MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@9:6d4578dcc1ed, 2015-06-15 (annotated)
- Committer:
- ojan
- Date:
- Mon Jun 15 10:40:18 2015 +0000
- Revision:
- 9:6d4578dcc1ed
- Parent:
- 8:602865d8fca3
- Child:
- 10:8ee11e412ad7
add code to calculate Euler angle
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" |
ojan | 3:5358a691a100 | 11 | #include "Log.h" |
ojan | 0:bc6f14fc60c7 | 12 | |
ojan | 0:bc6f14fc60c7 | 13 | /********** private define **********/ |
ojan | 0:bc6f14fc60c7 | 14 | #define TRUE 1 |
ojan | 0:bc6f14fc60c7 | 15 | #define FALSE 0 |
ojan | 8:602865d8fca3 | 16 | |
ojan | 9:6d4578dcc1ed | 17 | #define x 1 |
ojan | 9:6d4578dcc1ed | 18 | #define y 2 |
ojan | 9:6d4578dcc1ed | 19 | #define z 3 |
ojan | 9:6d4578dcc1ed | 20 | |
ojan | 8:602865d8fca3 | 21 | const float dt = 0.1f; // 割り込み周期(s) |
ojan | 8:602865d8fca3 | 22 | const float ServoMax = 0.0023f; // サーボの最大パルス長(s) |
ojan | 8:602865d8fca3 | 23 | const float ServoMin = 0.0006f; // サーボの最小パルス長(s) |
ojan | 9:6d4578dcc1ed | 24 | const float PullMax = 25.0f; // 引っ張れる紐の最大量(mm) |
ojan | 0:bc6f14fc60c7 | 25 | /********** private macro **********/ |
ojan | 1:6cd6d2760856 | 26 | |
ojan | 0:bc6f14fc60c7 | 27 | /********** private typedef **********/ |
ojan | 1:6cd6d2760856 | 28 | |
ojan | 0:bc6f14fc60c7 | 29 | /********** private variables **********/ |
ojan | 4:45dc5590abc0 | 30 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 4:45dc5590abc0 | 31 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 1:6cd6d2760856 | 32 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 1:6cd6d2760856 | 33 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 1:6cd6d2760856 | 34 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 8:602865d8fca3 | 35 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 1:6cd6d2760856 | 36 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 1:6cd6d2760856 | 37 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 6:2b68f85a984a | 38 | Log logger(PB_5, PB_4, PB_3, PB_10, PA_9, PA_10, PC_1); // ロガー(microSD、XBee) |
ojan | 8:602865d8fca3 | 39 | PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力 |
ojan | 8:602865d8fca3 | 40 | AnalogIn rf(PC_0); // 照度センサ用アナログ入力 |
ojan | 8:602865d8fca3 | 41 | 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 | 8:602865d8fca3 | 42 | 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 | 8:602865d8fca3 | 43 | Ticker INT_timer; // 割り込みタイマー |
ojan | 0:bc6f14fc60c7 | 44 | |
ojan | 8:602865d8fca3 | 45 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 8:602865d8fca3 | 46 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 8:602865d8fca3 | 47 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 8:602865d8fca3 | 48 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 8:602865d8fca3 | 49 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 8:602865d8fca3 | 50 | float raw_press; // 気圧(hPa) 生 |
ojan | 8:602865d8fca3 | 51 | Vector acc(3); // 加速度(m/s^2) |
ojan | 8:602865d8fca3 | 52 | Vector gyro(3); // 角速度(deg/s) |
ojan | 8:602865d8fca3 | 53 | Vector geomag(3); // 地磁気(?) |
ojan | 8:602865d8fca3 | 54 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 55 | |
ojan | 8:602865d8fca3 | 56 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 8:602865d8fca3 | 57 | Vector g(3); // 重力ベクトル |
ojan | 9:6d4578dcc1ed | 58 | Vector p(2); // 位置情報(経度, 緯度) |
ojan | 9:6d4578dcc1ed | 59 | Vector pre_p(2); // 過去の位置情報(経度, 緯度) |
ojan | 9:6d4578dcc1ed | 60 | int UTC_t = 0; // UTC時刻 |
ojan | 9:6d4578dcc1ed | 61 | int pre_UTC_t = 0; // 前のUTC時刻 |
ojan | 8:602865d8fca3 | 62 | //Vector n(3); // 地磁気ベクトル |
ojan | 8:602865d8fca3 | 63 | |
ojan | 9:6d4578dcc1ed | 64 | 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 | 65 | 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 | 66 | 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 | 67 | |
ojan | 9:6d4578dcc1ed | 68 | 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 | 69 | 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 | 70 | 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 | 71 | |
ojan | 9:6d4578dcc1ed | 72 | int pull_L = 0; // 左サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 73 | int pull_R = 0; // 右サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 74 | |
ojan | 9:6d4578dcc1ed | 75 | float yaw = 0.0f; // 本体のヨー角(deg) |
ojan | 9:6d4578dcc1ed | 76 | float pitch = 0.0f; // 本体のピッチ角(deg) |
ojan | 9:6d4578dcc1ed | 77 | float roll = 0.0f; // 本体のロール角(deg) |
ojan | 3:5358a691a100 | 78 | |
ojan | 3:5358a691a100 | 79 | /* ----- Kalman Filter ----- */ |
ojan | 3:5358a691a100 | 80 | Vector pri_x(6); |
ojan | 3:5358a691a100 | 81 | Matrix pri_P(6, 6); |
ojan | 3:5358a691a100 | 82 | Vector post_x(6); |
ojan | 3:5358a691a100 | 83 | Matrix post_P(6, 6); |
ojan | 3:5358a691a100 | 84 | Matrix F(6, 6), H(3, 6); |
ojan | 3:5358a691a100 | 85 | Matrix R(6, 6), Q(3, 3); |
ojan | 3:5358a691a100 | 86 | Matrix I(6, 6); |
ojan | 3:5358a691a100 | 87 | Matrix K(6, 3); |
ojan | 3:5358a691a100 | 88 | Matrix S(3, 3), inv(3, 3); |
ojan | 3:5358a691a100 | 89 | /* ----- ------------- ----- */ |
ojan | 3:5358a691a100 | 90 | |
ojan | 3:5358a691a100 | 91 | Timer timer; |
ojan | 3:5358a691a100 | 92 | |
onaka | 6:2b68f85a984a | 93 | char data[512] = {}; |
ojan | 1:6cd6d2760856 | 94 | |
ojan | 0:bc6f14fc60c7 | 95 | /********** private functions **********/ |
ojan | 9:6d4578dcc1ed | 96 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 9:6d4578dcc1ed | 97 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 9:6d4578dcc1ed | 98 | 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 | 99 | void INT_func(); // 割り込み用関数 |
ojan | 3:5358a691a100 | 100 | void toString(Matrix& m); |
ojan | 3:5358a691a100 | 101 | void toString(Vector& v); |
ojan | 1:6cd6d2760856 | 102 | |
ojan | 0:bc6f14fc60c7 | 103 | /********** main function **********/ |
ojan | 0:bc6f14fc60c7 | 104 | |
ojan | 0:bc6f14fc60c7 | 105 | int main() { |
ojan | 0:bc6f14fc60c7 | 106 | |
ojan | 0:bc6f14fc60c7 | 107 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 0:bc6f14fc60c7 | 108 | |
ojan | 0:bc6f14fc60c7 | 109 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 110 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 0:bc6f14fc60c7 | 111 | |
ojan | 4:45dc5590abc0 | 112 | char* title = "log data\r\n"; // ログのタイトル行 |
onaka | 6:2b68f85a984a | 113 | logger.initialize_sdlog(title); // ログファイル初期設定 |
ojan | 3:5358a691a100 | 114 | |
ojan | 8:602865d8fca3 | 115 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 8:602865d8fca3 | 116 | servoR.period(0.020f); |
ojan | 8:602865d8fca3 | 117 | |
ojan | 3:5358a691a100 | 118 | KalmanInit(); |
ojan | 3:5358a691a100 | 119 | |
ojan | 3:5358a691a100 | 120 | 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 | 121 | |
ojan | 1:6cd6d2760856 | 122 | //重力ベクトルの初期化 |
ojan | 4:45dc5590abc0 | 123 | raw_g.SetComp(1, 0.0f); |
ojan | 4:45dc5590abc0 | 124 | raw_g.SetComp(2, 0.0f); |
ojan | 4:45dc5590abc0 | 125 | raw_g.SetComp(3, 1.0f); |
ojan | 0:bc6f14fc60c7 | 126 | |
ojan | 9:6d4578dcc1ed | 127 | // 機体に固定されたベクトルの初期化 |
ojan | 9:6d4578dcc1ed | 128 | b_f.SetComp(1, 0.0f); |
ojan | 9:6d4578dcc1ed | 129 | b_f.SetComp(2, 0.0f); |
ojan | 9:6d4578dcc1ed | 130 | b_f.SetComp(3, -1.0f); |
ojan | 9:6d4578dcc1ed | 131 | b_u.SetComp(1, 1.0f); |
ojan | 9:6d4578dcc1ed | 132 | b_u.SetComp(2, 0.0f); |
ojan | 9:6d4578dcc1ed | 133 | b_u.SetComp(3, 0.0f); |
ojan | 9:6d4578dcc1ed | 134 | b_l = Cross(b_u, b_f); |
ojan | 9:6d4578dcc1ed | 135 | |
ojan | 2:d2b60a1d0cd9 | 136 | /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */ |
ojan | 0:bc6f14fc60c7 | 137 | while(1) { |
ojan | 4:45dc5590abc0 | 138 | timer.stop(); |
ojan | 4:45dc5590abc0 | 139 | timer.reset(); |
ojan | 4:45dc5590abc0 | 140 | timer.start(); |
ojan | 3:5358a691a100 | 141 | // 0.1秒おきにセンサーの出力をpcへ出力 |
ojan | 4:45dc5590abc0 | 142 | myled = 1; // LED is ON |
ojan | 8:602865d8fca3 | 143 | |
ojan | 0:bc6f14fc60c7 | 144 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 0:bc6f14fc60c7 | 145 | |
ojan | 9:6d4578dcc1ed | 146 | // データ処理 |
ojan | 9:6d4578dcc1ed | 147 | { |
ojan | 9:6d4578dcc1ed | 148 | gms.read(); // GPSデータ取得 |
ojan | 9:6d4578dcc1ed | 149 | UTC_t = (int)gms.time; |
ojan | 9:6d4578dcc1ed | 150 | |
ojan | 9:6d4578dcc1ed | 151 | // 参照座標系の基底を求める |
ojan | 9:6d4578dcc1ed | 152 | r_u = g; |
ojan | 9:6d4578dcc1ed | 153 | r_f = geomag.GetPerpCompTo(g).Normalize(); |
ojan | 9:6d4578dcc1ed | 154 | r_l = Cross(r_u, r_f); |
ojan | 9:6d4578dcc1ed | 155 | |
ojan | 9:6d4578dcc1ed | 156 | // 回転行列を経由してオイラー角を求める |
ojan | 9:6d4578dcc1ed | 157 | // 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 | 158 | // 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 | 159 | |
ojan | 9:6d4578dcc1ed | 160 | float R_11 = r_f * b_f; // 回転行列の(1,1)成分 |
ojan | 9:6d4578dcc1ed | 161 | float R_12 = r_f * b_l; // 回転行列の(1,2)成分 |
ojan | 9:6d4578dcc1ed | 162 | float R_13 = r_f * b_u; // 回転行列の(1,3)成分 |
ojan | 9:6d4578dcc1ed | 163 | float R_23 = r_l * b_u; // 回転行列の(2,3)成分 |
ojan | 9:6d4578dcc1ed | 164 | float R_33 = r_u * b_u; // 回転行列の(3,3)成分 |
ojan | 9:6d4578dcc1ed | 165 | |
ojan | 9:6d4578dcc1ed | 166 | yaw = atan2(R_11, -R_12) * RAD_TO_DEG; |
ojan | 9:6d4578dcc1ed | 167 | roll = atan2(R_33, -R_23) * RAD_TO_DEG; |
ojan | 9:6d4578dcc1ed | 168 | pitch = atan2(R_11/cos(yaw), R_13) * RAD_TO_DEG; |
ojan | 9:6d4578dcc1ed | 169 | |
ojan | 9:6d4578dcc1ed | 170 | if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら |
ojan | 9:6d4578dcc1ed | 171 | p.SetComp(1, gms.longitude * DEG_TO_RAD); |
ojan | 9:6d4578dcc1ed | 172 | p.SetComp(2, gms.latitude * DEG_TO_RAD); |
ojan | 9:6d4578dcc1ed | 173 | } else { // 更新されていなかったら |
ojan | 9:6d4578dcc1ed | 174 | |
ojan | 9:6d4578dcc1ed | 175 | } |
ojan | 9:6d4578dcc1ed | 176 | |
ojan | 9:6d4578dcc1ed | 177 | pre_p = p; |
ojan | 9:6d4578dcc1ed | 178 | pre_UTC_t = UTC_t; |
ojan | 9:6d4578dcc1ed | 179 | } |
ojan | 9:6d4578dcc1ed | 180 | |
ojan | 5:182f6356bce1 | 181 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 182 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; |
ojan | 5:182f6356bce1 | 183 | |
ojan | 5:182f6356bce1 | 184 | sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n", |
ojan | 5:182f6356bce1 | 185 | g.GetComp(1), g.GetComp(2), g.GetComp(3), |
ojan | 4:45dc5590abc0 | 186 | geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3), |
ojan | 5:182f6356bce1 | 187 | press, gms.longitude, gms.latitude, |
ojan | 8:602865d8fca3 | 188 | sv, lv, rf.read_u16()); |
onaka | 6:2b68f85a984a | 189 | logger.write(data); |
ojan | 4:45dc5590abc0 | 190 | |
ojan | 0:bc6f14fc60c7 | 191 | INT_flag = TRUE; // 割り込み許可 |
ojan | 0:bc6f14fc60c7 | 192 | |
ojan | 5:182f6356bce1 | 193 | // 制御ルーチン |
ojan | 9:6d4578dcc1ed | 194 | { |
ojan | 9:6d4578dcc1ed | 195 | //pull_L = (pull_L+5)%30; |
ojan | 9:6d4578dcc1ed | 196 | //pull_R = (pull_R+5)%30; |
ojan | 9:6d4578dcc1ed | 197 | pull_L = 0; |
ojan | 9:6d4578dcc1ed | 198 | pull_R = 30; |
ojan | 9:6d4578dcc1ed | 199 | servoL.pulsewidth((ServoMax - ServoMin) * pull_L / PullMax + ServoMin); |
ojan | 9:6d4578dcc1ed | 200 | servoR.pulsewidth((ServoMax - ServoMin) * pull_R / PullMax + ServoMin); |
ojan | 8:602865d8fca3 | 201 | |
ojan | 9:6d4578dcc1ed | 202 | } |
ojan | 9:6d4578dcc1ed | 203 | |
ojan | 9:6d4578dcc1ed | 204 | myled = 0; // LED is OFF |
ojan | 5:182f6356bce1 | 205 | |
ojan | 9:6d4578dcc1ed | 206 | // ループはきっかり0.2秒ごと |
ojan | 9:6d4578dcc1ed | 207 | while(timer.read_ms() < 200); |
ojan | 5:182f6356bce1 | 208 | |
ojan | 9:6d4578dcc1ed | 209 | pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f); |
ojan | 4:45dc5590abc0 | 210 | |
ojan | 0:bc6f14fc60c7 | 211 | } |
ojan | 2:d2b60a1d0cd9 | 212 | |
ojan | 2:d2b60a1d0cd9 | 213 | /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */ |
ojan | 0:bc6f14fc60c7 | 214 | } |
ojan | 0:bc6f14fc60c7 | 215 | |
ojan | 3:5358a691a100 | 216 | void KalmanInit() { |
ojan | 3:5358a691a100 | 217 | |
ojan | 3:5358a691a100 | 218 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 3:5358a691a100 | 219 | float alpha_R = 60.0f; |
ojan | 3:5358a691a100 | 220 | float alpha_Q = 100.0f; |
ojan | 3:5358a691a100 | 221 | R *= alpha_R; |
ojan | 3:5358a691a100 | 222 | Q *= alpha_Q; |
ojan | 3:5358a691a100 | 223 | |
ojan | 3:5358a691a100 | 224 | // 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 | 225 | float f[36] = { |
ojan | 4:45dc5590abc0 | 226 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 227 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 228 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 229 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 230 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 231 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 232 | }; |
ojan | 3:5358a691a100 | 233 | |
ojan | 3:5358a691a100 | 234 | F.SetComps(f); |
ojan | 3:5358a691a100 | 235 | |
ojan | 3:5358a691a100 | 236 | // 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 | 237 | float h[18] = { |
ojan | 3:5358a691a100 | 238 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 239 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 240 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 241 | }; |
ojan | 3:5358a691a100 | 242 | |
ojan | 3:5358a691a100 | 243 | H.SetComps(h); |
ojan | 3:5358a691a100 | 244 | } |
ojan | 3:5358a691a100 | 245 | |
ojan | 3:5358a691a100 | 246 | void KalmanUpdate() { |
ojan | 3:5358a691a100 | 247 | // ヤコビアンの更新 |
ojan | 3:5358a691a100 | 248 | float f[36] = { |
ojan | 4:45dc5590abc0 | 249 | 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 250 | -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f, |
ojan | 4:45dc5590abc0 | 251 | raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 252 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 3:5358a691a100 | 253 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 3:5358a691a100 | 254 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 3:5358a691a100 | 255 | }; |
ojan | 3:5358a691a100 | 256 | |
ojan | 3:5358a691a100 | 257 | F.SetComps(f); |
ojan | 3:5358a691a100 | 258 | |
ojan | 3:5358a691a100 | 259 | // 事前推定値の更新 |
ojan | 3:5358a691a100 | 260 | pri_x = F * post_x; |
ojan | 3:5358a691a100 | 261 | // 事前誤差分散行列の更新 |
ojan | 3:5358a691a100 | 262 | pri_P = F * post_P * F.Transpose() + R; |
ojan | 3:5358a691a100 | 263 | |
ojan | 3:5358a691a100 | 264 | // カルマンゲインの計算 |
ojan | 3:5358a691a100 | 265 | S = Q + H * pri_P * H.Transpose(); |
ojan | 3:5358a691a100 | 266 | float det; |
ojan | 3:5358a691a100 | 267 | if((det = S.Inverse(inv)) >= 0.0f) { |
ojan | 3:5358a691a100 | 268 | pc.printf("E:%.3f\r\n", det); |
ojan | 3:5358a691a100 | 269 | 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 | 270 | } |
ojan | 3:5358a691a100 | 271 | K = pri_P * H.Transpose() * inv; |
ojan | 3:5358a691a100 | 272 | |
ojan | 3:5358a691a100 | 273 | // 事後推定値の更新 |
ojan | 4:45dc5590abc0 | 274 | post_x = pri_x + K * (raw_geomag - H * pri_x); |
ojan | 3:5358a691a100 | 275 | // 事後誤差分散行列の更新 |
ojan | 3:5358a691a100 | 276 | post_P = (I - K * H) * pri_P; |
ojan | 3:5358a691a100 | 277 | } |
ojan | 3:5358a691a100 | 278 | |
ojan | 9:6d4578dcc1ed | 279 | float distance(Vector p1, Vector p2) { |
ojan | 9:6d4578dcc1ed | 280 | if(p1.GetDim() != p2.GetDim()) return 0.0f; |
ojan | 9:6d4578dcc1ed | 281 | |
ojan | 9:6d4578dcc1ed | 282 | float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f; |
ojan | 9:6d4578dcc1ed | 283 | float s_mu_y = sin(mu_y); |
ojan | 9:6d4578dcc1ed | 284 | float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y); |
ojan | 9:6d4578dcc1ed | 285 | float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w); |
ojan | 9:6d4578dcc1ed | 286 | float n = GPS_A / w; |
ojan | 9:6d4578dcc1ed | 287 | float d1 = m * (p1.GetComp(2) - p2.GetComp(2)); |
ojan | 9:6d4578dcc1ed | 288 | float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1)); |
ojan | 9:6d4578dcc1ed | 289 | |
ojan | 9:6d4578dcc1ed | 290 | return sqrt(d1 * d1 + d2 * d2); |
ojan | 9:6d4578dcc1ed | 291 | } |
ojan | 9:6d4578dcc1ed | 292 | |
ojan | 9:6d4578dcc1ed | 293 | /* -------------------- 割り込み関数 -------------------- */ |
ojan | 9:6d4578dcc1ed | 294 | |
ojan | 0:bc6f14fc60c7 | 295 | void INT_func() { |
ojan | 4:45dc5590abc0 | 296 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 297 | mpu.read(); |
ojan | 4:45dc5590abc0 | 298 | hmc.read(); |
ojan | 4:45dc5590abc0 | 299 | |
ojan | 4:45dc5590abc0 | 300 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 301 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 302 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 303 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 304 | } |
ojan | 0:bc6f14fc60c7 | 305 | |
ojan | 4:45dc5590abc0 | 306 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 307 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 308 | raw_g = raw_g.Normalize(); |
ojan | 4:45dc5590abc0 | 309 | |
ojan | 4:45dc5590abc0 | 310 | KalmanUpdate(); |
ojan | 0:bc6f14fc60c7 | 311 | |
ojan | 4:45dc5590abc0 | 312 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 313 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 314 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 315 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 316 | } |
ojan | 4:45dc5590abc0 | 317 | //pc.printf("%d(us)\r\n", timer.read_us()); |
ojan | 4:45dc5590abc0 | 318 | |
ojan | 4:45dc5590abc0 | 319 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 320 | g = raw_g; |
ojan | 4:45dc5590abc0 | 321 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 322 | geomag.SetComp(i+1, post_x.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 323 | } |
ojan | 4:45dc5590abc0 | 324 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 325 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 326 | press = raw_press; |
ojan | 1:6cd6d2760856 | 327 | |
ojan | 0:bc6f14fc60c7 | 328 | } |
ojan | 3:5358a691a100 | 329 | } |
ojan | 3:5358a691a100 | 330 | |
ojan | 9:6d4578dcc1ed | 331 | /* -------------------- デバッグ用関数 -------------------- */ |
ojan | 9:6d4578dcc1ed | 332 | |
ojan | 3:5358a691a100 | 333 | void toString(Matrix& m) { |
ojan | 3:5358a691a100 | 334 | |
ojan | 3:5358a691a100 | 335 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 336 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 337 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 338 | } |
ojan | 3:5358a691a100 | 339 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 340 | } |
ojan | 3:5358a691a100 | 341 | |
ojan | 3:5358a691a100 | 342 | } |
ojan | 3:5358a691a100 | 343 | |
ojan | 3:5358a691a100 | 344 | void toString(Vector& v) { |
ojan | 3:5358a691a100 | 345 | |
ojan | 3:5358a691a100 | 346 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 347 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 348 | } |
ojan | 3:5358a691a100 | 349 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 350 | |
ojan | 0:bc6f14fc60c7 | 351 | } |