0 | 245 | timer.reset(); |
ojan | 4:45dc5590abc0 | 246 | timer.start(); |
ojan | 14:f85cb5340cb8 | 247 | myled = 1; // LED is ON |
ojan | 20:00afba164688 | 248 | |
ojan | 24:8838be99cec3 | 249 | INT_flag = false; // 割り込みによる変数書き換えを阻止 |
ojan | 14:f85cb5340cb8 | 250 | /******************************* データ処理 *******************************/ |
ojan | 20:00afba164688 | 251 | DataProcessing(); |
ojan | 15:d14d385d37e2 | 252 | |
ojan | 14:f85cb5340cb8 | 253 | /******************************* 制御ルーチン *******************************/ |
ojan | 24:8838be99cec3 | 254 | #ifdef SERVO_DEBUG |
ojan | 24:8838be99cec3 | 255 | if(xbee.readable()) { |
ojan | 24:8838be99cec3 | 256 | char cmd = xbee.getc(); |
ojan | 24:8838be99cec3 | 257 | if(cmd == 'w') { |
ojan | 34:4bda9af9a0cd | 258 | pull_R = 20.0f; |
ojan | 34:4bda9af9a0cd | 259 | pull_L = 0.0f; |
ojan | 24:8838be99cec3 | 260 | } else if(cmd == 's'){ |
ojan | 34:4bda9af9a0cd | 261 | pull_R = 10.0f; |
ojan | 34:4bda9af9a0cd | 262 | pull_L = 10.0f; |
ojan | 24:8838be99cec3 | 263 | } else if(cmd == 'a'){ |
ojan | 34:4bda9af9a0cd | 264 | pull_R = 0.0f; |
ojan | 34:4bda9af9a0cd | 265 | pull_L = 20.0f; |
ojan | 24:8838be99cec3 | 266 | } else if(cmd == 'd'){ |
ojan | 34:4bda9af9a0cd | 267 | pull_R = 10.0f; |
ojan | 34:4bda9af9a0cd | 268 | pull_L = 10.0f; |
ojan | 24:8838be99cec3 | 269 | } |
ojan | 24:8838be99cec3 | 270 | } |
ojan | 24:8838be99cec3 | 271 | #else |
ojan | 20:00afba164688 | 272 | ControlRoutine(); |
ojan | 24:8838be99cec3 | 273 | #endif |
ojan | 21:d417708e84a8 | 274 | |
ojan | 25:4c72d7420d8a | 275 | sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // サーボ電源電圧 |
ojan | 25:4c72d7420d8a | 276 | lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // ロジック電源電圧 |
ojan | 24:8838be99cec3 | 277 | |
ojan | 33:56163d4e2c53 | 278 | |
ojan | 21:d417708e84a8 | 279 | |
ojan | 21:d417708e84a8 | 280 | // データをmicroSDに保存し、XBeeでPCへ送信する |
ojan | 34:4bda9af9a0cd | 281 | sprintf(data, "%d.%d, %.1f,%.1f,%.1f, %.3f,%.6f,%.6f, %.3f,%.3f,%.1f, %d, %.1f,%.1f\r\n", |
ojan | 29:59f4808e2eb6 | 282 | UTC_t, ss, yaw, pitch, roll, |
ojan | 21:d417708e84a8 | 283 | press, gms.longitude, gms.latitude, |
ojan | 25:4c72d7420d8a | 284 | vrt_acc, height, Distance(target_p, p), |
ojan | 25:4c72d7420d8a | 285 | optSensor.read_u16(), pull_R, pull_L); |
ojan | 21:d417708e84a8 | 286 | |
ojan | 24:8838be99cec3 | 287 | INT_flag = true; // 割り込み許可 |
ojan | 21:d417708e84a8 | 288 | |
ojan | 21:d417708e84a8 | 289 | fprintf(fp, data); |
ojan | 21:d417708e84a8 | 290 | fflush(fp); |
ojan | 21:d417708e84a8 | 291 | xbee.printf(data); |
ojan | 21:d417708e84a8 | 292 | |
ojan | 15:d14d385d37e2 | 293 | |
ojan | 9:6d4578dcc1ed | 294 | myled = 0; // LED is OFF |
ojan | 15:d14d385d37e2 | 295 | |
ojan | 20:00afba164688 | 296 | loopTime = timer.read_ms(); |
ojan | 20:00afba164688 | 297 | |
ojan | 9:6d4578dcc1ed | 298 | // ループはきっかり0.2秒ごと |
ojan | 9:6d4578dcc1ed | 299 | while(timer.read_ms() < 200); |
ojan | 20:00afba164688 | 300 | |
ojan | 0:bc6f14fc60c7 | 301 | } |
ojan | 15:d14d385d37e2 | 302 | |
ojan | 14:f85cb5340cb8 | 303 | /* ------------------------------ ↑↑↑ ここまでメインループ ↑↑↑ ------------------------------ */ |
onaka | 7:0ec343d29641 | 304 | } |
onaka | 7:0ec343d29641 | 305 | |
ojan | 20:00afba164688 | 306 | /** データ処理関数 |
ojan | 20:00afba164688 | 307 | * |
ojan | 20:00afba164688 | 308 | */ |
ojan | 20:00afba164688 | 309 | void DataProcessing() |
ojan | 20:00afba164688 | 310 | { |
ojan | 27:a26ff85bba23 | 311 | static float R_11; // 回転行列(1,1)成分 |
ojan | 27:a26ff85bba23 | 312 | static float R_12; // 回転行列(1,2)成分 |
ojan | 27:a26ff85bba23 | 313 | static float r_cos; // ロール角のcos値 |
ojan | 27:a26ff85bba23 | 314 | static float r_sin; // ロール角のsin値 |
ojan | 27:a26ff85bba23 | 315 | static float p_cos; // ピッチ角のcos値 |
ojan | 27:a26ff85bba23 | 316 | static float p_sin; // ピッチ角のsin値 |
ojan | 25:4c72d7420d8a | 317 | |
ojan | 20:00afba164688 | 318 | gms.read(); // GPSデータ取得 |
ojan | 29:59f4808e2eb6 | 319 | UTC_t = (int)gms.time + 90000; |
ojan | 20:00afba164688 | 320 | |
ojan | 20:00afba164688 | 321 | // 参照座標系の基底を求める |
ojan | 20:00afba164688 | 322 | r_u = g; |
ojan | 20:00afba164688 | 323 | r_f = geomag.GetPerpCompTo(g).Normalize(); |
ojan | 20:00afba164688 | 324 | r_l = Cross(r_u, r_f); |
ojan | 20:00afba164688 | 325 | |
ojan | 20:00afba164688 | 326 | // 回転行列を経由してオイラー角を求める |
ojan | 20:00afba164688 | 327 | // 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 | 20:00afba164688 | 328 | // 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 | 20:00afba164688 | 329 | |
ojan | 25:4c72d7420d8a | 330 | R_11 = r_f * b_f; // 回転行列の(1,1)成分 |
ojan | 25:4c72d7420d8a | 331 | R_12 = r_f * b_l; // 回転行列の(1,2)成分 |
ojan | 20:00afba164688 | 332 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG + MAG_DECLINATION; |
ojan | 25:4c72d7420d8a | 333 | r_cos = g.GetPerpCompTo(b_f).Normalize() * b_u; |
ojan | 25:4c72d7420d8a | 334 | r_sin = Cross(g.GetPerpCompTo(b_f).Normalize(), b_u) * b_f; |
ojan | 25:4c72d7420d8a | 335 | if(r_sin > 0.0f) { |
ojan | 25:4c72d7420d8a | 336 | roll = acos(r_cos) * RAD_TO_DEG; |
ojan | 25:4c72d7420d8a | 337 | } else { |
ojan | 25:4c72d7420d8a | 338 | roll = -acos(r_cos) * RAD_TO_DEG; |
ojan | 25:4c72d7420d8a | 339 | } |
ojan | 25:4c72d7420d8a | 340 | |
ojan | 25:4c72d7420d8a | 341 | p_cos = g.GetPerpCompTo(b_l).Normalize() * b_u; |
ojan | 25:4c72d7420d8a | 342 | p_sin = Cross(g.GetPerpCompTo(b_l).Normalize(), b_u) * b_l; |
ojan | 25:4c72d7420d8a | 343 | if(p_sin > 0.0f) { |
ojan | 25:4c72d7420d8a | 344 | pitch = acos(p_cos) * RAD_TO_DEG; |
ojan | 25:4c72d7420d8a | 345 | } else { |
ojan | 25:4c72d7420d8a | 346 | pitch = -acos(p_cos) * RAD_TO_DEG; |
ojan | 25:4c72d7420d8a | 347 | } |
ojan | 20:00afba164688 | 348 | |
ojan | 20:00afba164688 | 349 | if(yaw > 180.0f) yaw -= 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 30:fb310564097b | 350 | else if(yaw < -180.0f) yaw += 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 20:00afba164688 | 351 | |
ojan | 20:00afba164688 | 352 | if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら |
ojan | 25:4c72d7420d8a | 353 | pre_p = new_p; |
ojan | 25:4c72d7420d8a | 354 | new_p.SetComp(1, gms.longitude * DEG_TO_RAD); |
ojan | 25:4c72d7420d8a | 355 | new_p.SetComp(2, gms.latitude * DEG_TO_RAD); |
ojan | 25:4c72d7420d8a | 356 | p = new_p; |
ojan | 25:4c72d7420d8a | 357 | pre_UTC_t = UTC_t; |
ojan | 27:a26ff85bba23 | 358 | ss = 0; |
ojan | 20:00afba164688 | 359 | } else { // 更新されていなかったら |
ojan | 25:4c72d7420d8a | 360 | p += 0.2f * (new_p - pre_p); |
ojan | 27:a26ff85bba23 | 361 | ss += 2; |
ojan | 20:00afba164688 | 362 | } |
ojan | 20:00afba164688 | 363 | |
ojan | 25:4c72d7420d8a | 364 | height = Height(press); |
ojan | 24:8838be99cec3 | 365 | |
ojan | 20:00afba164688 | 366 | |
ojan | 20:00afba164688 | 367 | |
ojan | 20:00afba164688 | 368 | } |
ojan | 20:00afba164688 | 369 | |
ojan | 20:00afba164688 | 370 | /** 制御ルーチン関数 |
ojan | 20:00afba164688 | 371 | * |
ojan | 20:00afba164688 | 372 | */ |
ojan | 20:00afba164688 | 373 | void ControlRoutine() |
ojan | 20:00afba164688 | 374 | { |
ojan | 34:4bda9af9a0cd | 375 | volatile static int count = 0; |
ojan | 25:4c72d7420d8a | 376 | static float target_lng; |
ojan | 25:4c72d7420d8a | 377 | static float target_lat; |
ojan | 25:4c72d7420d8a | 378 | static float target_X; |
ojan | 25:4c72d7420d8a | 379 | static float target_Y; |
ojan | 25:4c72d7420d8a | 380 | static float theta; |
ojan | 25:4c72d7420d8a | 381 | static float delta_theta; |
ojan | 25:4c72d7420d8a | 382 | |
ojan | 20:00afba164688 | 383 | switch(step) { |
ojan | 20:00afba164688 | 384 | |
ojan | 20:00afba164688 | 385 | // 投下&安定滑空シーケンス |
ojan | 20:00afba164688 | 386 | case 0: |
ojan | 20:00afba164688 | 387 | if(Thrown() || count != 0) { |
ojan | 20:00afba164688 | 388 | count++; |
ojan | 30:fb310564097b | 389 | pull_L = Stabilize; |
ojan | 30:fb310564097b | 390 | pull_R = Stabilize; |
ojan | 20:00afba164688 | 391 | if(count >= WaitTime*5) { |
ojan | 33:56163d4e2c53 | 392 | pull_L = 0.0f; |
ojan | 33:56163d4e2c53 | 393 | pull_R = 0.0f; |
ojan | 29:59f4808e2eb6 | 394 | #ifdef SPIRAL_DEBUG |
ojan | 29:59f4808e2eb6 | 395 | step = 2; |
ojan | 29:59f4808e2eb6 | 396 | #else |
ojan | 20:00afba164688 | 397 | step = 1; |
ojan | 29:59f4808e2eb6 | 398 | #endif |
ojan | 20:00afba164688 | 399 | } |
ojan | 20:00afba164688 | 400 | } |
ojan | 20:00afba164688 | 401 | break; |
ojan | 20:00afba164688 | 402 | |
ojan | 20:00afba164688 | 403 | // 制御シーケンス |
ojan | 20:00afba164688 | 404 | case 1: |
ojan | 20:00afba164688 | 405 | if(fabs(roll) > BorderSpiral) { |
ojan | 20:00afba164688 | 406 | // スパイラル回避行動 |
ojan | 31:2f88240999fe | 407 | /*if(roll > 0) { |
ojan | 20:00afba164688 | 408 | pull_L = PullMax; |
ojan | 33:56163d4e2c53 | 409 | pull_R = 0.0f; |
ojan | 20:00afba164688 | 410 | } else { |
ojan | 33:56163d4e2c53 | 411 | pull_L = 0.0f; |
ojan | 20:00afba164688 | 412 | pull_R = PullMax; |
ojan | 31:2f88240999fe | 413 | }*/ |
ojan | 31:2f88240999fe | 414 | |
ojan | 20:00afba164688 | 415 | } else { |
ojan | 20:00afba164688 | 416 | |
ojan | 20:00afba164688 | 417 | /* いずれも地球を完全球体と仮定 */ |
ojan | 25:4c72d7420d8a | 418 | target_lng = target_x * DEG_TO_RAD; |
ojan | 25:4c72d7420d8a | 419 | target_lat = target_y * DEG_TO_RAD; |
ojan | 20:00afba164688 | 420 | /* 北から西回りで目標方向の角度を出力 */ |
ojan | 25:4c72d7420d8a | 421 | target_Y = cos( target_lat ) * sin( target_lng - p.GetComp(1) ); |
ojan | 25:4c72d7420d8a | 422 | target_X = cos( p.GetComp(2) ) * sin( target_lat ) - sin( p.GetComp(2) ) * cos( target_lat ) * cos( target_lng - p.GetComp(1) ); |
ojan | 29:59f4808e2eb6 | 423 | |
ojan | 29:59f4808e2eb6 | 424 | #ifdef RULE4 |
ojan | 29:59f4808e2eb6 | 425 | if(height > BorderHeight) { |
ojan | 29:59f4808e2eb6 | 426 | theta = -atan2f( target_Y, target_X ) * RAD_TO_DEG + Beta; |
ojan | 29:59f4808e2eb6 | 427 | if(theta > 180.0f) theta -= 360.0f; |
ojan | 29:59f4808e2eb6 | 428 | } else { |
ojan | 29:59f4808e2eb6 | 429 | theta = -atan2f( target_Y, target_X ) * RAD_TO_DEG; |
ojan | 29:59f4808e2eb6 | 430 | } |
ojan | 29:59f4808e2eb6 | 431 | #elif RULE3 |
ojan | 29:59f4808e2eb6 | 432 | theta = -atan2f( target_Y, target_X ) * RAD_TO_DEG + Beta; |
ojan | 29:59f4808e2eb6 | 433 | |
ojan | 29:59f4808e2eb6 | 434 | if(theta > 180.0f) theta -= 360.0f; |
ojan | 29:59f4808e2eb6 | 435 | else if(theta < -180.0f) theta += 360.0f; |
ojan | 34:4bda9af9a0cd | 436 | #elif RULE3_1 |
ojan | 34:4bda9af9a0cd | 437 | float d = Distance(target_p, p); |
ojan | 34:4bda9af9a0cd | 438 | beta = BetaMax - BetaVar * (int)(d / Span); |
ojan | 34:4bda9af9a0cd | 439 | if(beta < BetaMin) beta = BetaMin; |
ojan | 34:4bda9af9a0cd | 440 | |
ojan | 34:4bda9af9a0cd | 441 | theta = -atan2f( target_Y, target_X ) * RAD_TO_DEG + beta; |
ojan | 34:4bda9af9a0cd | 442 | |
ojan | 34:4bda9af9a0cd | 443 | if(theta > 180.0f) theta -= 360.0f; |
ojan | 34:4bda9af9a0cd | 444 | else if(theta < -180.0f) theta += 360.0f; |
ojan | 34:4bda9af9a0cd | 445 | |
ojan | 29:59f4808e2eb6 | 446 | #else |
ojan | 25:4c72d7420d8a | 447 | theta = -atan2f( target_Y, target_X ) * RAD_TO_DEG; |
ojan | 29:59f4808e2eb6 | 448 | #endif |
ojan | 29:59f4808e2eb6 | 449 | |
ojan | 24:8838be99cec3 | 450 | #ifdef DIRECTION_DEBUG |
ojan | 24:8838be99cec3 | 451 | theta = TargetDirection; |
ojan | 24:8838be99cec3 | 452 | #endif |
ojan | 20:00afba164688 | 453 | |
ojan | 20:00afba164688 | 454 | if(yaw >= 0.0f) { // ヨー角が正 |
ojan | 20:00afba164688 | 455 | if(theta >= 0.0f) { // 目標角も正ならば、 |
ojan | 24:8838be99cec3 | 456 | if(theta - yaw > Alpha) dir = LEFT; // 単純に差を取って閾値αと比べる |
ojan | 24:8838be99cec3 | 457 | else if(theta - yaw < -Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 458 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 459 | } else { // 目標角が負であれば |
ojan | 20:00afba164688 | 460 | theta += 360.0f; // 360°足して正の値に変換してから |
ojan | 20:00afba164688 | 461 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 20:00afba164688 | 462 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 24:8838be99cec3 | 463 | if(delta_theta > Alpha) dir = LEFT; |
ojan | 24:8838be99cec3 | 464 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 465 | } else { // 180°より大きければ右旋回 |
ojan | 24:8838be99cec3 | 466 | if(360.0f - delta_theta > Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 467 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 468 | } |
ojan | 20:00afba164688 | 469 | } |
ojan | 20:00afba164688 | 470 | } else { // ヨー角が負 |
ojan | 20:00afba164688 | 471 | if(theta <= 0.0f) { // 目標角も負ならば、 |
ojan | 24:8838be99cec3 | 472 | if(theta - yaw > Alpha) dir = LEFT; // 単純に差を取って閾値αと比べる |
ojan | 24:8838be99cec3 | 473 | else if(theta - yaw < -Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 474 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 475 | } else { // 目標角が正であれば、 |
ojan | 20:00afba164688 | 476 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 20:00afba164688 | 477 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 24:8838be99cec3 | 478 | if(delta_theta > Alpha) dir = LEFT; |
ojan | 24:8838be99cec3 | 479 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 480 | } else { // 180°より大きければ右旋回 |
ojan | 24:8838be99cec3 | 481 | if(360.0f - delta_theta > Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 482 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 483 | } |
ojan | 20:00afba164688 | 484 | } |
ojan | 20:00afba164688 | 485 | } |
ojan | 20:00afba164688 | 486 | |
ojan | 24:8838be99cec3 | 487 | if(dir == LEFT) { //目標は左方向 |
ojan | 20:00afba164688 | 488 | |
ojan | 30:fb310564097b | 489 | pull_L = Turn; |
ojan | 33:56163d4e2c53 | 490 | pull_R = 0.0f; |
ojan | 20:00afba164688 | 491 | |
ojan | 24:8838be99cec3 | 492 | } else if (dir == RIGHT) { //目標は右方向 |
ojan | 20:00afba164688 | 493 | |
ojan | 33:56163d4e2c53 | 494 | pull_L = 0.0f; |
ojan | 30:fb310564097b | 495 | pull_R = Turn; |
ojan | 20:00afba164688 | 496 | |
ojan | 24:8838be99cec3 | 497 | } else if (dir == NEUTRAL) { |
ojan | 33:56163d4e2c53 | 498 | pull_L = 0.0f; |
ojan | 33:56163d4e2c53 | 499 | pull_R = 0.0f; |
ojan | 20:00afba164688 | 500 | } |
ojan | 20:00afba164688 | 501 | } |
ojan | 29:59f4808e2eb6 | 502 | #ifdef RULE4 |
ojan | 29:59f4808e2eb6 | 503 | if(height <= BorderHeight) { |
ojan | 29:59f4808e2eb6 | 504 | // 目標地点との距離が閾値以下だった場合、落下シーケンスへと移行する |
ojan | 29:59f4808e2eb6 | 505 | if(Distance(target_p, p) < BorderDistance) step = 2; |
ojan | 29:59f4808e2eb6 | 506 | } |
ojan | 29:59f4808e2eb6 | 507 | #else |
ojan | 20:00afba164688 | 508 | #ifdef RULE2 |
ojan | 20:00afba164688 | 509 | // 目標地点との距離が閾値以下だった場合、落下シーケンスへと移行する |
ojan | 20:00afba164688 | 510 | if(Distance(target_p, p) < BorderDistance) step = 2; |
ojan | 20:00afba164688 | 511 | #endif |
ojan | 29:59f4808e2eb6 | 512 | #endif |
ojan | 20:00afba164688 | 513 | |
ojan | 20:00afba164688 | 514 | break; |
ojan | 20:00afba164688 | 515 | |
ojan | 29:59f4808e2eb6 | 516 | #if defined(RULE2) || defined(RULE4) || defined(SPIRAL_DEBUG) |
ojan | 20:00afba164688 | 517 | // 落下シーケンス |
ojan | 20:00afba164688 | 518 | case 2: |
ojan | 33:56163d4e2c53 | 519 | pull_L = 0.0f; |
ojan | 29:59f4808e2eb6 | 520 | pull_R = PullMax; |
ojan | 20:00afba164688 | 521 | |
ojan | 29:59f4808e2eb6 | 522 | #ifndef SPIRAL_DEBUG |
ojan | 20:00afba164688 | 523 | // もし落下中に目標値から離れてしまった場合は、体勢を立て直して再び滑空 |
ojan | 20:00afba164688 | 524 | // 境界で制御が不安定にならないよう閾値にマージンを取る |
ojan | 21:d417708e84a8 | 525 | if(Distance(target_p, p) > BorderDistance+3.0f) step = 1; |
ojan | 29:59f4808e2eb6 | 526 | #endif |
ojan | 20:00afba164688 | 527 | break; |
ojan | 20:00afba164688 | 528 | #endif |
ojan | 20:00afba164688 | 529 | } |
ojan | 20:00afba164688 | 530 | } |
ojan | 20:00afba164688 | 531 | |
ojan | 23:79cdc1432160 | 532 | /** 各種センサーの初期化を行う関数 |
ojan | 17:03b45055ca05 | 533 | * |
ojan | 17:03b45055ca05 | 534 | */ |
ojan | 23:79cdc1432160 | 535 | void SensorsInit() |
ojan | 20:00afba164688 | 536 | { |
ojan | 23:79cdc1432160 | 537 | |
ojan | 23:79cdc1432160 | 538 | if(!mpu.init()) error("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 23:79cdc1432160 | 539 | if(!hmc.init()) error("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 23:79cdc1432160 | 540 | |
ojan | 17:03b45055ca05 | 541 | //重力ベクトルの初期化 |
ojan | 17:03b45055ca05 | 542 | raw_g.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 543 | raw_g.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 544 | raw_g.SetComp(3, 1.0f); |
ojan | 17:03b45055ca05 | 545 | |
ojan | 17:03b45055ca05 | 546 | // 機体に固定されたベクトルの初期化 |
ojan | 17:03b45055ca05 | 547 | b_f.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 548 | b_f.SetComp(2, 0.0f); |
ojan | 33:56163d4e2c53 | 549 | b_f.SetComp(3, -1.0f); |
ojan | 31:2f88240999fe | 550 | b_u.SetComp(1, 1.0f); |
ojan | 17:03b45055ca05 | 551 | b_u.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 552 | b_u.SetComp(3, 0.0f); |
ojan | 17:03b45055ca05 | 553 | b_l = Cross(b_u, b_f); |
ojan | 20:00afba164688 | 554 | |
ojan | 17:03b45055ca05 | 555 | // 目標座標をベクトルに代入 |
ojan | 17:03b45055ca05 | 556 | target_p.SetComp(1, target_x * DEG_TO_RAD); |
ojan | 17:03b45055ca05 | 557 | target_p.SetComp(2, target_y * DEG_TO_RAD); |
ojan | 24:8838be99cec3 | 558 | |
ojan | 24:8838be99cec3 | 559 | // 地表の気圧を取得 |
ojan | 33:56163d4e2c53 | 560 | p0 = 0.0f; |
ojan | 24:8838be99cec3 | 561 | for(int i=0; i<10; i++) { |
ojan | 24:8838be99cec3 | 562 | p0 += (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 25:4c72d7420d8a | 563 | wait(0.1f); |
ojan | 24:8838be99cec3 | 564 | } |
ojan | 24:8838be99cec3 | 565 | p0 /= 10.0f; |
ojan | 26:6e09df57ee91 | 566 | |
ojan | 26:6e09df57ee91 | 567 | xbee.printf("."); |
ojan | 17:03b45055ca05 | 568 | } |
ojan | 17:03b45055ca05 | 569 | |
ojan | 17:03b45055ca05 | 570 | /** マイクロSDカードの初期化を行う関数 |
ojan | 17:03b45055ca05 | 571 | * |
ojan | 17:03b45055ca05 | 572 | */ |
ojan | 21:d417708e84a8 | 573 | bool SD_Init() |
ojan | 20:00afba164688 | 574 | { |
ojan | 17:03b45055ca05 | 575 | //SDカード初期化 |
ojan | 17:03b45055ca05 | 576 | char filename[15]; |
ojan | 17:03b45055ca05 | 577 | int n = Find_last(); |
ojan | 17:03b45055ca05 | 578 | if(n < 0) { |
ojan | 24:8838be99cec3 | 579 | pc.printf("Could not read a SD Card.\n"); |
ojan | 21:d417708e84a8 | 580 | return false; |
ojan | 17:03b45055ca05 | 581 | } |
ojan | 17:03b45055ca05 | 582 | sprintf(filename, "/sd/log%03d.csv", n+1); |
ojan | 17:03b45055ca05 | 583 | fp = fopen(filename, "w"); |
ojan | 17:03b45055ca05 | 584 | fprintf(fp, "log data\r\n"); |
ojan | 17:03b45055ca05 | 585 | xbee.printf("log data\r\n"); |
ojan | 21:d417708e84a8 | 586 | |
ojan | 21:d417708e84a8 | 587 | return true; |
ojan | 17:03b45055ca05 | 588 | } |
ojan | 17:03b45055ca05 | 589 | |
ojan | 17:03b45055ca05 | 590 | /** コンフィグファイルを読み込む関数 |
ojan | 17:03b45055ca05 | 591 | * |
ojan | 17:03b45055ca05 | 592 | */ |
ojan | 21:d417708e84a8 | 593 | bool LoadConfig() |
ojan | 15:d14d385d37e2 | 594 | { |
onaka | 7:0ec343d29641 | 595 | char value[20]; |
onaka | 7:0ec343d29641 | 596 | //Read a configuration file from a mbed. |
ojan | 15:d14d385d37e2 | 597 | if (!cfg.read("/sd/config.txt")) { |
ojan | 24:8838be99cec3 | 598 | pc.printf("Config file does not exist\n"); |
ojan | 21:d417708e84a8 | 599 | return false; |
ojan | 15:d14d385d37e2 | 600 | } else { |
onaka | 7:0ec343d29641 | 601 | //Get values |
onaka | 7:0ec343d29641 | 602 | if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value); |
ojan | 15:d14d385d37e2 | 603 | else { |
ojan | 24:8838be99cec3 | 604 | pc.printf("Failed to get value for target_x\n"); |
ojan | 21:d417708e84a8 | 605 | return false; |
onaka | 7:0ec343d29641 | 606 | } |
onaka | 7:0ec343d29641 | 607 | if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value); |
ojan | 15:d14d385d37e2 | 608 | else { |
ojan | 24:8838be99cec3 | 609 | pc.printf("Failed to get value for target_y\n"); |
ojan | 21:d417708e84a8 | 610 | return false; |
onaka | 7:0ec343d29641 | 611 | } |
onaka | 7:0ec343d29641 | 612 | } |
ojan | 21:d417708e84a8 | 613 | return true; |
onaka | 7:0ec343d29641 | 614 | } |
onaka | 7:0ec343d29641 | 615 | |
ojan | 17:03b45055ca05 | 616 | /** ログファイルの番号の最大値を得る関数 |
ojan | 17:03b45055ca05 | 617 | * |
ojan | 17:03b45055ca05 | 618 | * @return マイクロSD内に存在するログファイル番号の最大値 |
ojan | 17:03b45055ca05 | 619 | */ |
ojan | 15:d14d385d37e2 | 620 | int Find_last() |
ojan | 15:d14d385d37e2 | 621 | { |
onaka | 7:0ec343d29641 | 622 | int i, n = 0; |
onaka | 7:0ec343d29641 | 623 | char c; |
onaka | 7:0ec343d29641 | 624 | DIR *dp; |
onaka | 7:0ec343d29641 | 625 | struct dirent *dirst; |
onaka | 7:0ec343d29641 | 626 | dp = opendir("/sd/"); |
ojan | 15:d14d385d37e2 | 627 | if (!dp) { |
onaka | 7:0ec343d29641 | 628 | pc.printf("Could not open directry.\n"); |
onaka | 7:0ec343d29641 | 629 | return -1; |
onaka | 7:0ec343d29641 | 630 | } |
onaka | 7:0ec343d29641 | 631 | while((dirst = readdir(dp)) != NULL) { |
onaka | 7:0ec343d29641 | 632 | if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) { |
onaka | 7:0ec343d29641 | 633 | n = i; |
onaka | 7:0ec343d29641 | 634 | } |
onaka | 7:0ec343d29641 | 635 | } |
onaka | 7:0ec343d29641 | 636 | closedir(dp); |
onaka | 7:0ec343d29641 | 637 | return n; |
ojan | 0:bc6f14fc60c7 | 638 | } |
ojan | 0:bc6f14fc60c7 | 639 | |
ojan | 17:03b45055ca05 | 640 | /** カルマンフィルタの初期化を行う関数 |
ojan | 17:03b45055ca05 | 641 | * |
ojan | 17:03b45055ca05 | 642 | */ |
ojan | 15:d14d385d37e2 | 643 | void KalmanInit() |
ojan | 15:d14d385d37e2 | 644 | { |
ojan | 11:083c8c9a5b84 | 645 | // 重力 |
ojan | 11:083c8c9a5b84 | 646 | { |
ojan | 11:083c8c9a5b84 | 647 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 648 | float alpha_R2 = 0.002f; |
ojan | 12:0d978eb4d639 | 649 | float alpha_Q2 = 0.5f; |
ojan | 11:083c8c9a5b84 | 650 | R2 *= alpha_R2; |
ojan | 11:083c8c9a5b84 | 651 | Q2 *= alpha_Q2; |
ojan | 15:d14d385d37e2 | 652 | |
ojan | 13:df1e8a650185 | 653 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 13:df1e8a650185 | 654 | float h2[15] = { |
ojan | 13:df1e8a650185 | 655 | 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 656 | 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 657 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 658 | }; |
ojan | 15:d14d385d37e2 | 659 | |
ojan | 13:df1e8a650185 | 660 | H2.SetComps(h2); |
ojan | 11:083c8c9a5b84 | 661 | } |
ojan | 15:d14d385d37e2 | 662 | |
ojan | 11:083c8c9a5b84 | 663 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 664 | { |
ojan | 11:083c8c9a5b84 | 665 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 666 | float alpha_R1 = 0.002f; |
ojan | 13:df1e8a650185 | 667 | float alpha_Q1 = 0.5f; |
ojan | 11:083c8c9a5b84 | 668 | R1 *= alpha_R1; |
ojan | 11:083c8c9a5b84 | 669 | Q1 *= alpha_Q1; |
ojan | 15:d14d385d37e2 | 670 | |
ojan | 13:df1e8a650185 | 671 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 13:df1e8a650185 | 672 | float h1[21] = { |
ojan | 13:df1e8a650185 | 673 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 674 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 675 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 676 | }; |
ojan | 15:d14d385d37e2 | 677 | |
ojan | 13:df1e8a650185 | 678 | H1.SetComps(h1); |
ojan | 11:083c8c9a5b84 | 679 | } |
ojan | 3:5358a691a100 | 680 | } |
ojan | 3:5358a691a100 | 681 | |
ojan | 17:03b45055ca05 | 682 | /** カルマンフィルタの更新を行う関数 |
ojan | 17:03b45055ca05 | 683 | * |
ojan | 17:03b45055ca05 | 684 | */ |
ojan | 15:d14d385d37e2 | 685 | void KalmanUpdate() |
ojan | 15:d14d385d37e2 | 686 | { |
ojan | 13:df1e8a650185 | 687 | // 重力 |
ojan | 15:d14d385d37e2 | 688 | |
ojan | 11:083c8c9a5b84 | 689 | { |
ojan | 13:df1e8a650185 | 690 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 691 | float f2[25] = { |
ojan | 15:d14d385d37e2 | 692 | 1.0f, (raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, post_x2.GetComp(3)*dt, |
ojan | 15:d14d385d37e2 | 693 | -(raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, -post_x2.GetComp(3)*dt, 0.0f, |
ojan | 15:d14d385d37e2 | 694 | (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, post_x2.GetComp(2)*dt, -post_x2.GetComp(1)*dt, |
ojan | 15:d14d385d37e2 | 695 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 696 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 13:df1e8a650185 | 697 | }; |
ojan | 15:d14d385d37e2 | 698 | |
ojan | 13:df1e8a650185 | 699 | F2.SetComps(f2); |
ojan | 15:d14d385d37e2 | 700 | |
ojan | 11:083c8c9a5b84 | 701 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 702 | //pri_x2 = F2 * post_x2; |
ojan | 15:d14d385d37e2 | 703 | |
ojan | 13:df1e8a650185 | 704 | float pri_x2_vals[5] = { |
ojan | 15:d14d385d37e2 | 705 | post_x2.GetComp(1) + post_x2.GetComp(2) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt - post_x2.GetComp(3) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt, |
ojan | 15:d14d385d37e2 | 706 | post_x2.GetComp(2) + post_x2.GetComp(3) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt - post_x2.GetComp(1) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt, |
ojan | 15:d14d385d37e2 | 707 | post_x2.GetComp(3) + post_x2.GetComp(1) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt - post_x2.GetComp(2) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt, |
ojan | 15:d14d385d37e2 | 708 | post_x2.GetComp(4), |
ojan | 13:df1e8a650185 | 709 | post_x2.GetComp(5) |
ojan | 13:df1e8a650185 | 710 | }; |
ojan | 15:d14d385d37e2 | 711 | |
ojan | 13:df1e8a650185 | 712 | pri_x2.SetComps(pri_x2_vals); |
ojan | 15:d14d385d37e2 | 713 | |
ojan | 11:083c8c9a5b84 | 714 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 715 | pri_P2 = F2 * post_P2 * F2.Transpose() + R2; |
ojan | 15:d14d385d37e2 | 716 | |
ojan | 11:083c8c9a5b84 | 717 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 718 | S2 = Q2 + H2 * pri_P2 * H2.Transpose(); |
ojan | 13:df1e8a650185 | 719 | static float det; |
ojan | 11:083c8c9a5b84 | 720 | if((det = S2.Inverse(S_inv2)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 721 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 722 | 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 | 723 | } |
ojan | 15:d14d385d37e2 | 724 | K2 = pri_P2 * H2.Transpose() * S_inv2; |
ojan | 15:d14d385d37e2 | 725 | |
ojan | 11:083c8c9a5b84 | 726 | // 事後推定値の更新 |
ojan | 13:df1e8a650185 | 727 | post_x2 = pri_x2 + K2 * (raw_acc - H2 * pri_x2); |
ojan | 11:083c8c9a5b84 | 728 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 729 | post_P2 = (I2 - K2 * H2) * pri_P2; |
ojan | 11:083c8c9a5b84 | 730 | } |
ojan | 15:d14d385d37e2 | 731 | |
ojan | 15:d14d385d37e2 | 732 | |
ojan | 11:083c8c9a5b84 | 733 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 734 | { |
ojan | 11:083c8c9a5b84 | 735 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 736 | float f1[49] = { |
ojan | 15:d14d385d37e2 | 737 | 1.0f, (raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, 0.0f, 0.0f, -post_x1.GetComp(2) * dt, |
ojan | 15:d14d385d37e2 | 738 | -(raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 0.0f, 0.0f, 0.0f, post_x1.GetComp(1) * dt, |
ojan | 15:d14d385d37e2 | 739 | (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 740 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 741 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 742 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 743 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 744 | }; |
ojan | 15:d14d385d37e2 | 745 | |
ojan | 13:df1e8a650185 | 746 | F1.SetComps(f1); |
ojan | 15:d14d385d37e2 | 747 | |
ojan | 11:083c8c9a5b84 | 748 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 749 | //pri_x1 = F1 * post_x1; |
ojan | 13:df1e8a650185 | 750 | float pri_x1_vals[7] = { |
ojan | 15:d14d385d37e2 | 751 | post_x1.GetComp(1) + post_x1.GetComp(2) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt - post_x1.GetComp(3) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt, |
ojan | 15:d14d385d37e2 | 752 | post_x1.GetComp(2) + post_x1.GetComp(3) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt - post_x1.GetComp(1) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt, |
ojan | 15:d14d385d37e2 | 753 | post_x1.GetComp(3) + post_x1.GetComp(1) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt - post_x1.GetComp(2) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt, |
ojan | 15:d14d385d37e2 | 754 | post_x1.GetComp(4), |
ojan | 15:d14d385d37e2 | 755 | post_x1.GetComp(5), |
ojan | 15:d14d385d37e2 | 756 | post_x1.GetComp(6), |
ojan | 13:df1e8a650185 | 757 | post_x1.GetComp(7) |
ojan | 13:df1e8a650185 | 758 | }; |
ojan | 15:d14d385d37e2 | 759 | |
ojan | 13:df1e8a650185 | 760 | pri_x1.SetComps(pri_x1_vals); |
ojan | 15:d14d385d37e2 | 761 | |
ojan | 11:083c8c9a5b84 | 762 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 763 | pri_P1 = F1 * post_P1 * F1.Transpose() + R1; |
ojan | 15:d14d385d37e2 | 764 | |
ojan | 11:083c8c9a5b84 | 765 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 766 | S1 = Q1 + H1 * pri_P1 * H1.Transpose(); |
ojan | 13:df1e8a650185 | 767 | static float det; |
ojan | 11:083c8c9a5b84 | 768 | if((det = S1.Inverse(S_inv1)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 769 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 770 | 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 | 771 | } |
ojan | 15:d14d385d37e2 | 772 | K1 = pri_P1 * H1.Transpose() * S_inv1; |
ojan | 15:d14d385d37e2 | 773 | |
ojan | 11:083c8c9a5b84 | 774 | // 事後推定値の更新 |
ojan | 11:083c8c9a5b84 | 775 | post_x1 = pri_x1 + K1 * (raw_geomag - H1 * pri_x1); |
ojan | 11:083c8c9a5b84 | 776 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 777 | post_P1 = (I1 - K1 * H1) * pri_P1; |
ojan | 3:5358a691a100 | 778 | } |
ojan | 3:5358a691a100 | 779 | } |
ojan | 3:5358a691a100 | 780 | |
ojan | 17:03b45055ca05 | 781 | /** GPS座標から距離を算出 |
ojan | 17:03b45055ca05 | 782 | * @param 座標1(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 783 | * @param 座標2(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 784 | * |
ojan | 17:03b45055ca05 | 785 | * @return 2点間の距離(m) |
ojan | 17:03b45055ca05 | 786 | */ |
ojan | 15:d14d385d37e2 | 787 | float Distance(Vector p1, Vector p2) |
ojan | 15:d14d385d37e2 | 788 | { |
ojan | 25:4c72d7420d8a | 789 | static float mu_y; |
ojan | 25:4c72d7420d8a | 790 | static float s_mu_y; |
ojan | 25:4c72d7420d8a | 791 | static float w; |
ojan | 25:4c72d7420d8a | 792 | static float m; |
ojan | 25:4c72d7420d8a | 793 | static float n; |
ojan | 25:4c72d7420d8a | 794 | static float d1; |
ojan | 25:4c72d7420d8a | 795 | static float d2; |
ojan | 25:4c72d7420d8a | 796 | |
ojan | 9:6d4578dcc1ed | 797 | if(p1.GetDim() != p2.GetDim()) return 0.0f; |
ojan | 15:d14d385d37e2 | 798 | |
ojan | 25:4c72d7420d8a | 799 | mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f; |
ojan | 25:4c72d7420d8a | 800 | s_mu_y = sin(mu_y); |
ojan | 25:4c72d7420d8a | 801 | w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y); |
ojan | 25:4c72d7420d8a | 802 | m = GPS_A * (1 - GPS_SQ_E) / (w * w * w); |
ojan | 25:4c72d7420d8a | 803 | n = GPS_A / w; |
ojan | 25:4c72d7420d8a | 804 | d1 = m * (p1.GetComp(2) - p2.GetComp(2)); |
ojan | 25:4c72d7420d8a | 805 | d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1)); |
ojan | 15:d14d385d37e2 | 806 | |
ojan | 9:6d4578dcc1ed | 807 | return sqrt(d1 * d1 + d2 * d2); |
ojan | 9:6d4578dcc1ed | 808 | } |
ojan | 9:6d4578dcc1ed | 809 | |
ojan | 14:f85cb5340cb8 | 810 | /** 投下を検知する関数 |
ojan | 15:d14d385d37e2 | 811 | * |
ojan | 14:f85cb5340cb8 | 812 | * @return 投下されたかどうか(true=投下 false=未投下 |
ojan | 15:d14d385d37e2 | 813 | * |
ojan | 17:03b45055ca05 | 814 | */ |
ojan | 20:00afba164688 | 815 | bool Thrown() |
ojan | 15:d14d385d37e2 | 816 | { |
ojan | 34:4bda9af9a0cd | 817 | volatile static int opt_count = 0; |
ojan | 34:4bda9af9a0cd | 818 | volatile static int g_count = 0; |
ojan | 34:4bda9af9a0cd | 819 | volatile static int para_count = 0; |
ojan | 15:d14d385d37e2 | 820 | |
ojan | 30:fb310564097b | 821 | #ifndef SPIRAL_DEBUG |
ojan | 31:2f88240999fe | 822 | /*if(optSensor.read_u16() > BorderOpt) opt_count++; |
ojan | 14:f85cb5340cb8 | 823 | else opt_count = 0; |
ojan | 14:f85cb5340cb8 | 824 | if(vrt_acc < BorderGravity) g_count++; |
ojan | 31:2f88240999fe | 825 | else g_count = 0;*/ |
ojan | 30:fb310564097b | 826 | #endif |
ojan | 14:f85cb5340cb8 | 827 | if((int)paraSensor == BorderParafoil) para_count++; |
ojan | 14:f85cb5340cb8 | 828 | else para_count = 0; |
ojan | 15:d14d385d37e2 | 829 | |
ojan | 14:f85cb5340cb8 | 830 | if(opt_count >= MaxCount || g_count >= MaxCount || para_count >= MaxCount) { |
ojan | 14:f85cb5340cb8 | 831 | return true; |
ojan | 14:f85cb5340cb8 | 832 | } |
ojan | 15:d14d385d37e2 | 833 | |
ojan | 14:f85cb5340cb8 | 834 | return false; |
ojan | 15:d14d385d37e2 | 835 | |
ojan | 14:f85cb5340cb8 | 836 | } |
ojan | 14:f85cb5340cb8 | 837 | |
ojan | 23:79cdc1432160 | 838 | /* ------------------------------ 割り込み関数 ------------------------------ */ |
ojan | 23:79cdc1432160 | 839 | |
ojan | 20:00afba164688 | 840 | /** データ取得&更新関数 |
ojan | 20:00afba164688 | 841 | * |
ojan | 20:00afba164688 | 842 | */ |
ojan | 20:00afba164688 | 843 | void DataUpdate() |
ojan | 15:d14d385d37e2 | 844 | { |
ojan | 33:56163d4e2c53 | 845 | // サーボ用変数(引き量) |
ojan | 34:4bda9af9a0cd | 846 | static float pL = 0.0f; |
ojan | 34:4bda9af9a0cd | 847 | static float pR = 0.0f; |
ojan | 33:56163d4e2c53 | 848 | |
ojan | 33:56163d4e2c53 | 849 | // 引き量が目標値から一定以上離れていれば、引き量を一定の速度で更新する |
ojan | 33:56163d4e2c53 | 850 | if(pull_L - pL > PullRate * dt) { |
ojan | 33:56163d4e2c53 | 851 | pL += PullRate * dt; |
ojan | 33:56163d4e2c53 | 852 | } else if(pull_L - pL < -PullRate * dt) { |
ojan | 33:56163d4e2c53 | 853 | pL -= PullRate * dt; |
ojan | 33:56163d4e2c53 | 854 | } |
ojan | 33:56163d4e2c53 | 855 | |
ojan | 33:56163d4e2c53 | 856 | if(pull_R - pR > PullRate * dt) { |
ojan | 33:56163d4e2c53 | 857 | pR += PullRate * dt; |
ojan | 33:56163d4e2c53 | 858 | } else if(pull_R - pR < -PullRate * dt) { |
ojan | 33:56163d4e2c53 | 859 | pR -= PullRate * dt; |
ojan | 33:56163d4e2c53 | 860 | } |
ojan | 33:56163d4e2c53 | 861 | |
ojan | 33:56163d4e2c53 | 862 | // 指定された引っ張り量だけ紐を引っ張る |
ojan | 33:56163d4e2c53 | 863 | if(pL < 0.0f) pL = 0.0f; |
ojan | 33:56163d4e2c53 | 864 | else if(pL > PullMax) pL = PullMax; |
ojan | 33:56163d4e2c53 | 865 | if(pR < 0.0f) pR = 0.0f; |
ojan | 33:56163d4e2c53 | 866 | else if(pR > PullMax) pR = PullMax; |
ojan | 33:56163d4e2c53 | 867 | |
ojan | 33:56163d4e2c53 | 868 | servoL.pulsewidth((ServoMax - ServoMin) * (PullMax - pL) / PullMax + ServoMin); |
ojan | 33:56163d4e2c53 | 869 | servoR.pulsewidth((ServoMax - ServoMin) * pR / PullMax + ServoMin); |
ojan | 33:56163d4e2c53 | 870 | |
ojan | 4:45dc5590abc0 | 871 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 872 | mpu.read(); |
ojan | 4:45dc5590abc0 | 873 | hmc.read(); |
ojan | 15:d14d385d37e2 | 874 | |
ojan | 4:45dc5590abc0 | 875 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 876 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 877 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 878 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 879 | } |
ojan | 15:d14d385d37e2 | 880 | |
ojan | 14:f85cb5340cb8 | 881 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 882 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 883 | raw_g = raw_g.Normalize(); |
ojan | 15:d14d385d37e2 | 884 | |
ojan | 4:45dc5590abc0 | 885 | KalmanUpdate(); |
ojan | 15:d14d385d37e2 | 886 | |
ojan | 4:45dc5590abc0 | 887 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 888 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 889 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 890 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 24:8838be99cec3 | 891 | raw_temp = TempLsbToDeg(lps.temperature()); |
ojan | 4:45dc5590abc0 | 892 | } |
ojan | 15:d14d385d37e2 | 893 | |
ojan | 24:8838be99cec3 | 894 | if(INT_flag) { |
ojan | 4:45dc5590abc0 | 895 | g = raw_g; |
ojan | 4:45dc5590abc0 | 896 | for(int i=0; i<3; i++) { |
ojan | 11:083c8c9a5b84 | 897 | geomag.SetComp(i+1, post_x1.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 898 | } |
ojan | 4:45dc5590abc0 | 899 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 900 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 901 | press = raw_press; |
ojan | 23:79cdc1432160 | 902 | temp = raw_temp; |
ojan | 15:d14d385d37e2 | 903 | |
ojan | 13:df1e8a650185 | 904 | vrt_acc = raw_acc * raw_g; |
ojan | 15:d14d385d37e2 | 905 | |
ojan | 0:bc6f14fc60c7 | 906 | } |
ojan | 3:5358a691a100 | 907 | } |
ojan | 3:5358a691a100 | 908 | |
ojan | 14:f85cb5340cb8 | 909 | /* ------------------------------ デバッグ用関数 ------------------------------ */ |
ojan | 9:6d4578dcc1ed | 910 | |
ojan | 15:d14d385d37e2 | 911 | void toString(Matrix& m) |
ojan | 15:d14d385d37e2 | 912 | { |
ojan | 15:d14d385d37e2 | 913 | |
ojan | 3:5358a691a100 | 914 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 915 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 916 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 917 | } |
ojan | 3:5358a691a100 | 918 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 919 | } |
ojan | 15:d14d385d37e2 | 920 | |
ojan | 3:5358a691a100 | 921 | } |
ojan | 3:5358a691a100 | 922 | |
ojan | 15:d14d385d37e2 | 923 | void toString(Vector& v) |
ojan | 15:d14d385d37e2 | 924 | { |
ojan | 15:d14d385d37e2 | 925 | |
ojan | 3:5358a691a100 | 926 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 927 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 928 | } |
ojan | 3:5358a691a100 | 929 | pc.printf("\r\n"); |
ojan | 15:d14d385d37e2 | 930 | |
ojan | 0:bc6f14fc60c7 | 931 | } |