MPUとHMCでうごくかもver
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@17:03b45055ca05, 2015-06-21 (annotated)
- Committer:
- ojan
- Date:
- Sun Jun 21 15:29:37 2015 +0000
- Revision:
- 17:03b45055ca05
- Parent:
- 15:d14d385d37e2
- Child:
- 19:ad8ff2de68f5
LAURUS_program_v2.1; ; + some refactorings
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 | 14:f85cb5340cb8 | 15 | /****************************** private define ******************************/ |
ojan | 0:bc6f14fc60c7 | 16 | #define TRUE 1 |
ojan | 0:bc6f14fc60c7 | 17 | #define FALSE 0 |
ojan | 8:602865d8fca3 | 18 | |
ojan | 15:d14d385d37e2 | 19 | #define RULE1 |
ojan | 15:d14d385d37e2 | 20 | //#define RULE2 |
ojan | 15:d14d385d37e2 | 21 | //#define RULE3 |
ojan | 15:d14d385d37e2 | 22 | |
ojan | 14:f85cb5340cb8 | 23 | const float dt = 0.01f; // 割り込み周期(s) |
ojan | 14:f85cb5340cb8 | 24 | const float ServoMax = 0.0023f; // サーボの最大パルス長(s) |
ojan | 14:f85cb5340cb8 | 25 | const float ServoMin = 0.0006f; // サーボの最小パルス長(s) |
ojan | 14:f85cb5340cb8 | 26 | const float PullMax = 25.0f; // 引っ張れる紐の最大量(mm) |
ojan | 14:f85cb5340cb8 | 27 | const float BorderSpiral = 40.0f; // スパイラル検知角度 |
ojan | 14:f85cb5340cb8 | 28 | const short BorderOpt = 30000; // 光センサーの閾値 |
ojan | 14:f85cb5340cb8 | 29 | const float BorderGravity = 0.3f; // 無重力状態の閾値 |
ojan | 14:f85cb5340cb8 | 30 | const int BorderParafoil = 0; // 物理スイッチのOFF出力 |
ojan | 14:f85cb5340cb8 | 31 | 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 | 14:f85cb5340cb8 | 32 | const int WaitTime = 1; // 投下後、安定するまで何秒滑空するか |
ojan | 15:d14d385d37e2 | 33 | 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 | 34 | 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 | 15:d14d385d37e2 | 35 | const float BorderDistance = 10.0f; // 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 | 36 | |
ojan | 14:f85cb5340cb8 | 37 | /****************************** private macro ******************************/ |
ojan | 14:f85cb5340cb8 | 38 | /****************************** private typedef ******************************/ |
ojan | 14:f85cb5340cb8 | 39 | /****************************** private variables ******************************/ |
ojan | 10:8ee11e412ad7 | 40 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 10:8ee11e412ad7 | 41 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 10:8ee11e412ad7 | 42 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 10:8ee11e412ad7 | 43 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 10:8ee11e412ad7 | 44 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 10:8ee11e412ad7 | 45 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 46 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 47 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 7:0ec343d29641 | 48 | SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD |
onaka | 7:0ec343d29641 | 49 | BufferedSerial xbee(PA_9, PA_10, PC_1); // Xbee |
ojan | 14:f85cb5340cb8 | 50 | ConfigFile cfg; // ConfigFile |
ojan | 10:8ee11e412ad7 | 51 | PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力 |
ojan | 14:f85cb5340cb8 | 52 | AnalogIn optSensor(PC_0); // 照度センサ用アナログ入力 |
ojan | 10:8ee11e412ad7 | 53 | 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 | 54 | 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 | 14:f85cb5340cb8 | 55 | DigitalIn paraSensor(PB_0); // パラフォイルに繋がる(予定)の物理スイッチ |
ojan | 10:8ee11e412ad7 | 56 | Ticker INT_timer; // 割り込みタイマー |
ojan | 14:f85cb5340cb8 | 57 | Timer timer; // 時間計測用タイマー |
ojan | 0:bc6f14fc60c7 | 58 | |
ojan | 14:f85cb5340cb8 | 59 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 8:602865d8fca3 | 60 | uint8_t INT_flag = TRUE; // 割り込み可否フラグ |
ojan | 17:03b45055ca05 | 61 | /* こちらの変数群はメインループでは参照しない */ |
ojan | 14:f85cb5340cb8 | 62 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 14:f85cb5340cb8 | 63 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 14:f85cb5340cb8 | 64 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 14:f85cb5340cb8 | 65 | float raw_press; // 気圧(hPa) 生 |
ojan | 17:03b45055ca05 | 66 | /* メインループ内ではこちらを参照する */ |
ojan | 14:f85cb5340cb8 | 67 | Vector acc(3); // 加速度(m/s^2) |
ojan | 14:f85cb5340cb8 | 68 | Vector gyro(3); // 角速度(deg/s) |
ojan | 14:f85cb5340cb8 | 69 | Vector geomag(3); // 地磁気(?) |
ojan | 14:f85cb5340cb8 | 70 | float press; // 気圧(hPa) |
ojan | 1:6cd6d2760856 | 71 | |
ojan | 14:f85cb5340cb8 | 72 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 14:f85cb5340cb8 | 73 | Vector g(3); // 重力ベクトル |
ojan | 14:f85cb5340cb8 | 74 | Vector target_p(2); // 目標情報(経度、緯度)(rad) |
ojan | 14:f85cb5340cb8 | 75 | Vector p(2); // 位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 76 | Vector pre_p(2); // 過去の位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 77 | int UTC_t = 0; // UTC時刻 |
ojan | 14:f85cb5340cb8 | 78 | int pre_UTC_t = 0; // 前のUTC時刻 |
ojan | 8:602865d8fca3 | 79 | |
ojan | 14:f85cb5340cb8 | 80 | 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 | 81 | 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 | 82 | 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 | 83 | |
ojan | 14:f85cb5340cb8 | 84 | 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 | 85 | 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 | 86 | 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 | 87 | |
ojan | 14:f85cb5340cb8 | 88 | int pull_L = 0; // 左サーボの引っ張り量(mm:0~PullMax) |
ojan | 14:f85cb5340cb8 | 89 | int pull_R = 0; // 右サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 90 | |
ojan | 14:f85cb5340cb8 | 91 | float yaw = 0.0f; // 本体のヨー角(deg)z軸周り |
ojan | 14:f85cb5340cb8 | 92 | float pitch = 0.0f; // 本体のピッチ角(deg)y軸周り |
ojan | 14:f85cb5340cb8 | 93 | float roll = 0.0f; // 本体のロール角(deg)x軸周り |
ojan | 9:6d4578dcc1ed | 94 | |
ojan | 14:f85cb5340cb8 | 95 | 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 | 96 | |
ojan | 14:f85cb5340cb8 | 97 | int step = 0; // シーケンス制御のステップ |
ojan | 14:f85cb5340cb8 | 98 | int count = 0; // 時間測定用カウンター |
ojan | 14:f85cb5340cb8 | 99 | int dir = 0; // 旋回方向(0:左 1:右) |
ojan | 14:f85cb5340cb8 | 100 | char data[512] = {}; // 送信データ用配列 |
ojan | 3:5358a691a100 | 101 | |
onaka | 7:0ec343d29641 | 102 | /** config.txt ** |
ojan | 15:d14d385d37e2 | 103 | * #から始めるのはコメント行 |
onaka | 7:0ec343d29641 | 104 | * #イコールの前後に空白を入れない |
onaka | 7:0ec343d29641 | 105 | * target_x=111.222 |
onaka | 7:0ec343d29641 | 106 | * target_y=33.444 |
onaka | 7:0ec343d29641 | 107 | */ |
onaka | 7:0ec343d29641 | 108 | float target_x, target_y; |
onaka | 7:0ec343d29641 | 109 | |
ojan | 14:f85cb5340cb8 | 110 | /* ---------- Kalman Filter ---------- */ |
ojan | 11:083c8c9a5b84 | 111 | // 地磁気ベクトル用 |
ojan | 14:f85cb5340cb8 | 112 | // ジャイロのz軸周りのバイアスも推定 |
ojan | 13:df1e8a650185 | 113 | Vector pri_x1(7); |
ojan | 13:df1e8a650185 | 114 | Matrix pri_P1(7, 7); |
ojan | 13:df1e8a650185 | 115 | Vector post_x1(7); |
ojan | 13:df1e8a650185 | 116 | Matrix post_P1(7, 7); |
ojan | 13:df1e8a650185 | 117 | Matrix F1(7, 7), H1(3, 7); |
ojan | 13:df1e8a650185 | 118 | Matrix R1(7, 7), Q1(3, 3); |
ojan | 13:df1e8a650185 | 119 | Matrix I1(7, 7); |
ojan | 13:df1e8a650185 | 120 | Matrix K1(7, 3); |
ojan | 11:083c8c9a5b84 | 121 | Matrix S1(3, 3), S_inv1(3, 3); |
ojan | 11:083c8c9a5b84 | 122 | |
ojan | 11:083c8c9a5b84 | 123 | // 重力ベクトル用 |
ojan | 14:f85cb5340cb8 | 124 | // 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 | 125 | Vector pri_x2(5); |
ojan | 13:df1e8a650185 | 126 | Matrix pri_P2(5, 5); |
ojan | 13:df1e8a650185 | 127 | Vector post_x2(5); |
ojan | 13:df1e8a650185 | 128 | Matrix post_P2(5, 5); |
ojan | 13:df1e8a650185 | 129 | Matrix F2(5, 5), H2(3, 5); |
ojan | 13:df1e8a650185 | 130 | Matrix R2(5, 5), Q2(3, 3); |
ojan | 13:df1e8a650185 | 131 | Matrix I2(5, 5); |
ojan | 13:df1e8a650185 | 132 | Matrix K2(5, 3); |
ojan | 13:df1e8a650185 | 133 | Matrix S2(3, 3), S_inv2(3, 3); |
ojan | 14:f85cb5340cb8 | 134 | /* ---------- ------------- ---------- */ |
ojan | 3:5358a691a100 | 135 | |
ojan | 1:6cd6d2760856 | 136 | |
ojan | 14:f85cb5340cb8 | 137 | /****************************** private functions ******************************/ |
ojan | 17:03b45055ca05 | 138 | void SD_Init(); // SDカード初期化 |
ojan | 17:03b45055ca05 | 139 | void VectorsInit(); // 各種ベクトルの初期化 |
ojan | 17:03b45055ca05 | 140 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 14:f85cb5340cb8 | 141 | void LoadConfig(); // config読み取り |
ojan | 14:f85cb5340cb8 | 142 | int Find_last(); // SDカード初期化用関数 |
ojan | 14:f85cb5340cb8 | 143 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 14:f85cb5340cb8 | 144 | 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 | 14:f85cb5340cb8 | 145 | bool thrown(); // 投下されたかどうかを判断する |
ojan | 14:f85cb5340cb8 | 146 | void INT_func(); // 割り込み用関数 |
ojan | 14:f85cb5340cb8 | 147 | void toString(Matrix& m); // デバッグ用 |
ojan | 14:f85cb5340cb8 | 148 | void toString(Vector& v); // デバッグ用 |
ojan | 1:6cd6d2760856 | 149 | |
ojan | 15:d14d385d37e2 | 150 | inline float min(float a, float b) |
ojan | 15:d14d385d37e2 | 151 | { |
ojan | 14:f85cb5340cb8 | 152 | return ((a > b) ? b : a); |
ojan | 14:f85cb5340cb8 | 153 | } |
ojan | 14:f85cb5340cb8 | 154 | |
ojan | 14:f85cb5340cb8 | 155 | /****************************** main function ******************************/ |
ojan | 0:bc6f14fc60c7 | 156 | |
ojan | 15:d14d385d37e2 | 157 | int main() |
ojan | 15:d14d385d37e2 | 158 | { |
ojan | 15:d14d385d37e2 | 159 | |
ojan | 14:f85cb5340cb8 | 160 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 15:d14d385d37e2 | 161 | |
ojan | 0:bc6f14fc60c7 | 162 | if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 0:bc6f14fc60c7 | 163 | if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 15:d14d385d37e2 | 164 | |
onaka | 7:0ec343d29641 | 165 | //Config読み取り |
onaka | 7:0ec343d29641 | 166 | LoadConfig(); |
ojan | 15:d14d385d37e2 | 167 | |
ojan | 17:03b45055ca05 | 168 | // SDカード初期化 |
ojan | 17:03b45055ca05 | 169 | SD_Init(); |
ojan | 15:d14d385d37e2 | 170 | |
onaka | 7:0ec343d29641 | 171 | //カルマンフィルタ初期化 |
ojan | 3:5358a691a100 | 172 | KalmanInit(); |
ojan | 15:d14d385d37e2 | 173 | |
ojan | 17:03b45055ca05 | 174 | // 各種ベクトルの初期化 |
ojan | 17:03b45055ca05 | 175 | VectorsInit(); |
ojan | 17:03b45055ca05 | 176 | |
ojan | 14:f85cb5340cb8 | 177 | 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 | 17:03b45055ca05 | 178 | |
ojan | 17:03b45055ca05 | 179 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 17:03b45055ca05 | 180 | servoR.period(0.020f); |
ojan | 15:d14d385d37e2 | 181 | |
ojan | 15:d14d385d37e2 | 182 | |
ojan | 14:f85cb5340cb8 | 183 | /* ------------------------------ ↓↓↓ ここからメインループ ↓↓↓ ------------------------------ */ |
ojan | 0:bc6f14fc60c7 | 184 | while(1) { |
ojan | 4:45dc5590abc0 | 185 | timer.stop(); |
ojan | 4:45dc5590abc0 | 186 | timer.reset(); |
ojan | 4:45dc5590abc0 | 187 | timer.start(); |
ojan | 14:f85cb5340cb8 | 188 | myled = 1; // LED is ON |
ojan | 15:d14d385d37e2 | 189 | |
ojan | 15:d14d385d37e2 | 190 | |
ojan | 14:f85cb5340cb8 | 191 | /******************************* データ処理 *******************************/ |
ojan | 9:6d4578dcc1ed | 192 | { |
ojan | 14:f85cb5340cb8 | 193 | INT_flag = FALSE; // 割り込みによる変数書き換えを阻止 |
ojan | 9:6d4578dcc1ed | 194 | gms.read(); // GPSデータ取得 |
ojan | 9:6d4578dcc1ed | 195 | UTC_t = (int)gms.time; |
ojan | 15:d14d385d37e2 | 196 | |
ojan | 9:6d4578dcc1ed | 197 | // 参照座標系の基底を求める |
ojan | 9:6d4578dcc1ed | 198 | r_u = g; |
ojan | 9:6d4578dcc1ed | 199 | r_f = geomag.GetPerpCompTo(g).Normalize(); |
ojan | 9:6d4578dcc1ed | 200 | r_l = Cross(r_u, r_f); |
ojan | 15:d14d385d37e2 | 201 | |
ojan | 9:6d4578dcc1ed | 202 | // 回転行列を経由してオイラー角を求める |
ojan | 9:6d4578dcc1ed | 203 | // 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 | 204 | // 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 | 15:d14d385d37e2 | 205 | |
ojan | 14:f85cb5340cb8 | 206 | float R_11 = r_f * b_f; // 回転行列の(1,1)成分 |
ojan | 14:f85cb5340cb8 | 207 | float R_12 = r_f * b_l; // 回転行列の(1,2)成分 |
ojan | 14:f85cb5340cb8 | 208 | float R_13 = r_f * b_u; // 回転行列の(1,3)成分 |
ojan | 14:f85cb5340cb8 | 209 | float R_23 = r_l * b_u; // 回転行列の(2,3)成分 |
ojan | 14:f85cb5340cb8 | 210 | float R_33 = r_u * b_u; // 回転行列の(3,3)成分 |
ojan | 15:d14d385d37e2 | 211 | |
ojan | 15:d14d385d37e2 | 212 | #ifdef RULE3 |
ojan | 15:d14d385d37e2 | 213 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG + MAG_DECLINATION - Beta; |
ojan | 15:d14d385d37e2 | 214 | #else |
ojan | 15:d14d385d37e2 | 215 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG + MAG_DECLINATION; |
ojan | 15:d14d385d37e2 | 216 | #endif |
ojan | 11:083c8c9a5b84 | 217 | roll = atan2(-R_23, R_33) * RAD_TO_DEG; |
ojan | 11:083c8c9a5b84 | 218 | pitch = asin(R_13) * RAD_TO_DEG; |
ojan | 15:d14d385d37e2 | 219 | |
ojan | 14:f85cb5340cb8 | 220 | if(yaw < -180.0f) yaw += 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 15:d14d385d37e2 | 221 | if(yaw > 180.0f) yaw -= 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 15:d14d385d37e2 | 222 | |
ojan | 9:6d4578dcc1ed | 223 | if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら |
ojan | 9:6d4578dcc1ed | 224 | p.SetComp(1, gms.longitude * DEG_TO_RAD); |
ojan | 14:f85cb5340cb8 | 225 | p.SetComp(2, gms.latitude * DEG_TO_RAD); |
ojan | 15:d14d385d37e2 | 226 | |
ojan | 9:6d4578dcc1ed | 227 | } else { // 更新されていなかったら |
ojan | 14:f85cb5340cb8 | 228 | // GPSの補完処理を追加予定 |
ojan | 9:6d4578dcc1ed | 229 | } |
ojan | 15:d14d385d37e2 | 230 | |
ojan | 9:6d4578dcc1ed | 231 | pre_p = p; |
ojan | 9:6d4578dcc1ed | 232 | pre_UTC_t = UTC_t; |
ojan | 15:d14d385d37e2 | 233 | |
ojan | 14:f85cb5340cb8 | 234 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // サーボ電源電圧 |
ojan | 14:f85cb5340cb8 | 235 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // ロジック電源電圧 |
ojan | 15:d14d385d37e2 | 236 | |
ojan | 13:df1e8a650185 | 237 | // データをmicroSDに保存し、XBeeでPCへ送信する |
ojan | 17:03b45055ca05 | 238 | sprintf(data, "%.3f,%.3f,%.3f, %.3f,%.6f,%.6f, %.3f,%.3f,%.3f, %.3f,%d\r\n", |
ojan | 15:d14d385d37e2 | 239 | yaw, pitch, roll, |
ojan | 15:d14d385d37e2 | 240 | press, gms.longitude, gms.latitude, |
ojan | 15:d14d385d37e2 | 241 | sv, lv, vrt_acc, |
ojan | 14:f85cb5340cb8 | 242 | Distance(target_p, p), optSensor.read_u16()); |
ojan | 14:f85cb5340cb8 | 243 | fprintf(fp, data); |
ojan | 14:f85cb5340cb8 | 244 | fflush(fp); |
ojan | 14:f85cb5340cb8 | 245 | xbee.printf(data); |
ojan | 15:d14d385d37e2 | 246 | |
ojan | 13:df1e8a650185 | 247 | INT_flag = TRUE; // 割り込み許可 |
ojan | 9:6d4578dcc1ed | 248 | } |
ojan | 15:d14d385d37e2 | 249 | |
ojan | 15:d14d385d37e2 | 250 | |
ojan | 14:f85cb5340cb8 | 251 | /******************************* 制御ルーチン *******************************/ |
ojan | 9:6d4578dcc1ed | 252 | { |
ojan | 15:d14d385d37e2 | 253 | |
ojan | 15:d14d385d37e2 | 254 | switch(step) { |
ojan | 15:d14d385d37e2 | 255 | |
ojan | 15:d14d385d37e2 | 256 | // 投下&安定滑空シーケンス |
ojan | 15:d14d385d37e2 | 257 | case 0: |
ojan | 15:d14d385d37e2 | 258 | if(thrown() || count != 0) { |
ojan | 14:f85cb5340cb8 | 259 | count++; |
ojan | 14:f85cb5340cb8 | 260 | // 投下直後に紐を引く場合はコメントアウトをはずす |
ojan | 14:f85cb5340cb8 | 261 | // pull_L = 15; |
ojan | 14:f85cb5340cb8 | 262 | // pull_R = 15; |
ojan | 14:f85cb5340cb8 | 263 | if(count >= WaitTime*5) { |
ojan | 14:f85cb5340cb8 | 264 | pull_L = 0; |
ojan | 14:f85cb5340cb8 | 265 | pull_R = 0; |
ojan | 14:f85cb5340cb8 | 266 | step = 1; |
ojan | 14:f85cb5340cb8 | 267 | } |
ojan | 14:f85cb5340cb8 | 268 | } |
ojan | 15:d14d385d37e2 | 269 | break; |
ojan | 15:d14d385d37e2 | 270 | |
ojan | 15:d14d385d37e2 | 271 | // 制御シーケンス |
ojan | 15:d14d385d37e2 | 272 | case 1: |
ojan | 15:d14d385d37e2 | 273 | if(fabs(roll) > BorderSpiral) { |
ojan | 15:d14d385d37e2 | 274 | // スパイラル回避行動 |
ojan | 15:d14d385d37e2 | 275 | if(roll > 0) { |
ojan | 15:d14d385d37e2 | 276 | pull_L = PullMax; |
ojan | 15:d14d385d37e2 | 277 | pull_R = 0; |
ojan | 14:f85cb5340cb8 | 278 | } else { |
ojan | 15:d14d385d37e2 | 279 | pull_L = 0; |
ojan | 15:d14d385d37e2 | 280 | pull_R = PullMax; |
ojan | 14:f85cb5340cb8 | 281 | } |
ojan | 14:f85cb5340cb8 | 282 | } else { |
ojan | 15:d14d385d37e2 | 283 | |
ojan | 15:d14d385d37e2 | 284 | /* いずれも地球を完全球体と仮定 */ |
ojan | 15:d14d385d37e2 | 285 | float target_lng = target_x * DEG_TO_RAD; |
ojan | 15:d14d385d37e2 | 286 | float target_lat = target_y * DEG_TO_RAD; |
ojan | 15:d14d385d37e2 | 287 | /* 北から西回りで目標方向の角度を出力 */ |
ojan | 15:d14d385d37e2 | 288 | float targetY = cos( target_lat ) * sin( target_lng - p.GetComp(1) ); |
ojan | 15:d14d385d37e2 | 289 | float targetX = cos( p.GetComp(2) ) * sin( target_lat ) - sin( p.GetComp(2) ) * cos( target_lat ) * cos( target_lng - p.GetComp(1) ); |
ojan | 15:d14d385d37e2 | 290 | float theta = -atan2f( targetY, targetX ); |
ojan | 15:d14d385d37e2 | 291 | float delta_theta = 0.0f; |
ojan | 15:d14d385d37e2 | 292 | |
ojan | 15:d14d385d37e2 | 293 | if(yaw >= 0.0f) { // ヨー角が正 |
ojan | 15:d14d385d37e2 | 294 | if(theta >= 0.0f) { // 目標角も正ならば、 |
ojan | 15:d14d385d37e2 | 295 | if(theta - yaw > Alpha) dir = 0; // 単純に差を取って閾値αと比べる |
ojan | 15:d14d385d37e2 | 296 | else if(theta - yaw < -Alpha) dir = 1; |
ojan | 15:d14d385d37e2 | 297 | } else { // 目標角が負であれば |
ojan | 15:d14d385d37e2 | 298 | theta += 360.0f; // 360°足して正の値に変換してから |
ojan | 15:d14d385d37e2 | 299 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 15:d14d385d37e2 | 300 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 15:d14d385d37e2 | 301 | if(delta_theta > Alpha) dir = 0; |
ojan | 15:d14d385d37e2 | 302 | } else { // 180°より大きければ右旋回 |
ojan | 15:d14d385d37e2 | 303 | if(360.0f - delta_theta > Alpha) dir = 1; |
ojan | 15:d14d385d37e2 | 304 | } |
ojan | 14:f85cb5340cb8 | 305 | } |
ojan | 15:d14d385d37e2 | 306 | } else { // ヨー角が負 |
ojan | 15:d14d385d37e2 | 307 | if(theta <= 0.0f) { // 目標角も負ならば、 |
ojan | 15:d14d385d37e2 | 308 | if(theta - yaw > Alpha) dir = 0; // 単純に差を取って閾値αと比べる |
ojan | 15:d14d385d37e2 | 309 | else if(theta - yaw < -Alpha) dir = 1; |
ojan | 15:d14d385d37e2 | 310 | } else { // 目標角が正であれば、 |
ojan | 15:d14d385d37e2 | 311 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 15:d14d385d37e2 | 312 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 15:d14d385d37e2 | 313 | if(delta_theta > Alpha) dir = 0; |
ojan | 15:d14d385d37e2 | 314 | } else { // 180°より大きければ右旋回 |
ojan | 15:d14d385d37e2 | 315 | if(360.0f - delta_theta > Alpha) dir = 1; |
ojan | 15:d14d385d37e2 | 316 | } |
ojan | 15:d14d385d37e2 | 317 | } |
ojan | 15:d14d385d37e2 | 318 | } |
ojan | 15:d14d385d37e2 | 319 | |
ojan | 15:d14d385d37e2 | 320 | if(dir == 0) { //目標は左方向 |
ojan | 15:d14d385d37e2 | 321 | |
ojan | 15:d14d385d37e2 | 322 | pull_L = 20; |
ojan | 15:d14d385d37e2 | 323 | pull_R = 0; |
ojan | 15:d14d385d37e2 | 324 | |
ojan | 15:d14d385d37e2 | 325 | } else if (dir == 1) { //目標は右方向 |
ojan | 15:d14d385d37e2 | 326 | |
ojan | 15:d14d385d37e2 | 327 | pull_L = 0; |
ojan | 15:d14d385d37e2 | 328 | pull_R = 20; |
ojan | 15:d14d385d37e2 | 329 | |
ojan | 14:f85cb5340cb8 | 330 | } |
ojan | 14:f85cb5340cb8 | 331 | } |
ojan | 17:03b45055ca05 | 332 | |
ojan | 15:d14d385d37e2 | 333 | #ifdef RULE2 |
ojan | 15:d14d385d37e2 | 334 | // 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 | 15:d14d385d37e2 | 335 | if(Distance(target_p, p) < BorderDistance) step = 2; |
ojan | 15:d14d385d37e2 | 336 | #endif |
ojan | 15:d14d385d37e2 | 337 | |
ojan | 15:d14d385d37e2 | 338 | break; |
ojan | 15:d14d385d37e2 | 339 | |
ojan | 15:d14d385d37e2 | 340 | #ifdef RULE2 |
ojan | 15:d14d385d37e2 | 341 | // 落下シーケンス |
ojan | 15:d14d385d37e2 | 342 | case 2: |
ojan | 17:03b45055ca05 | 343 | pull_L = PullMax; |
ojan | 15:d14d385d37e2 | 344 | pull_R = 0; |
ojan | 15:d14d385d37e2 | 345 | |
ojan | 15:d14d385d37e2 | 346 | // 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 | 15:d14d385d37e2 | 347 | // 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 | 15:d14d385d37e2 | 348 | if(Distance(target_p, p) > BorderDistance+5.0f) step = 1; |
ojan | 15:d14d385d37e2 | 349 | break; |
ojan | 15:d14d385d37e2 | 350 | #endif |
ojan | 14:f85cb5340cb8 | 351 | } |
ojan | 15:d14d385d37e2 | 352 | |
ojan | 13:df1e8a650185 | 353 | // 指定された引っ張り量だけ紐を引っ張る |
ojan | 13:df1e8a650185 | 354 | if(pull_L < 0) pull_L = 0; |
ojan | 13:df1e8a650185 | 355 | else if(pull_L > PullMax) pull_L = PullMax; |
ojan | 13:df1e8a650185 | 356 | if(pull_R < 0) pull_R = 0; |
ojan | 13:df1e8a650185 | 357 | else if(pull_R > PullMax) pull_R = PullMax; |
ojan | 15:d14d385d37e2 | 358 | |
ojan | 9:6d4578dcc1ed | 359 | servoL.pulsewidth((ServoMax - ServoMin) * pull_L / PullMax + ServoMin); |
ojan | 9:6d4578dcc1ed | 360 | servoR.pulsewidth((ServoMax - ServoMin) * pull_R / PullMax + ServoMin); |
ojan | 15:d14d385d37e2 | 361 | |
ojan | 9:6d4578dcc1ed | 362 | } |
ojan | 15:d14d385d37e2 | 363 | |
ojan | 9:6d4578dcc1ed | 364 | myled = 0; // LED is OFF |
ojan | 15:d14d385d37e2 | 365 | |
ojan | 9:6d4578dcc1ed | 366 | // ループはきっかり0.2秒ごと |
ojan | 9:6d4578dcc1ed | 367 | while(timer.read_ms() < 200); |
ojan | 17:03b45055ca05 | 368 | |
ojan | 0:bc6f14fc60c7 | 369 | } |
ojan | 15:d14d385d37e2 | 370 | |
ojan | 14:f85cb5340cb8 | 371 | /* ------------------------------ ↑↑↑ ここまでメインループ ↑↑↑ ------------------------------ */ |
onaka | 7:0ec343d29641 | 372 | } |
onaka | 7:0ec343d29641 | 373 | |
ojan | 17:03b45055ca05 | 374 | /** 各種ベクトルの初期化を行う関数 |
ojan | 17:03b45055ca05 | 375 | * |
ojan | 17:03b45055ca05 | 376 | */ |
ojan | 17:03b45055ca05 | 377 | void VectorsInit() { |
ojan | 17:03b45055ca05 | 378 | //重力ベクトルの初期化 |
ojan | 17:03b45055ca05 | 379 | raw_g.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 380 | raw_g.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 381 | raw_g.SetComp(3, 1.0f); |
ojan | 17:03b45055ca05 | 382 | |
ojan | 17:03b45055ca05 | 383 | // 機体に固定されたベクトルの初期化 |
ojan | 17:03b45055ca05 | 384 | b_f.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 385 | b_f.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 386 | b_f.SetComp(3, -1.0f); |
ojan | 17:03b45055ca05 | 387 | b_u.SetComp(1, 1.0f); |
ojan | 17:03b45055ca05 | 388 | b_u.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 389 | b_u.SetComp(3, 0.0f); |
ojan | 17:03b45055ca05 | 390 | b_l = Cross(b_u, b_f); |
ojan | 17:03b45055ca05 | 391 | |
ojan | 17:03b45055ca05 | 392 | // 目標座標をベクトルに代入 |
ojan | 17:03b45055ca05 | 393 | target_p.SetComp(1, target_x * DEG_TO_RAD); |
ojan | 17:03b45055ca05 | 394 | target_p.SetComp(2, target_y * DEG_TO_RAD); |
ojan | 17:03b45055ca05 | 395 | } |
ojan | 17:03b45055ca05 | 396 | |
ojan | 17:03b45055ca05 | 397 | /** マイクロSDカードの初期化を行う関数 |
ojan | 17:03b45055ca05 | 398 | * |
ojan | 17:03b45055ca05 | 399 | */ |
ojan | 17:03b45055ca05 | 400 | void SD_Init() { |
ojan | 17:03b45055ca05 | 401 | //SDカード初期化 |
ojan | 17:03b45055ca05 | 402 | FILE *fp; |
ojan | 17:03b45055ca05 | 403 | char filename[15]; |
ojan | 17:03b45055ca05 | 404 | int n = Find_last(); |
ojan | 17:03b45055ca05 | 405 | if(n < 0) { |
ojan | 17:03b45055ca05 | 406 | pc.printf("Could not read a SD Card.\n"); |
ojan | 17:03b45055ca05 | 407 | return 0; |
ojan | 17:03b45055ca05 | 408 | } |
ojan | 17:03b45055ca05 | 409 | sprintf(filename, "/sd/log%03d.csv", n+1); |
ojan | 17:03b45055ca05 | 410 | fp = fopen(filename, "w"); |
ojan | 17:03b45055ca05 | 411 | fprintf(fp, "log data\r\n"); |
ojan | 17:03b45055ca05 | 412 | xbee.printf("log data\r\n"); |
ojan | 17:03b45055ca05 | 413 | } |
ojan | 17:03b45055ca05 | 414 | |
ojan | 17:03b45055ca05 | 415 | /** コンフィグファイルを読み込む関数 |
ojan | 17:03b45055ca05 | 416 | * |
ojan | 17:03b45055ca05 | 417 | */ |
ojan | 15:d14d385d37e2 | 418 | void LoadConfig() |
ojan | 15:d14d385d37e2 | 419 | { |
onaka | 7:0ec343d29641 | 420 | char value[20]; |
onaka | 7:0ec343d29641 | 421 | //Read a configuration file from a mbed. |
ojan | 15:d14d385d37e2 | 422 | if (!cfg.read("/sd/config.txt")) { |
onaka | 7:0ec343d29641 | 423 | pc.printf("Config file does not exist\n"); |
ojan | 15:d14d385d37e2 | 424 | } else { |
onaka | 7:0ec343d29641 | 425 | //Get values |
onaka | 7:0ec343d29641 | 426 | if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value); |
ojan | 15:d14d385d37e2 | 427 | else { |
onaka | 7:0ec343d29641 | 428 | pc.printf("Failed to get value for target_x\n"); |
onaka | 7:0ec343d29641 | 429 | } |
onaka | 7:0ec343d29641 | 430 | if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value); |
ojan | 15:d14d385d37e2 | 431 | else { |
onaka | 7:0ec343d29641 | 432 | pc.printf("Failed to get value for target_y\n"); |
onaka | 7:0ec343d29641 | 433 | } |
onaka | 7:0ec343d29641 | 434 | } |
onaka | 7:0ec343d29641 | 435 | } |
onaka | 7:0ec343d29641 | 436 | |
ojan | 17:03b45055ca05 | 437 | /** ログファイルの番号の最大値を得る関数 |
ojan | 17:03b45055ca05 | 438 | * |
ojan | 17:03b45055ca05 | 439 | * @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 | 440 | */ |
ojan | 15:d14d385d37e2 | 441 | int Find_last() |
ojan | 15:d14d385d37e2 | 442 | { |
onaka | 7:0ec343d29641 | 443 | int i, n = 0; |
onaka | 7:0ec343d29641 | 444 | char c; |
onaka | 7:0ec343d29641 | 445 | DIR *dp; |
onaka | 7:0ec343d29641 | 446 | struct dirent *dirst; |
onaka | 7:0ec343d29641 | 447 | dp = opendir("/sd/"); |
ojan | 15:d14d385d37e2 | 448 | if (!dp) { |
onaka | 7:0ec343d29641 | 449 | pc.printf("Could not open directry.\n"); |
onaka | 7:0ec343d29641 | 450 | return -1; |
onaka | 7:0ec343d29641 | 451 | } |
onaka | 7:0ec343d29641 | 452 | while((dirst = readdir(dp)) != NULL) { |
onaka | 7:0ec343d29641 | 453 | if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) { |
onaka | 7:0ec343d29641 | 454 | n = i; |
onaka | 7:0ec343d29641 | 455 | } |
onaka | 7:0ec343d29641 | 456 | } |
onaka | 7:0ec343d29641 | 457 | closedir(dp); |
onaka | 7:0ec343d29641 | 458 | return n; |
ojan | 0:bc6f14fc60c7 | 459 | } |
ojan | 0:bc6f14fc60c7 | 460 | |
ojan | 17:03b45055ca05 | 461 | /** カルマンフィルタの初期化を行う関数 |
ojan | 17:03b45055ca05 | 462 | * |
ojan | 17:03b45055ca05 | 463 | */ |
ojan | 15:d14d385d37e2 | 464 | void KalmanInit() |
ojan | 15:d14d385d37e2 | 465 | { |
ojan | 11:083c8c9a5b84 | 466 | // 重力 |
ojan | 11:083c8c9a5b84 | 467 | { |
ojan | 11:083c8c9a5b84 | 468 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 469 | float alpha_R2 = 0.002f; |
ojan | 12:0d978eb4d639 | 470 | float alpha_Q2 = 0.5f; |
ojan | 11:083c8c9a5b84 | 471 | R2 *= alpha_R2; |
ojan | 11:083c8c9a5b84 | 472 | Q2 *= alpha_Q2; |
ojan | 15:d14d385d37e2 | 473 | |
ojan | 13:df1e8a650185 | 474 | // 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 | 475 | float h2[15] = { |
ojan | 13:df1e8a650185 | 476 | 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 477 | 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 478 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 479 | }; |
ojan | 15:d14d385d37e2 | 480 | |
ojan | 13:df1e8a650185 | 481 | H2.SetComps(h2); |
ojan | 11:083c8c9a5b84 | 482 | } |
ojan | 15:d14d385d37e2 | 483 | |
ojan | 11:083c8c9a5b84 | 484 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 485 | { |
ojan | 11:083c8c9a5b84 | 486 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 487 | float alpha_R1 = 0.002f; |
ojan | 13:df1e8a650185 | 488 | float alpha_Q1 = 0.5f; |
ojan | 11:083c8c9a5b84 | 489 | R1 *= alpha_R1; |
ojan | 11:083c8c9a5b84 | 490 | Q1 *= alpha_Q1; |
ojan | 15:d14d385d37e2 | 491 | |
ojan | 13:df1e8a650185 | 492 | // 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 | 493 | float h1[21] = { |
ojan | 13:df1e8a650185 | 494 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 495 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 496 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 497 | }; |
ojan | 15:d14d385d37e2 | 498 | |
ojan | 13:df1e8a650185 | 499 | H1.SetComps(h1); |
ojan | 11:083c8c9a5b84 | 500 | } |
ojan | 3:5358a691a100 | 501 | } |
ojan | 3:5358a691a100 | 502 | |
ojan | 17:03b45055ca05 | 503 | /** カルマンフィルタの更新を行う関数 |
ojan | 17:03b45055ca05 | 504 | * |
ojan | 17:03b45055ca05 | 505 | */ |
ojan | 15:d14d385d37e2 | 506 | void KalmanUpdate() |
ojan | 15:d14d385d37e2 | 507 | { |
ojan | 13:df1e8a650185 | 508 | // 重力 |
ojan | 15:d14d385d37e2 | 509 | |
ojan | 11:083c8c9a5b84 | 510 | { |
ojan | 13:df1e8a650185 | 511 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 512 | float f2[25] = { |
ojan | 15:d14d385d37e2 | 513 | 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 | 514 | -(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 | 515 | (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 | 516 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 517 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 13:df1e8a650185 | 518 | }; |
ojan | 15:d14d385d37e2 | 519 | |
ojan | 13:df1e8a650185 | 520 | F2.SetComps(f2); |
ojan | 15:d14d385d37e2 | 521 | |
ojan | 11:083c8c9a5b84 | 522 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 523 | //pri_x2 = F2 * post_x2; |
ojan | 15:d14d385d37e2 | 524 | |
ojan | 13:df1e8a650185 | 525 | float pri_x2_vals[5] = { |
ojan | 15:d14d385d37e2 | 526 | 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 | 527 | 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 | 528 | 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 | 529 | post_x2.GetComp(4), |
ojan | 13:df1e8a650185 | 530 | post_x2.GetComp(5) |
ojan | 13:df1e8a650185 | 531 | }; |
ojan | 15:d14d385d37e2 | 532 | |
ojan | 13:df1e8a650185 | 533 | pri_x2.SetComps(pri_x2_vals); |
ojan | 15:d14d385d37e2 | 534 | |
ojan | 11:083c8c9a5b84 | 535 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 536 | pri_P2 = F2 * post_P2 * F2.Transpose() + R2; |
ojan | 15:d14d385d37e2 | 537 | |
ojan | 11:083c8c9a5b84 | 538 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 539 | S2 = Q2 + H2 * pri_P2 * H2.Transpose(); |
ojan | 13:df1e8a650185 | 540 | static float det; |
ojan | 11:083c8c9a5b84 | 541 | if((det = S2.Inverse(S_inv2)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 542 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 543 | 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 | 544 | } |
ojan | 15:d14d385d37e2 | 545 | K2 = pri_P2 * H2.Transpose() * S_inv2; |
ojan | 15:d14d385d37e2 | 546 | |
ojan | 11:083c8c9a5b84 | 547 | // 事後推定値の更新 |
ojan | 13:df1e8a650185 | 548 | post_x2 = pri_x2 + K2 * (raw_acc - H2 * pri_x2); |
ojan | 11:083c8c9a5b84 | 549 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 550 | post_P2 = (I2 - K2 * H2) * pri_P2; |
ojan | 11:083c8c9a5b84 | 551 | } |
ojan | 15:d14d385d37e2 | 552 | |
ojan | 15:d14d385d37e2 | 553 | |
ojan | 11:083c8c9a5b84 | 554 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 555 | { |
ojan | 11:083c8c9a5b84 | 556 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 557 | float f1[49] = { |
ojan | 15:d14d385d37e2 | 558 | 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 | 559 | -(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 | 560 | (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 | 561 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 562 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 563 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 564 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 565 | }; |
ojan | 15:d14d385d37e2 | 566 | |
ojan | 13:df1e8a650185 | 567 | F1.SetComps(f1); |
ojan | 15:d14d385d37e2 | 568 | |
ojan | 11:083c8c9a5b84 | 569 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 570 | //pri_x1 = F1 * post_x1; |
ojan | 13:df1e8a650185 | 571 | float pri_x1_vals[7] = { |
ojan | 15:d14d385d37e2 | 572 | 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 | 573 | 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 | 574 | 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 | 575 | post_x1.GetComp(4), |
ojan | 15:d14d385d37e2 | 576 | post_x1.GetComp(5), |
ojan | 15:d14d385d37e2 | 577 | post_x1.GetComp(6), |
ojan | 13:df1e8a650185 | 578 | post_x1.GetComp(7) |
ojan | 13:df1e8a650185 | 579 | }; |
ojan | 15:d14d385d37e2 | 580 | |
ojan | 13:df1e8a650185 | 581 | pri_x1.SetComps(pri_x1_vals); |
ojan | 15:d14d385d37e2 | 582 | |
ojan | 11:083c8c9a5b84 | 583 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 584 | pri_P1 = F1 * post_P1 * F1.Transpose() + R1; |
ojan | 15:d14d385d37e2 | 585 | |
ojan | 11:083c8c9a5b84 | 586 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 587 | S1 = Q1 + H1 * pri_P1 * H1.Transpose(); |
ojan | 13:df1e8a650185 | 588 | static float det; |
ojan | 11:083c8c9a5b84 | 589 | if((det = S1.Inverse(S_inv1)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 590 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 591 | 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 | 592 | } |
ojan | 15:d14d385d37e2 | 593 | K1 = pri_P1 * H1.Transpose() * S_inv1; |
ojan | 15:d14d385d37e2 | 594 | |
ojan | 11:083c8c9a5b84 | 595 | // 事後推定値の更新 |
ojan | 11:083c8c9a5b84 | 596 | post_x1 = pri_x1 + K1 * (raw_geomag - H1 * pri_x1); |
ojan | 11:083c8c9a5b84 | 597 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 598 | post_P1 = (I1 - K1 * H1) * pri_P1; |
ojan | 3:5358a691a100 | 599 | } |
ojan | 3:5358a691a100 | 600 | } |
ojan | 3:5358a691a100 | 601 | |
ojan | 17:03b45055ca05 | 602 | /** GPS座標から距離を算出 |
ojan | 17:03b45055ca05 | 603 | * @param 座標1(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 604 | * @param 座標2(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 605 | * |
ojan | 17:03b45055ca05 | 606 | * @return 2点間の距離(m) |
ojan | 17:03b45055ca05 | 607 | */ |
ojan | 15:d14d385d37e2 | 608 | float Distance(Vector p1, Vector p2) |
ojan | 15:d14d385d37e2 | 609 | { |
ojan | 9:6d4578dcc1ed | 610 | if(p1.GetDim() != p2.GetDim()) return 0.0f; |
ojan | 15:d14d385d37e2 | 611 | |
ojan | 13:df1e8a650185 | 612 | static float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f; |
ojan | 13:df1e8a650185 | 613 | static float s_mu_y = sin(mu_y); |
ojan | 13:df1e8a650185 | 614 | static float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y); |
ojan | 13:df1e8a650185 | 615 | static float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w); |
ojan | 13:df1e8a650185 | 616 | static float n = GPS_A / w; |
ojan | 13:df1e8a650185 | 617 | static float d1 = m * (p1.GetComp(2) - p2.GetComp(2)); |
ojan | 13:df1e8a650185 | 618 | static float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1)); |
ojan | 15:d14d385d37e2 | 619 | |
ojan | 9:6d4578dcc1ed | 620 | return sqrt(d1 * d1 + d2 * d2); |
ojan | 9:6d4578dcc1ed | 621 | } |
ojan | 9:6d4578dcc1ed | 622 | |
ojan | 14:f85cb5340cb8 | 623 | /** 投下を検知する関数 |
ojan | 15:d14d385d37e2 | 624 | * |
ojan | 14:f85cb5340cb8 | 625 | * @return 投下されたかどうか(true=投下 false=未投下 |
ojan | 15:d14d385d37e2 | 626 | * |
ojan | 17:03b45055ca05 | 627 | */ |
ojan | 15:d14d385d37e2 | 628 | bool thrown() |
ojan | 15:d14d385d37e2 | 629 | { |
ojan | 14:f85cb5340cb8 | 630 | static int opt_count = 0; |
ojan | 14:f85cb5340cb8 | 631 | static int g_count = 0; |
ojan | 14:f85cb5340cb8 | 632 | static int para_count = 0; |
ojan | 15:d14d385d37e2 | 633 | |
ojan | 14:f85cb5340cb8 | 634 | if(optSensor.read_u16() > BorderOpt) opt_count++; |
ojan | 14:f85cb5340cb8 | 635 | else opt_count = 0; |
ojan | 14:f85cb5340cb8 | 636 | if(vrt_acc < BorderGravity) g_count++; |
ojan | 14:f85cb5340cb8 | 637 | else g_count = 0; |
ojan | 14:f85cb5340cb8 | 638 | if((int)paraSensor == BorderParafoil) para_count++; |
ojan | 14:f85cb5340cb8 | 639 | else para_count = 0; |
ojan | 15:d14d385d37e2 | 640 | |
ojan | 14:f85cb5340cb8 | 641 | if(opt_count >= MaxCount || g_count >= MaxCount || para_count >= MaxCount) { |
ojan | 14:f85cb5340cb8 | 642 | return true; |
ojan | 14:f85cb5340cb8 | 643 | } |
ojan | 15:d14d385d37e2 | 644 | |
ojan | 14:f85cb5340cb8 | 645 | return false; |
ojan | 15:d14d385d37e2 | 646 | |
ojan | 14:f85cb5340cb8 | 647 | } |
ojan | 14:f85cb5340cb8 | 648 | |
ojan | 14:f85cb5340cb8 | 649 | /* ------------------------------ 割り込み関数 ------------------------------ */ |
ojan | 9:6d4578dcc1ed | 650 | |
ojan | 15:d14d385d37e2 | 651 | void INT_func() |
ojan | 15:d14d385d37e2 | 652 | { |
ojan | 4:45dc5590abc0 | 653 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 654 | mpu.read(); |
ojan | 4:45dc5590abc0 | 655 | hmc.read(); |
ojan | 15:d14d385d37e2 | 656 | |
ojan | 4:45dc5590abc0 | 657 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 658 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 659 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 660 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 661 | } |
ojan | 15:d14d385d37e2 | 662 | |
ojan | 14:f85cb5340cb8 | 663 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 664 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 665 | raw_g = raw_g.Normalize(); |
ojan | 15:d14d385d37e2 | 666 | |
ojan | 4:45dc5590abc0 | 667 | KalmanUpdate(); |
ojan | 15:d14d385d37e2 | 668 | |
ojan | 4:45dc5590abc0 | 669 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 670 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 671 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 672 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 4:45dc5590abc0 | 673 | } |
ojan | 15:d14d385d37e2 | 674 | |
ojan | 4:45dc5590abc0 | 675 | if(INT_flag != FALSE) { |
ojan | 4:45dc5590abc0 | 676 | g = raw_g; |
ojan | 4:45dc5590abc0 | 677 | for(int i=0; i<3; i++) { |
ojan | 11:083c8c9a5b84 | 678 | geomag.SetComp(i+1, post_x1.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 679 | } |
ojan | 4:45dc5590abc0 | 680 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 681 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 682 | press = raw_press; |
ojan | 15:d14d385d37e2 | 683 | |
ojan | 13:df1e8a650185 | 684 | vrt_acc = raw_acc * raw_g; |
ojan | 15:d14d385d37e2 | 685 | |
ojan | 0:bc6f14fc60c7 | 686 | } |
ojan | 3:5358a691a100 | 687 | } |
ojan | 3:5358a691a100 | 688 | |
ojan | 14:f85cb5340cb8 | 689 | /* ------------------------------ デバッグ用関数 ------------------------------ */ |
ojan | 9:6d4578dcc1ed | 690 | |
ojan | 15:d14d385d37e2 | 691 | void toString(Matrix& m) |
ojan | 15:d14d385d37e2 | 692 | { |
ojan | 15:d14d385d37e2 | 693 | |
ojan | 3:5358a691a100 | 694 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 695 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 696 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 697 | } |
ojan | 3:5358a691a100 | 698 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 699 | } |
ojan | 15:d14d385d37e2 | 700 | |
ojan | 3:5358a691a100 | 701 | } |
ojan | 3:5358a691a100 | 702 | |
ojan | 15:d14d385d37e2 | 703 | void toString(Vector& v) |
ojan | 15:d14d385d37e2 | 704 | { |
ojan | 15:d14d385d37e2 | 705 | |
ojan | 3:5358a691a100 | 706 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 707 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 708 | } |
ojan | 3:5358a691a100 | 709 | pc.printf("\r\n"); |
ojan | 15:d14d385d37e2 | 710 | |
ojan | 0:bc6f14fc60c7 | 711 | } |