Atsumi Toda / Mbed 2 deprecated Auto_pilot_prototype_2

ドローン用計測制御基板の作り方vol.2で使用したピッチ制御プログラムです。

Dependencies:   mbed MPU6050_alter SDFileSystem

myConstants.h@0:e647f6de3d26, 2020-03-06 (annotated)

Committer:
Joeatsumi
Date:
Fri Mar 06 15:03:57 2020 +0000
Revision:
0:e647f6de3d26
An software for autopilot(ver2)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joeatsumi 0:e647f6de3d26 1 #pragma once
Joeatsumi 0:e647f6de3d26 2
Joeatsumi 0:e647f6de3d26 3 /* Math Constants */
Joeatsumi 0:e647f6de3d26 4 #define NEARLY_ZERO 0.000000001f
Joeatsumi 0:e647f6de3d26 5 #define ZERO_TOLERANCE 0.000001f
Joeatsumi 0:e647f6de3d26 6 #define RAD_TO_DEG 57.2957795f // 180 / π
Joeatsumi 0:e647f6de3d26 7 #define DEG_TO_RAD 0.0174532925f // π / 180
Joeatsumi 0:e647f6de3d26 8
Joeatsumi 0:e647f6de3d26 9 /* Accelerometer */
Joeatsumi 0:e647f6de3d26 10 #define ACC_LSB_TO_G 0.0000610351562f // g/LSB (1/2^14
Joeatsumi 0:e647f6de3d26 11 #define G_TO_MPSS 9.8f // (m/s^2)/g
Joeatsumi 0:e647f6de3d26 12
Joeatsumi 0:e647f6de3d26 13 /* Gyro Sensor */
Joeatsumi 0:e647f6de3d26 14 //#define GYRO_LSB_TO_DEG 0.0304878048f // deg/LSB (1/32.8
Joeatsumi 0:e647f6de3d26 15 #define GYRO_LSB_TO_DEG 0.0152671755f // deg/LSB (1/65.5
Joeatsumi 0:e647f6de3d26 16 //#define GYRO_LSB_TO_DEG 0.00763358778f // deg/LSB (1/131
Joeatsumi 0:e647f6de3d26 17
Joeatsumi 0:e647f6de3d26 18 /* Pressure Sensor */
Joeatsumi 0:e647f6de3d26 19 #define PRES_LSB_TO_HPA 0.000244140625f // hPa/LSB (1/4096
Joeatsumi 0:e647f6de3d26 20
Joeatsumi 0:e647f6de3d26 21 inline float TempLsbToDeg(short int temp) {
Joeatsumi 0:e647f6de3d26 22 return (42.5f + (float)temp * 0.00208333333f); // degree_C = 42.5 + temp / 480;
Joeatsumi 0:e647f6de3d26 23 }
Joeatsumi 0:e647f6de3d26 24
Joeatsumi 0:e647f6de3d26 25 /* GPS */
Joeatsumi 0:e647f6de3d26 26 #define GPS_SQ_E 0.00669437999f // （第一離心率）^2
Joeatsumi 0:e647f6de3d26 27 #define GPS_A 6378137.0f // 長半径(赤道半径)(m)
Joeatsumi 0:e647f6de3d26 28 #define GPS_B 6356752.3f // 短半径(極半径)(m)
Joeatsumi 0:e647f6de3d26 29
Joeatsumi 0:e647f6de3d26 30 /* Geomagnetic Sensor */
Joeatsumi 0:e647f6de3d26 31 #define MAG_LSB_TO_GAUSS 0.00092f // Gauss/LSB
Joeatsumi 0:e647f6de3d26 32 #define MAG_MAGNITUDE 0.46f // Magnitude of GeoMagnetism (Gauss)
Joeatsumi 0:e647f6de3d26 33 #define MAG_SIN -0.754709580f // Sin-Value of Inclination
Joeatsumi 0:e647f6de3d26 34 #define MAG_DECLINATION 7.5f // declination (deg)
Joeatsumi 0:e647f6de3d26 35
Joeatsumi 0:e647f6de3d26 36 /* ADC */
Joeatsumi 0:e647f6de3d26 37 #define ADC_LSB_TO_V 0.000050354f // 3.3(V)/65535(LSB)