Atsumi Toda
/
UAV_Logger1
UAVの姿勢推定に使用するプログラム。
main.cpp@3:3fa7882a5fd0, 2019-07-24 (annotated)
- Committer:
- Joeatsumi
- Date:
- Wed Jul 24 12:00:01 2019 +0000
- Revision:
- 3:3fa7882a5fd0
- Parent:
- 2:e6496a794bde
- Child:
- 4:21a356ae0747
AlteredUAV_Logger1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:87642278ede6 | 1 | #include "mbed.h" |
hudakz | 0:87642278ede6 | 2 | #include <stdio.h> |
hudakz | 0:87642278ede6 | 3 | #include <errno.h> |
Joeatsumi | 2:e6496a794bde | 4 | #include "MPU6050.h" |
Joeatsumi | 2:e6496a794bde | 5 | #include "HMC5883L.h" |
Joeatsumi | 2:e6496a794bde | 6 | |
Joeatsumi | 2:e6496a794bde | 7 | #include "Vector.h" |
Joeatsumi | 2:e6496a794bde | 8 | #include "Matrix.h" |
Joeatsumi | 2:e6496a794bde | 9 | #include "Vector_Matrix_operator.h" |
hudakz | 0:87642278ede6 | 10 | |
hudakz | 0:87642278ede6 | 11 | // Block devices |
hudakz | 0:87642278ede6 | 12 | //#include "SPIFBlockDevice.h" |
hudakz | 0:87642278ede6 | 13 | //#include "DataFlashBlockDevice.h" |
hudakz | 0:87642278ede6 | 14 | #include "SDBlockDevice.h" |
hudakz | 0:87642278ede6 | 15 | //#include "HeapBlockDevice.h" |
hudakz | 0:87642278ede6 | 16 | |
hudakz | 0:87642278ede6 | 17 | // File systems |
hudakz | 0:87642278ede6 | 18 | |
hudakz | 0:87642278ede6 | 19 | //#include "LittleFileSystem.h" |
hudakz | 0:87642278ede6 | 20 | #include "FATFileSystem.h" |
hudakz | 0:87642278ede6 | 21 | |
Joeatsumi | 2:e6496a794bde | 22 | #define M_PI 3.141592 |
Joeatsumi | 2:e6496a794bde | 23 | #define PI2 (2*M_PI) |
Joeatsumi | 2:e6496a794bde | 24 | |
Joeatsumi | 2:e6496a794bde | 25 | /*地磁気センサの補正値(足し合わせる)*/ |
Joeatsumi | 2:e6496a794bde | 26 | #define MAG_FIX_X 338 |
Joeatsumi | 2:e6496a794bde | 27 | #define MAG_FIX_Y 20 |
Joeatsumi | 2:e6496a794bde | 28 | #define MAG_FIX_Z -50 |
Joeatsumi | 2:e6496a794bde | 29 | |
Joeatsumi | 2:e6496a794bde | 30 | /*ジャイロセンサの補正値(引く)*/ |
Joeatsumi | 2:e6496a794bde | 31 | #define GYRO_FIX_X 290.5498 |
Joeatsumi | 2:e6496a794bde | 32 | #define GYRO_FIX_Y 99.29363 |
Joeatsumi | 2:e6496a794bde | 33 | #define GYRO_FIX_Z 61.41011 |
hudakz | 0:87642278ede6 | 34 | |
hudakz | 0:87642278ede6 | 35 | // File system declaration |
hudakz | 0:87642278ede6 | 36 | FATFileSystem fileSystem("fs"); |
hudakz | 0:87642278ede6 | 37 | |
Joeatsumi | 2:e6496a794bde | 38 | /*-----割り込み--------*/ |
Joeatsumi | 2:e6496a794bde | 39 | Ticker flipper; |
Joeatsumi | 2:e6496a794bde | 40 | /*--------------------*/ |
Joeatsumi | 2:e6496a794bde | 41 | /*-----タイマー---------*/ |
Joeatsumi | 2:e6496a794bde | 42 | Timer passed_time; |
Joeatsumi | 2:e6496a794bde | 43 | /*---------------------*/ |
Joeatsumi | 2:e6496a794bde | 44 | /*-------ピン指定------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 45 | //declare PWM pins here |
Joeatsumi | 3:3fa7882a5fd0 | 46 | PwmOut ESC (p21); |
Joeatsumi | 3:3fa7882a5fd0 | 47 | PwmOut Elevator_servo(p22); |
Joeatsumi | 3:3fa7882a5fd0 | 48 | PwmOut Rudder_servo(p23); |
Joeatsumi | 3:3fa7882a5fd0 | 49 | |
Joeatsumi | 3:3fa7882a5fd0 | 50 | |
Joeatsumi | 2:e6496a794bde | 51 | SDBlockDevice blockDevice(p5, p6, p7, p8); // mosi, miso, sck, cs |
Joeatsumi | 2:e6496a794bde | 52 | MPU6050 mpu(p28, p27);//sda scl |
Joeatsumi | 2:e6496a794bde | 53 | HMC5883L compass(p28, p27);//sda scl |
Joeatsumi | 2:e6496a794bde | 54 | |
Joeatsumi | 2:e6496a794bde | 55 | RawSerial gps(p9,p10); //serial port for gps_module |
Joeatsumi | 2:e6496a794bde | 56 | RawSerial pc(USBTX, USBRX); |
Joeatsumi | 2:e6496a794bde | 57 | |
Joeatsumi | 2:e6496a794bde | 58 | /*--------------------------*/ |
Joeatsumi | 2:e6496a794bde | 59 | |
Joeatsumi | 2:e6496a794bde | 60 | DigitalIn switch_off(p30); |
Joeatsumi | 2:e6496a794bde | 61 | DigitalOut led2(LED2); |
Joeatsumi | 2:e6496a794bde | 62 | |
Joeatsumi | 2:e6496a794bde | 63 | /*-----------グローバル変数-----------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 64 | double Euler_angle[3]; |
Joeatsumi | 3:3fa7882a5fd0 | 65 | double Euler_angle_Initiated[3]; |
Joeatsumi | 3:3fa7882a5fd0 | 66 | |
Joeatsumi | 2:e6496a794bde | 67 | float g_hokui,g_tokei; |
Joeatsumi | 2:e6496a794bde | 68 | int fp_count=0; |
Joeatsumi | 2:e6496a794bde | 69 | int gps_flag=0; |
Joeatsumi | 2:e6496a794bde | 70 | int gps_flag_conversion=0; |
Joeatsumi | 2:e6496a794bde | 71 | |
Joeatsumi | 2:e6496a794bde | 72 | char gps_data[10]="000000000";//末尾にnullがあるので、要素が9でも配列では10箱を用意している |
Joeatsumi | 2:e6496a794bde | 73 | char gps_data_2[10]="000000000";//末尾にnullがあるので、要素が9でも配列では10の箱を用意している |
Joeatsumi | 2:e6496a794bde | 74 | |
Joeatsumi | 2:e6496a794bde | 75 | unsigned int tokei_int_receive; |
Joeatsumi | 2:e6496a794bde | 76 | unsigned int hokui_int_receive; |
Joeatsumi | 2:e6496a794bde | 77 | |
Joeatsumi | 2:e6496a794bde | 78 | float tokei_float_receive; |
Joeatsumi | 2:e6496a794bde | 79 | float hokui_float_receive; |
Joeatsumi | 2:e6496a794bde | 80 | |
Joeatsumi | 2:e6496a794bde | 81 | float a[3];//加速度の値 |
Joeatsumi | 2:e6496a794bde | 82 | float g[3];//ジャイロの値[rad/s] |
Joeatsumi | 2:e6496a794bde | 83 | float dpsX,dpsY,dpsZ; |
Joeatsumi | 2:e6496a794bde | 84 | float AccX,AccY,AccZ; |
Joeatsumi | 2:e6496a794bde | 85 | |
Joeatsumi | 2:e6496a794bde | 86 | int sensor_array[6]; |
Joeatsumi | 2:e6496a794bde | 87 | int16_t mag[3]; |
Joeatsumi | 2:e6496a794bde | 88 | |
Joeatsumi | 2:e6496a794bde | 89 | double Roll_Acc,Pitch_Acc; |
Joeatsumi | 2:e6496a794bde | 90 | double Yaw; |
Joeatsumi | 2:e6496a794bde | 91 | double Azi_mag;//地磁気からの方位 |
Joeatsumi | 2:e6496a794bde | 92 | double Quaternion_from_acc[4];//加速度と地磁気からのQuaternion |
Joeatsumi | 2:e6496a794bde | 93 | |
Joeatsumi | 2:e6496a794bde | 94 | /*----------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 95 | /*--------------------------行列、ベクトル-----------------------------*/ |
Joeatsumi | 2:e6496a794bde | 96 | |
Joeatsumi | 2:e6496a794bde | 97 | Vector Quaternion_atitude_from_omega(4); |
Joeatsumi | 2:e6496a794bde | 98 | Matrix Omega_matrix(4,4),Half_matrix(4,4); |
Joeatsumi | 2:e6496a794bde | 99 | Matrix Complement_matrix_1(4,4),Complement_matrix_2(4,4); |
Joeatsumi | 2:e6496a794bde | 100 | |
Joeatsumi | 2:e6496a794bde | 101 | /*-------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 102 | |
Joeatsumi | 3:3fa7882a5fd0 | 103 | /*----------PID コントロール-----------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 104 | #define Gain_Kp 0.8377 |
Joeatsumi | 3:3fa7882a5fd0 | 105 | #define Gain_Ki 0.4450 |
Joeatsumi | 3:3fa7882a5fd0 | 106 | #define Gain_Kd 0.3890 |
Joeatsumi | 3:3fa7882a5fd0 | 107 | |
Joeatsumi | 3:3fa7882a5fd0 | 108 | double Prop_p,Int_p,Dif_p; |
Joeatsumi | 3:3fa7882a5fd0 | 109 | double Pre_Prop_p; |
Joeatsumi | 3:3fa7882a5fd0 | 110 | /*-----------------------------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 111 | |
Joeatsumi | 3:3fa7882a5fd0 | 112 | /*-----------サーボコントロール----------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 113 | //define period of servo here |
Joeatsumi | 3:3fa7882a5fd0 | 114 | #define SERVO_PERIOD 0.020 // servo requires a 20ms period |
Joeatsumi | 3:3fa7882a5fd0 | 115 | #define NUTRAL 0.0015 |
Joeatsumi | 3:3fa7882a5fd0 | 116 | #define UPPER_DUTY 0.0020 |
Joeatsumi | 3:3fa7882a5fd0 | 117 | #define LOWER_DUTY 0.0010 |
Joeatsumi | 3:3fa7882a5fd0 | 118 | |
Joeatsumi | 3:3fa7882a5fd0 | 119 | double pitch_duty,roll_duty,yaw_duty; |
Joeatsumi | 3:3fa7882a5fd0 | 120 | |
Joeatsumi | 3:3fa7882a5fd0 | 121 | /*------------------------------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 122 | |
Joeatsumi | 3:3fa7882a5fd0 | 123 | |
Joeatsumi | 2:e6496a794bde | 124 | /*プロトタイプ宣言*/ |
Joeatsumi | 2:e6496a794bde | 125 | void toString_V(Vector& v); // ベクトルデバッグ用 |
Joeatsumi | 2:e6496a794bde | 126 | void gps_rx(); |
Joeatsumi | 2:e6496a794bde | 127 | void gps_convertion(); |
Joeatsumi | 2:e6496a794bde | 128 | /*--------------*/ |
Joeatsumi | 2:e6496a794bde | 129 | |
Joeatsumi | 2:e6496a794bde | 130 | void toString_V(Vector& v) |
Joeatsumi | 2:e6496a794bde | 131 | { |
Joeatsumi | 2:e6496a794bde | 132 | |
Joeatsumi | 2:e6496a794bde | 133 | for(int i=0; i<v.GetDim(); i++) { |
Joeatsumi | 2:e6496a794bde | 134 | pc.printf("%.6f\t", v.GetComp(i+1)); |
Joeatsumi | 2:e6496a794bde | 135 | } |
Joeatsumi | 2:e6496a794bde | 136 | pc.printf("\r\n"); |
Joeatsumi | 2:e6496a794bde | 137 | |
Joeatsumi | 2:e6496a794bde | 138 | } |
Joeatsumi | 2:e6496a794bde | 139 | |
Joeatsumi | 2:e6496a794bde | 140 | void scan_update(int box_sensor[6],int16_t m[3]){ |
Joeatsumi | 2:e6496a794bde | 141 | |
Joeatsumi | 2:e6496a794bde | 142 | int a[3];//加速度の値 |
Joeatsumi | 2:e6496a794bde | 143 | int g[3];//角速度の値 |
Joeatsumi | 2:e6496a794bde | 144 | |
Joeatsumi | 2:e6496a794bde | 145 | int16_t raw_compass[3];//地磁気センサの値 |
Joeatsumi | 2:e6496a794bde | 146 | |
Joeatsumi | 2:e6496a794bde | 147 | mpu.setAcceleroRange(0);//acceleration range is +-4G |
Joeatsumi | 2:e6496a794bde | 148 | mpu.setGyroRange(0);//gyro rate is +-degree per second(dps) |
Joeatsumi | 2:e6496a794bde | 149 | |
Joeatsumi | 2:e6496a794bde | 150 | mpu.getAcceleroRaw(a);// 加速度を格納する配列[m/s2] a[0] is x axis,a[1] is y axis,a[2] is z axis; |
Joeatsumi | 2:e6496a794bde | 151 | mpu.getGyroRaw(g); // 角速度を格納する配列[rad/s] |
Joeatsumi | 2:e6496a794bde | 152 | compass.getXYZ(raw_compass);//地磁気の値を格納する配列 |
Joeatsumi | 2:e6496a794bde | 153 | |
Joeatsumi | 2:e6496a794bde | 154 | box_sensor[0]=-g[0]; |
Joeatsumi | 2:e6496a794bde | 155 | box_sensor[1]=g[1]; |
Joeatsumi | 2:e6496a794bde | 156 | box_sensor[2]=-g[2]; |
Joeatsumi | 2:e6496a794bde | 157 | |
Joeatsumi | 2:e6496a794bde | 158 | box_sensor[3]=a[0]; |
Joeatsumi | 2:e6496a794bde | 159 | box_sensor[4]=-a[1]; |
Joeatsumi | 2:e6496a794bde | 160 | box_sensor[5]=a[2]; |
Joeatsumi | 2:e6496a794bde | 161 | |
Joeatsumi | 2:e6496a794bde | 162 | m[0]=(raw_compass[0]);//x |
Joeatsumi | 2:e6496a794bde | 163 | m[1]=(raw_compass[2]);//y |
Joeatsumi | 2:e6496a794bde | 164 | m[2]=(raw_compass[1]);//z |
Joeatsumi | 2:e6496a794bde | 165 | |
Joeatsumi | 2:e6496a794bde | 166 | } |
Joeatsumi | 2:e6496a794bde | 167 | |
Joeatsumi | 2:e6496a794bde | 168 | void gps_rx(){ |
Joeatsumi | 2:e6496a794bde | 169 | |
Joeatsumi | 2:e6496a794bde | 170 | if((gps.getc()=='$')&&(gps_flag==0)){ |
Joeatsumi | 2:e6496a794bde | 171 | for(int i=0;i<9;i++){ |
Joeatsumi | 2:e6496a794bde | 172 | gps_data[i]=gps.getc(); |
Joeatsumi | 2:e6496a794bde | 173 | //pc.putc(gps_data[i]); |
Joeatsumi | 2:e6496a794bde | 174 | } |
Joeatsumi | 2:e6496a794bde | 175 | |
Joeatsumi | 2:e6496a794bde | 176 | gps_data[9]='\0'; |
Joeatsumi | 2:e6496a794bde | 177 | |
Joeatsumi | 2:e6496a794bde | 178 | for(int i=0;i<9;i++){ |
Joeatsumi | 2:e6496a794bde | 179 | gps_data_2[i]=gps.getc(); |
Joeatsumi | 2:e6496a794bde | 180 | //pc.putc(gps_data[i]); |
Joeatsumi | 2:e6496a794bde | 181 | } |
Joeatsumi | 2:e6496a794bde | 182 | |
Joeatsumi | 2:e6496a794bde | 183 | gps_data_2[9]='\0'; |
Joeatsumi | 2:e6496a794bde | 184 | |
Joeatsumi | 2:e6496a794bde | 185 | }//if(twe.getc()==':') |
Joeatsumi | 2:e6496a794bde | 186 | |
Joeatsumi | 2:e6496a794bde | 187 | //pc.printf("%s,%s\r\n",gps_data,gps_data_2); |
Joeatsumi | 2:e6496a794bde | 188 | |
Joeatsumi | 2:e6496a794bde | 189 | gps_flag=1; |
Joeatsumi | 2:e6496a794bde | 190 | |
Joeatsumi | 2:e6496a794bde | 191 | }//gps_rx ends |
Joeatsumi | 2:e6496a794bde | 192 | |
Joeatsumi | 2:e6496a794bde | 193 | void gps_convertion(){ |
Joeatsumi | 2:e6496a794bde | 194 | while(1){ |
Joeatsumi | 2:e6496a794bde | 195 | if(gps_flag==1){ |
Joeatsumi | 2:e6496a794bde | 196 | tokei_int_receive=atoi(gps_data); |
Joeatsumi | 2:e6496a794bde | 197 | hokui_int_receive=atoi(gps_data_2); |
Joeatsumi | 2:e6496a794bde | 198 | |
Joeatsumi | 2:e6496a794bde | 199 | //pc.printf("%d,%d\r\n",tokei_int_receive,hokui_int_receive); |
Joeatsumi | 2:e6496a794bde | 200 | |
Joeatsumi | 2:e6496a794bde | 201 | tokei_float_receive=float(tokei_int_receive)/pow(10.0,6.0)-100.0; |
Joeatsumi | 2:e6496a794bde | 202 | hokui_float_receive=float(hokui_int_receive)/pow(10.0,6.0)-100.0; |
Joeatsumi | 2:e6496a794bde | 203 | |
Joeatsumi | 2:e6496a794bde | 204 | gps_flag_conversion=1; |
Joeatsumi | 2:e6496a794bde | 205 | |
Joeatsumi | 2:e6496a794bde | 206 | }else{gps_flag_conversion=0;} |
Joeatsumi | 2:e6496a794bde | 207 | }//while ends |
Joeatsumi | 2:e6496a794bde | 208 | |
Joeatsumi | 2:e6496a794bde | 209 | }//ends |
Joeatsumi | 2:e6496a794bde | 210 | |
Joeatsumi | 2:e6496a794bde | 211 | void Acc_to_Quaternion(int x_acc,int y_acc,int z_acc,double Yaw,double qua[4]){ |
Joeatsumi | 2:e6496a794bde | 212 | |
Joeatsumi | 2:e6496a794bde | 213 | double Roll_before = double(y_acc)/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 214 | double Roll = atan(Roll_before); |
Joeatsumi | 2:e6496a794bde | 215 | |
Joeatsumi | 2:e6496a794bde | 216 | double Pitch_before = double(x_acc/sqrt(double(y_acc*y_acc+z_acc*z_acc)) ); |
Joeatsumi | 2:e6496a794bde | 217 | double Pitch = -atan(Pitch_before); |
Joeatsumi | 2:e6496a794bde | 218 | |
Joeatsumi | 2:e6496a794bde | 219 | //Yaw=0.0; |
Joeatsumi | 2:e6496a794bde | 220 | |
Joeatsumi | 2:e6496a794bde | 221 | /*Quaternionの要素へオイラー角を変換する*/ |
Joeatsumi | 2:e6496a794bde | 222 | qua[0]=cos(Roll/2.0)*cos(Pitch/2.0)*cos(Yaw/2.0)+sin(Roll/2.0)*sin(Pitch/2.0)*sin(Yaw/2.0); |
Joeatsumi | 2:e6496a794bde | 223 | qua[1]=sin(Roll/2.0)*cos(Pitch/2.0)*cos(Yaw/2.0)-cos(Roll/2.0)*sin(Pitch/2.0)*sin(Yaw/2.0); |
Joeatsumi | 2:e6496a794bde | 224 | qua[2]=cos(Roll/2.0)*sin(Pitch/2.0)*cos(Yaw/2.0)+sin(Roll/2.0)*cos(Pitch/2.0)*sin(Yaw/2.0); |
Joeatsumi | 2:e6496a794bde | 225 | qua[3]=cos(Roll/2.0)*cos(Pitch/2.0)*sin(Yaw/2.0)-sin(Roll/2.0)*sin(Pitch/2.0)*cos(Yaw/2.0); |
Joeatsumi | 2:e6496a794bde | 226 | |
Joeatsumi | 2:e6496a794bde | 227 | |
Joeatsumi | 2:e6496a794bde | 228 | } |
Joeatsumi | 2:e6496a794bde | 229 | |
Joeatsumi | 2:e6496a794bde | 230 | void Acc_to_Pitch_Roll(int x_acc,int y_acc,int z_acc,double qua[2]){ |
Joeatsumi | 2:e6496a794bde | 231 | |
Joeatsumi | 2:e6496a794bde | 232 | double Roll_before = double(y_acc)/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 233 | double Roll = atan(Roll_before); |
Joeatsumi | 2:e6496a794bde | 234 | |
Joeatsumi | 2:e6496a794bde | 235 | double Pitch_before = double(x_acc/sqrt(double(y_acc*y_acc+z_acc*z_acc)) ); |
Joeatsumi | 2:e6496a794bde | 236 | double Pitch = -atan(Pitch_before); |
Joeatsumi | 2:e6496a794bde | 237 | |
Joeatsumi | 2:e6496a794bde | 238 | |
Joeatsumi | 2:e6496a794bde | 239 | qua[0]=Pitch; |
Joeatsumi | 2:e6496a794bde | 240 | qua[1]=Roll; |
Joeatsumi | 2:e6496a794bde | 241 | |
Joeatsumi | 2:e6496a794bde | 242 | } |
Joeatsumi | 2:e6496a794bde | 243 | |
Joeatsumi | 2:e6496a794bde | 244 | void Correct_n(int x_acc,int y_acc,int z_acc,double n[4]){ |
Joeatsumi | 2:e6496a794bde | 245 | |
Joeatsumi | 2:e6496a794bde | 246 | //y_acc*=-1.0; |
Joeatsumi | 2:e6496a794bde | 247 | |
Joeatsumi | 2:e6496a794bde | 248 | n[0]=-double(y_acc)/sqrt(double(y_acc*y_acc+x_acc*x_acc)); |
Joeatsumi | 2:e6496a794bde | 249 | n[1]=double(x_acc)/sqrt(double(y_acc*y_acc+x_acc*x_acc)); |
Joeatsumi | 2:e6496a794bde | 250 | n[2]=0.0; |
Joeatsumi | 2:e6496a794bde | 251 | |
Joeatsumi | 2:e6496a794bde | 252 | n[3]=sqrt(double(x_acc*x_acc+y_acc*y_acc))/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 253 | |
Joeatsumi | 2:e6496a794bde | 254 | } |
Joeatsumi | 2:e6496a794bde | 255 | |
Joeatsumi | 2:e6496a794bde | 256 | double Geomagnetism_correction(int x_acc,int y_acc,int z_acc,int16_t magnet[3]){ |
Joeatsumi | 2:e6496a794bde | 257 | |
Joeatsumi | 2:e6496a794bde | 258 | Vector Mag_from_sensor(3),Mag_fixed_sensor(3); //座標系 |
Joeatsumi | 2:e6496a794bde | 259 | Matrix Rotation(3, 3); //検算の行列 |
Joeatsumi | 2:e6496a794bde | 260 | |
Joeatsumi | 2:e6496a794bde | 261 | double Correct_vector_n[4];//回転行列の成分 |
Joeatsumi | 2:e6496a794bde | 262 | Correct_n(x_acc,y_acc,z_acc, Correct_vector_n); |
Joeatsumi | 2:e6496a794bde | 263 | |
Joeatsumi | 2:e6496a794bde | 264 | double n_x=Correct_vector_n[0]; |
Joeatsumi | 2:e6496a794bde | 265 | double n_y=Correct_vector_n[1]; |
Joeatsumi | 2:e6496a794bde | 266 | double n_z=Correct_vector_n[2]; |
Joeatsumi | 2:e6496a794bde | 267 | double theta=-Correct_vector_n[3]; |
Joeatsumi | 2:e6496a794bde | 268 | |
Joeatsumi | 2:e6496a794bde | 269 | float Rotate_element[9] = { |
Joeatsumi | 2:e6496a794bde | 270 | n_x*n_x*(1-cos(theta))+cos(theta) , n_x*n_y*(1-cos(theta)) , n_y*sin(theta), |
Joeatsumi | 2:e6496a794bde | 271 | n_x*n_y*(1-cos(theta)) ,n_y*n_y*(1-cos(theta))+cos(theta) , -n_x*sin(theta), |
Joeatsumi | 2:e6496a794bde | 272 | n_y*sin(theta) , n_x*sin(theta) , cos(theta) |
Joeatsumi | 2:e6496a794bde | 273 | }; |
Joeatsumi | 2:e6496a794bde | 274 | |
Joeatsumi | 2:e6496a794bde | 275 | Rotation.SetComps(Rotate_element); |
Joeatsumi | 2:e6496a794bde | 276 | //x y z |
Joeatsumi | 2:e6496a794bde | 277 | float Geomagnetism[3]={ float(magnet[1]+MAG_FIX_X) |
Joeatsumi | 2:e6496a794bde | 278 | , float(magnet[0]+MAG_FIX_Y) |
Joeatsumi | 2:e6496a794bde | 279 | , float( (-1.0)*(magnet[2]+MAG_FIX_Z ))}; |
Joeatsumi | 2:e6496a794bde | 280 | |
Joeatsumi | 2:e6496a794bde | 281 | Mag_from_sensor.SetComps(Geomagnetism); |
Joeatsumi | 2:e6496a794bde | 282 | |
Joeatsumi | 2:e6496a794bde | 283 | Mag_fixed_sensor=Rotation*Mag_from_sensor;//地磁気センサの値を加速度センサによる傾きで補正。 |
Joeatsumi | 2:e6496a794bde | 284 | |
Joeatsumi | 2:e6496a794bde | 285 | float Mag_fixed_x= Mag_fixed_sensor.GetComp(1); |
Joeatsumi | 2:e6496a794bde | 286 | float Mag_fixed_y= Mag_fixed_sensor.GetComp(2); |
Joeatsumi | 2:e6496a794bde | 287 | |
Joeatsumi | 2:e6496a794bde | 288 | double Azi=atan2(double(Mag_fixed_y),double(Mag_fixed_x)); |
Joeatsumi | 2:e6496a794bde | 289 | |
Joeatsumi | 2:e6496a794bde | 290 | /* |
Joeatsumi | 2:e6496a794bde | 291 | if(Azi < 0.0) // fix sign |
Joeatsumi | 2:e6496a794bde | 292 | Azi += PI2; |
Joeatsumi | 2:e6496a794bde | 293 | |
Joeatsumi | 2:e6496a794bde | 294 | if(Azi > PI2) // fix overflow |
Joeatsumi | 2:e6496a794bde | 295 | Azi -= PI2; |
Joeatsumi | 2:e6496a794bde | 296 | */ |
Joeatsumi | 2:e6496a794bde | 297 | |
Joeatsumi | 2:e6496a794bde | 298 | return Azi; |
Joeatsumi | 2:e6496a794bde | 299 | |
Joeatsumi | 2:e6496a794bde | 300 | } |
Joeatsumi | 2:e6496a794bde | 301 | |
Joeatsumi | 2:e6496a794bde | 302 | //void led2_thread(void const *argument) { |
Joeatsumi | 2:e6496a794bde | 303 | void imu_thread() { |
Joeatsumi | 2:e6496a794bde | 304 | while (true) { |
Joeatsumi | 2:e6496a794bde | 305 | }//while ends |
Joeatsumi | 2:e6496a794bde | 306 | } |
Joeatsumi | 2:e6496a794bde | 307 | |
Joeatsumi | 3:3fa7882a5fd0 | 308 | void Quaternion_to_Euler(float q0,float q1,float q2,float q3,double Euler[3]){ |
Joeatsumi | 3:3fa7882a5fd0 | 309 | |
Joeatsumi | 3:3fa7882a5fd0 | 310 | //float pitch,roll,yaw; |
Joeatsumi | 3:3fa7882a5fd0 | 311 | |
Joeatsumi | 3:3fa7882a5fd0 | 312 | Euler[0]=RAD_TO_DEG*atan2(double( 2*(q2*q3+q0*q1)), double (q0*q0-q1*q1-q2*q2+q3*q3) ); |
Joeatsumi | 3:3fa7882a5fd0 | 313 | Euler[1]=-RAD_TO_DEG*asin(double(2*(q1*q3-q0*q2))); |
Joeatsumi | 3:3fa7882a5fd0 | 314 | Euler[2]=RAD_TO_DEG*atan2(double(2*(q1*q2+q0*q3)), double(q0*q0+q1*q1-q2*q2-q3*q3)); |
Joeatsumi | 3:3fa7882a5fd0 | 315 | |
Joeatsumi | 3:3fa7882a5fd0 | 316 | } |
Joeatsumi | 3:3fa7882a5fd0 | 317 | |
Joeatsumi | 3:3fa7882a5fd0 | 318 | |
Joeatsumi | 3:3fa7882a5fd0 | 319 | double Degree_to_PWM_duty(double degree){ |
Joeatsumi | 3:3fa7882a5fd0 | 320 | |
Joeatsumi | 3:3fa7882a5fd0 | 321 | double duty=0.0; |
Joeatsumi | 3:3fa7882a5fd0 | 322 | |
Joeatsumi | 3:3fa7882a5fd0 | 323 | duty=(0.2/1000)/20.0*degree; |
Joeatsumi | 3:3fa7882a5fd0 | 324 | |
Joeatsumi | 3:3fa7882a5fd0 | 325 | if((duty+NUTRAL)>=UPPER_DUTY){ |
Joeatsumi | 3:3fa7882a5fd0 | 326 | duty=UPPER_DUTY-NUTRAL; |
Joeatsumi | 3:3fa7882a5fd0 | 327 | }else if((duty+NUTRAL)<=LOWER_DUTY){ |
Joeatsumi | 3:3fa7882a5fd0 | 328 | duty=NUTRAL-LOWER_DUTY; |
Joeatsumi | 3:3fa7882a5fd0 | 329 | }else{} |
Joeatsumi | 3:3fa7882a5fd0 | 330 | |
Joeatsumi | 3:3fa7882a5fd0 | 331 | return duty; |
Joeatsumi | 3:3fa7882a5fd0 | 332 | |
Joeatsumi | 3:3fa7882a5fd0 | 333 | } |
Joeatsumi | 3:3fa7882a5fd0 | 334 | |
Joeatsumi | 3:3fa7882a5fd0 | 335 | double PID_duty(double target,double vol,float dt){ |
Joeatsumi | 3:3fa7882a5fd0 | 336 | //ここで角度の単位で偏差は入力される |
Joeatsumi | 3:3fa7882a5fd0 | 337 | //出力はPWMで |
Joeatsumi | 3:3fa7882a5fd0 | 338 | double duty=0.0; |
Joeatsumi | 3:3fa7882a5fd0 | 339 | double add_duty=0.0; |
Joeatsumi | 3:3fa7882a5fd0 | 340 | |
Joeatsumi | 3:3fa7882a5fd0 | 341 | Prop_p=target-vol; |
Joeatsumi | 3:3fa7882a5fd0 | 342 | |
Joeatsumi | 3:3fa7882a5fd0 | 343 | pc.printf("%f/r/n",Prop_p); |
Joeatsumi | 3:3fa7882a5fd0 | 344 | |
Joeatsumi | 3:3fa7882a5fd0 | 345 | Int_p+=Prop_p*double(dt); |
Joeatsumi | 3:3fa7882a5fd0 | 346 | Dif_p=(Prop_p - Pre_Prop_p) / double(dt); |
Joeatsumi | 3:3fa7882a5fd0 | 347 | |
Joeatsumi | 3:3fa7882a5fd0 | 348 | Pre_Prop_p=Prop_p; |
Joeatsumi | 3:3fa7882a5fd0 | 349 | |
Joeatsumi | 3:3fa7882a5fd0 | 350 | //add_duty=Gain_Kp*Prop_p+Gain_Ki*Int_p+Gain_Kd*Dif_p; |
Joeatsumi | 3:3fa7882a5fd0 | 351 | |
Joeatsumi | 3:3fa7882a5fd0 | 352 | add_duty=1.0*Prop_p; |
Joeatsumi | 3:3fa7882a5fd0 | 353 | |
Joeatsumi | 3:3fa7882a5fd0 | 354 | duty+=add_duty; |
Joeatsumi | 3:3fa7882a5fd0 | 355 | duty=Degree_to_PWM_duty(duty); |
Joeatsumi | 3:3fa7882a5fd0 | 356 | |
Joeatsumi | 3:3fa7882a5fd0 | 357 | return duty; |
Joeatsumi | 3:3fa7882a5fd0 | 358 | |
Joeatsumi | 3:3fa7882a5fd0 | 359 | } |
Joeatsumi | 3:3fa7882a5fd0 | 360 | |
Joeatsumi | 3:3fa7882a5fd0 | 361 | void Initialize_ESC(){ |
Joeatsumi | 3:3fa7882a5fd0 | 362 | |
Joeatsumi | 3:3fa7882a5fd0 | 363 | ESC.pulsewidth(0.002); |
Joeatsumi | 3:3fa7882a5fd0 | 364 | wait(3); |
Joeatsumi | 3:3fa7882a5fd0 | 365 | |
Joeatsumi | 3:3fa7882a5fd0 | 366 | ESC.pulsewidth(0.001); |
Joeatsumi | 3:3fa7882a5fd0 | 367 | wait(5); |
Joeatsumi | 3:3fa7882a5fd0 | 368 | |
Joeatsumi | 3:3fa7882a5fd0 | 369 | } |
Joeatsumi | 3:3fa7882a5fd0 | 370 | |
Joeatsumi | 3:3fa7882a5fd0 | 371 | |
Joeatsumi | 3:3fa7882a5fd0 | 372 | void Activate_ESC(){ |
Joeatsumi | 3:3fa7882a5fd0 | 373 | |
Joeatsumi | 3:3fa7882a5fd0 | 374 | ESC.pulsewidth(0.001); |
Joeatsumi | 3:3fa7882a5fd0 | 375 | wait(5); |
Joeatsumi | 3:3fa7882a5fd0 | 376 | |
Joeatsumi | 3:3fa7882a5fd0 | 377 | } |
Joeatsumi | 3:3fa7882a5fd0 | 378 | |
hudakz | 0:87642278ede6 | 379 | // Entry point for the example |
hudakz | 0:87642278ede6 | 380 | int main() |
hudakz | 0:87642278ede6 | 381 | { |
Joeatsumi | 2:e6496a794bde | 382 | gps.baud(115200);//GT-720Fボーレート |
Joeatsumi | 2:e6496a794bde | 383 | pc.baud(115200); |
Joeatsumi | 2:e6496a794bde | 384 | //imu_thread |
Joeatsumi | 2:e6496a794bde | 385 | |
Joeatsumi | 2:e6496a794bde | 386 | compass.init();//hmc5883の起動 |
Joeatsumi | 2:e6496a794bde | 387 | |
Joeatsumi | 2:e6496a794bde | 388 | Thread thread1 (gps_convertion); |
Joeatsumi | 2:e6496a794bde | 389 | gps.attach(gps_rx, Serial::RxIrq); |
Joeatsumi | 2:e6496a794bde | 390 | |
Joeatsumi | 3:3fa7882a5fd0 | 391 | /*define period of serve and ESC*/ |
Joeatsumi | 3:3fa7882a5fd0 | 392 | ESC.period(SERVO_PERIOD); |
Joeatsumi | 3:3fa7882a5fd0 | 393 | Elevator_servo.period(SERVO_PERIOD); |
Joeatsumi | 3:3fa7882a5fd0 | 394 | Rudder_servo.period(SERVO_PERIOD); |
Joeatsumi | 3:3fa7882a5fd0 | 395 | /*------------------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 396 | Elevator_servo.pulsewidth(NUTRAL); // servo position determined by a pulsewidth between 1-2ms |
Joeatsumi | 3:3fa7882a5fd0 | 397 | Rudder_servo.pulsewidth(NUTRAL); |
Joeatsumi | 3:3fa7882a5fd0 | 398 | |
Joeatsumi | 3:3fa7882a5fd0 | 399 | Activate_ESC(); |
Joeatsumi | 3:3fa7882a5fd0 | 400 | |
Joeatsumi | 2:e6496a794bde | 401 | float Time_old=0.0;//時間初期化 |
Joeatsumi | 2:e6496a794bde | 402 | passed_time.start();//タイマー開始 |
Joeatsumi | 2:e6496a794bde | 403 | |
Joeatsumi | 2:e6496a794bde | 404 | pc.printf("--- Mbed OS filesystem example ---\n"); |
hudakz | 0:87642278ede6 | 405 | |
hudakz | 0:87642278ede6 | 406 | // Try to mount the filesystem |
Joeatsumi | 2:e6496a794bde | 407 | pc.printf("Mounting the filesystem... "); |
hudakz | 0:87642278ede6 | 408 | fflush(stdout); |
hudakz | 0:87642278ede6 | 409 | |
hudakz | 0:87642278ede6 | 410 | int err = fileSystem.mount(&blockDevice); |
Joeatsumi | 2:e6496a794bde | 411 | pc.printf("%s\n", (err ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 412 | if (err) { |
hudakz | 0:87642278ede6 | 413 | // Reformat if we can't mount the filesystem |
hudakz | 0:87642278ede6 | 414 | // this should only happen on the first boot |
Joeatsumi | 2:e6496a794bde | 415 | pc.printf("No filesystem found, formatting... "); |
hudakz | 0:87642278ede6 | 416 | fflush(stdout); |
hudakz | 0:87642278ede6 | 417 | err = fileSystem.reformat(&blockDevice); |
Joeatsumi | 2:e6496a794bde | 418 | pc.printf("%s\n", (err ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 419 | if (err) { |
hudakz | 0:87642278ede6 | 420 | error("error: %s (%d)\n", strerror(-err), err); |
hudakz | 0:87642278ede6 | 421 | } |
hudakz | 0:87642278ede6 | 422 | } |
hudakz | 0:87642278ede6 | 423 | |
hudakz | 0:87642278ede6 | 424 | // Open the numbers file |
Joeatsumi | 2:e6496a794bde | 425 | pc.printf("Opening \"/fs/numbers.txt\"... "); |
hudakz | 0:87642278ede6 | 426 | fflush(stdout); |
hudakz | 0:87642278ede6 | 427 | |
hudakz | 0:87642278ede6 | 428 | FILE* f = fopen("/fs/numbers.txt", "r+"); |
Joeatsumi | 2:e6496a794bde | 429 | pc.printf("%s\n", (!f ? "Fail :(" : "OK")); |
Joeatsumi | 2:e6496a794bde | 430 | |
hudakz | 0:87642278ede6 | 431 | if (!f) { |
hudakz | 0:87642278ede6 | 432 | // Create the numbers file if it doesn't exist |
Joeatsumi | 2:e6496a794bde | 433 | pc.printf("No file found, creating a new file... "); |
hudakz | 0:87642278ede6 | 434 | fflush(stdout); |
hudakz | 0:87642278ede6 | 435 | f = fopen("/fs/numbers.txt", "w+"); |
Joeatsumi | 2:e6496a794bde | 436 | pc.printf("%s\n", (!f ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 437 | } |
Joeatsumi | 2:e6496a794bde | 438 | |
Joeatsumi | 2:e6496a794bde | 439 | /*初期姿勢のQuaternionの設定*/ |
Joeatsumi | 2:e6496a794bde | 440 | scan_update(sensor_array,mag);//9軸の値の取得 mag[0]=y mag[1]=x mag[2]=-Z |
Joeatsumi | 2:e6496a794bde | 441 | Azi_mag=Geomagnetism_correction(sensor_array[3],sensor_array[4],sensor_array[5],mag); |
Joeatsumi | 2:e6496a794bde | 442 | |
Joeatsumi | 2:e6496a794bde | 443 | Acc_to_Quaternion(sensor_array[3],sensor_array[4],sensor_array[5],Azi_mag,Quaternion_from_acc); |
Joeatsumi | 2:e6496a794bde | 444 | |
Joeatsumi | 2:e6496a794bde | 445 | float Initialize_atitude[4]; |
Joeatsumi | 2:e6496a794bde | 446 | Initialize_atitude[0]=Quaternion_from_acc[0]; |
Joeatsumi | 2:e6496a794bde | 447 | Initialize_atitude[1]=Quaternion_from_acc[1]; |
Joeatsumi | 2:e6496a794bde | 448 | Initialize_atitude[2]=Quaternion_from_acc[2]; |
Joeatsumi | 2:e6496a794bde | 449 | Initialize_atitude[3]=Quaternion_from_acc[3]; |
Joeatsumi | 2:e6496a794bde | 450 | |
Joeatsumi | 2:e6496a794bde | 451 | Quaternion_atitude_from_omega.SetComps(Initialize_atitude);//ジャイロで計算するQuaternionの初期化 |
Joeatsumi | 2:e6496a794bde | 452 | |
Joeatsumi | 2:e6496a794bde | 453 | |
Joeatsumi | 2:e6496a794bde | 454 | while(1){ |
Joeatsumi | 2:e6496a794bde | 455 | |
Joeatsumi | 2:e6496a794bde | 456 | /*gpsから来た文字列の処理 |
Joeatsumi | 2:e6496a794bde | 457 | if((gps_flag==1)&&(gps_flag_conversion==1)){ |
Joeatsumi | 2:e6496a794bde | 458 | |
Joeatsumi | 2:e6496a794bde | 459 | err = fprintf(f,"%f,%f\r\n",tokei_float_receive,hokui_float_receive); |
Joeatsumi | 2:e6496a794bde | 460 | |
Joeatsumi | 2:e6496a794bde | 461 | gps_flag=0; |
Joeatsumi | 2:e6496a794bde | 462 | gps_flag_conversion=0; |
Joeatsumi | 2:e6496a794bde | 463 | |
Joeatsumi | 2:e6496a794bde | 464 | }else{} |
Joeatsumi | 2:e6496a794bde | 465 | */ |
Joeatsumi | 2:e6496a794bde | 466 | |
Joeatsumi | 2:e6496a794bde | 467 | scan_update(sensor_array,mag);//9軸の値の取得 mag[0]=y mag[1]=x mag[2]=-Z |
Joeatsumi | 2:e6496a794bde | 468 | float Time_new=float(passed_time.read());//時間の取得 |
Joeatsumi | 2:e6496a794bde | 469 | |
Joeatsumi | 2:e6496a794bde | 470 | //地磁気の補正用に使う。 |
Joeatsumi | 2:e6496a794bde | 471 | //pc.printf("%d,%d,%d\r\n",mag[1],mag[0],mag[2]); |
Joeatsumi | 2:e6496a794bde | 472 | |
Joeatsumi | 2:e6496a794bde | 473 | //ジャイロの補正用に使う |
Joeatsumi | 2:e6496a794bde | 474 | //pc.printf("%d,%d,%d\r\n",sensor_array[0],sensor_array[1],sensor_array[2]); |
Joeatsumi | 2:e6496a794bde | 475 | |
Joeatsumi | 2:e6496a794bde | 476 | /*----------------ジャイロセンサからQuaternionを求める----------------*/ |
Joeatsumi | 2:e6496a794bde | 477 | float omega_x=float(( float(sensor_array[0])-GYRO_FIX_X )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 478 | float omega_y=float(( float(sensor_array[1])-GYRO_FIX_Y )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 479 | float omega_z=float(( float(sensor_array[2])-GYRO_FIX_Z )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 480 | |
Joeatsumi | 2:e6496a794bde | 481 | float omega[16] = { |
Joeatsumi | 2:e6496a794bde | 482 | |
Joeatsumi | 2:e6496a794bde | 483 | 0.0 , -omega_x , -omega_y, -omega_z, |
Joeatsumi | 2:e6496a794bde | 484 | omega_x ,0.0 ,omega_z ,-omega_y , |
Joeatsumi | 2:e6496a794bde | 485 | omega_y , -omega_z , 0.0 , omega_x , |
Joeatsumi | 2:e6496a794bde | 486 | omega_z , omega_y ,-omega_x , 0.0 |
Joeatsumi | 2:e6496a794bde | 487 | |
Joeatsumi | 2:e6496a794bde | 488 | }; |
hudakz | 0:87642278ede6 | 489 | |
Joeatsumi | 2:e6496a794bde | 490 | Omega_matrix.SetComps(omega); |
Joeatsumi | 2:e6496a794bde | 491 | |
Joeatsumi | 2:e6496a794bde | 492 | float half[16] ={ |
Joeatsumi | 2:e6496a794bde | 493 | (Time_new-Time_old)*0.5,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 494 | 0.0,(Time_new-Time_old)*0.5,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 495 | 0.0,0.0,(Time_new-Time_old)*0.5,0.0, |
Joeatsumi | 2:e6496a794bde | 496 | 0.0,0.0,0.0,(Time_new-Time_old)*0.5 |
Joeatsumi | 2:e6496a794bde | 497 | }; |
Joeatsumi | 2:e6496a794bde | 498 | |
Joeatsumi | 2:e6496a794bde | 499 | |
Joeatsumi | 2:e6496a794bde | 500 | Half_matrix.SetComps(half); |
Joeatsumi | 2:e6496a794bde | 501 | //Quaternion_atitude_from_omega+=(Time_new-Time_old)* |
Joeatsumi | 2:e6496a794bde | 502 | Quaternion_atitude_from_omega +=Half_matrix*Omega_matrix*Quaternion_atitude_from_omega; |
Joeatsumi | 2:e6496a794bde | 503 | |
Joeatsumi | 2:e6496a794bde | 504 | Quaternion_atitude_from_omega=Quaternion_atitude_from_omega.Normalize(); |
Joeatsumi | 2:e6496a794bde | 505 | |
Joeatsumi | 2:e6496a794bde | 506 | |
Joeatsumi | 3:3fa7882a5fd0 | 507 | //Time_old=Time_new;//時間の更新 |
Joeatsumi | 2:e6496a794bde | 508 | |
Joeatsumi | 2:e6496a794bde | 509 | /* |
Joeatsumi | 2:e6496a794bde | 510 | pc.printf("%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 511 | ,Quaternion_atitude_from_omega.GetComp(1),Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 512 | ,Quaternion_atitude_from_omega.GetComp(3),Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 513 | */ |
Joeatsumi | 2:e6496a794bde | 514 | |
Joeatsumi | 2:e6496a794bde | 515 | /*----------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 516 | |
Joeatsumi | 2:e6496a794bde | 517 | /* |
Joeatsumi | 2:e6496a794bde | 518 | err = fprintf(f,"A,%f,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n" |
Joeatsumi | 2:e6496a794bde | 519 | ,val,sensor_array[0],sensor_array[1],sensor_array[2],sensor_array[3],sensor_array[4],sensor_array[5] |
Joeatsumi | 2:e6496a794bde | 520 | ,sensor_array[6],sensor_array[7],sensor_array[8]); |
Joeatsumi | 2:e6496a794bde | 521 | */ |
Joeatsumi | 2:e6496a794bde | 522 | |
Joeatsumi | 2:e6496a794bde | 523 | /*--------------------加速センサで地磁気の値を補正する --------------------*/ |
Joeatsumi | 2:e6496a794bde | 524 | |
Joeatsumi | 2:e6496a794bde | 525 | if(9.8065*1.1 > |
Joeatsumi | 2:e6496a794bde | 526 | sqrt(double(sensor_array[3]*sensor_array[3]+sensor_array[4]*sensor_array[4]+sensor_array[5]*sensor_array[5])) |
Joeatsumi | 2:e6496a794bde | 527 | / 16384.0 * 9.81) |
Joeatsumi | 2:e6496a794bde | 528 | { |
Joeatsumi | 2:e6496a794bde | 529 | |
Joeatsumi | 2:e6496a794bde | 530 | Azi_mag=Geomagnetism_correction(sensor_array[3],sensor_array[4],sensor_array[5],mag); |
Joeatsumi | 2:e6496a794bde | 531 | |
Joeatsumi | 3:3fa7882a5fd0 | 532 | //pc.printf("Azimath=%f\r\n",Azi_mag*RAD_TO_DEG); |
Joeatsumi | 2:e6496a794bde | 533 | |
Joeatsumi | 2:e6496a794bde | 534 | double pitch_and_roll[2]; |
Joeatsumi | 2:e6496a794bde | 535 | Acc_to_Pitch_Roll(sensor_array[3],sensor_array[4],sensor_array[5],pitch_and_roll); |
Joeatsumi | 2:e6496a794bde | 536 | |
Joeatsumi | 2:e6496a794bde | 537 | //pc.printf("Pitch %f,Roll %f\r\n",pitch_and_roll[0]*RAD_TO_DEG,pitch_and_roll[1]*RAD_TO_DEG); |
Joeatsumi | 2:e6496a794bde | 538 | |
Joeatsumi | 2:e6496a794bde | 539 | Acc_to_Quaternion(sensor_array[3],sensor_array[4],sensor_array[5],Azi_mag,Quaternion_from_acc); |
Joeatsumi | 2:e6496a794bde | 540 | |
Joeatsumi | 2:e6496a794bde | 541 | /*Quaternion_from_acc_fixedの要素をfloatへ変換する*/ |
Joeatsumi | 2:e6496a794bde | 542 | float Quaternion_from_acc_fixed[4]; |
Joeatsumi | 2:e6496a794bde | 543 | Quaternion_from_acc_fixed[0]=float(Quaternion_from_acc[0]); |
Joeatsumi | 2:e6496a794bde | 544 | Quaternion_from_acc_fixed[1]=float(Quaternion_from_acc[1]); |
Joeatsumi | 2:e6496a794bde | 545 | Quaternion_from_acc_fixed[2]=float(Quaternion_from_acc[2]); |
Joeatsumi | 2:e6496a794bde | 546 | Quaternion_from_acc_fixed[3]=float(Quaternion_from_acc[3]); |
Joeatsumi | 2:e6496a794bde | 547 | |
Joeatsumi | 2:e6496a794bde | 548 | Vector Qua_acc(4); |
Joeatsumi | 2:e6496a794bde | 549 | |
Joeatsumi | 2:e6496a794bde | 550 | Qua_acc.SetComps(Quaternion_from_acc_fixed); |
Joeatsumi | 2:e6496a794bde | 551 | /*---------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 552 | |
Joeatsumi | 2:e6496a794bde | 553 | /*---------------------相補フィルタのゲインに用いる---------------------*/ |
Joeatsumi | 2:e6496a794bde | 554 | float comp_1[16]={0.95,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 555 | 0.0,0.95,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 556 | 0.0,0.0,0.95,0.0, |
Joeatsumi | 2:e6496a794bde | 557 | 0.0,0.0,0.0,0.95 |
Joeatsumi | 2:e6496a794bde | 558 | }; |
Joeatsumi | 2:e6496a794bde | 559 | /*--------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 560 | /*---------------------quaternionの時間微分に用いる---------------------*/ |
Joeatsumi | 2:e6496a794bde | 561 | float comp_2[16]={0.05,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 562 | 0.0,0.05,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 563 | 0.0,0.0,0.05,0.0, |
Joeatsumi | 2:e6496a794bde | 564 | 0.0,0.0,0.0,0.05 |
Joeatsumi | 2:e6496a794bde | 565 | }; |
Joeatsumi | 2:e6496a794bde | 566 | |
Joeatsumi | 2:e6496a794bde | 567 | Complement_matrix_1.SetComps(comp_1); |
Joeatsumi | 2:e6496a794bde | 568 | Complement_matrix_2.SetComps(comp_2); |
Joeatsumi | 2:e6496a794bde | 569 | |
Joeatsumi | 2:e6496a794bde | 570 | /*--------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 571 | |
Joeatsumi | 2:e6496a794bde | 572 | |
Joeatsumi | 2:e6496a794bde | 573 | /*-------------------加速度と地磁気でジャイロデータを補正する------------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 574 | |
Joeatsumi | 2:e6496a794bde | 575 | Quaternion_atitude_from_omega=Complement_matrix_1*Quaternion_atitude_from_omega |
Joeatsumi | 2:e6496a794bde | 576 | +Complement_matrix_2*Qua_acc; |
Joeatsumi | 3:3fa7882a5fd0 | 577 | |
Joeatsumi | 2:e6496a794bde | 578 | /*----------------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 579 | |
Joeatsumi | 2:e6496a794bde | 580 | |
Joeatsumi | 2:e6496a794bde | 581 | /* |
Joeatsumi | 2:e6496a794bde | 582 | pc.printf("%f,%f,%f,%f,%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 583 | ,Quaternion_from_acc[0],Quaternion_atitude_from_omega.GetComp(1) |
Joeatsumi | 2:e6496a794bde | 584 | ,Quaternion_from_acc[1],Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 585 | ,Quaternion_from_acc[2],Quaternion_atitude_from_omega.GetComp(3) |
Joeatsumi | 2:e6496a794bde | 586 | ,Quaternion_from_acc[3],Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 587 | */ |
Joeatsumi | 2:e6496a794bde | 588 | |
Joeatsumi | 2:e6496a794bde | 589 | }else{} |
Joeatsumi | 2:e6496a794bde | 590 | |
Joeatsumi | 3:3fa7882a5fd0 | 591 | |
Joeatsumi | 2:e6496a794bde | 592 | /* |
Joeatsumi | 2:e6496a794bde | 593 | pc.printf("%f,%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 594 | ,Time_new |
Joeatsumi | 2:e6496a794bde | 595 | ,Quaternion_atitude_from_omega.GetComp(1) |
Joeatsumi | 2:e6496a794bde | 596 | ,Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 597 | ,Quaternion_atitude_from_omega.GetComp(3) |
Joeatsumi | 2:e6496a794bde | 598 | ,Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 599 | */ |
Joeatsumi | 3:3fa7882a5fd0 | 600 | /*-----------Quaternionからオイラー角への変換-----------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 601 | Quaternion_to_Euler(Quaternion_atitude_from_omega.GetComp(1) |
Joeatsumi | 3:3fa7882a5fd0 | 602 | ,Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 3:3fa7882a5fd0 | 603 | ,Quaternion_atitude_from_omega.GetComp(3) |
Joeatsumi | 3:3fa7882a5fd0 | 604 | ,Quaternion_atitude_from_omega.GetComp(4) |
Joeatsumi | 3:3fa7882a5fd0 | 605 | ,Euler_angle); |
Joeatsumi | 3:3fa7882a5fd0 | 606 | |
Joeatsumi | 3:3fa7882a5fd0 | 607 | /*-----------オイラー角の表示----------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 608 | |
Joeatsumi | 3:3fa7882a5fd0 | 609 | pc.printf("%f,%f,%f,%f,%f\r\n" |
Joeatsumi | 3:3fa7882a5fd0 | 610 | ,Time_new |
Joeatsumi | 3:3fa7882a5fd0 | 611 | ,Euler_angle[0] |
Joeatsumi | 3:3fa7882a5fd0 | 612 | ,Euler_angle[1] |
Joeatsumi | 3:3fa7882a5fd0 | 613 | ,Euler_angle[2] |
Joeatsumi | 3:3fa7882a5fd0 | 614 | ); |
Joeatsumi | 3:3fa7882a5fd0 | 615 | |
Joeatsumi | 3:3fa7882a5fd0 | 616 | /*--------------------------------------------------*/ |
Joeatsumi | 3:3fa7882a5fd0 | 617 | //Pitch control |
Joeatsumi | 3:3fa7882a5fd0 | 618 | pitch_duty=NUTRAL+PID_duty(0.0,Euler_angle[1],(Time_new-Time_old)); |
Joeatsumi | 3:3fa7882a5fd0 | 619 | Elevator_servo.pulsewidth(pitch_duty); |
Joeatsumi | 3:3fa7882a5fd0 | 620 | |
Joeatsumi | 3:3fa7882a5fd0 | 621 | |
Joeatsumi | 3:3fa7882a5fd0 | 622 | Time_old=Time_new;//時間の更新 |
Joeatsumi | 3:3fa7882a5fd0 | 623 | |
Joeatsumi | 2:e6496a794bde | 624 | wait(0.001); |
Joeatsumi | 2:e6496a794bde | 625 | |
Joeatsumi | 2:e6496a794bde | 626 | /*----------------------------------------------------------------*/ |
hudakz | 0:87642278ede6 | 627 | |
Joeatsumi | 2:e6496a794bde | 628 | if(switch_off==1){ |
Joeatsumi | 2:e6496a794bde | 629 | // Close the file which also flushes any cached writes |
Joeatsumi | 2:e6496a794bde | 630 | pc.printf("Closing \"/fs/numbers.txt\"... "); |
Joeatsumi | 2:e6496a794bde | 631 | err = fclose(f); |
Joeatsumi | 2:e6496a794bde | 632 | break; |
Joeatsumi | 2:e6496a794bde | 633 | } |
Joeatsumi | 2:e6496a794bde | 634 | |
Joeatsumi | 2:e6496a794bde | 635 | }//while(1) ends |
Joeatsumi | 2:e6496a794bde | 636 | }//main ends |