Atsumi Toda
/
UAV_Logger1
UAVの姿勢推定に使用するプログラム。
main.cpp@2:e6496a794bde, 2019-05-24 (annotated)
- Committer:
- Joeatsumi
- Date:
- Fri May 24 05:57:12 2019 +0000
- Revision:
- 2:e6496a794bde
- Parent:
- 1:9a5f06e7969e
- Child:
- 3:3fa7882a5fd0
mpu6050 and GHC5883L for atitude estimation for UAV.
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 | 2:e6496a794bde | 45 | SDBlockDevice blockDevice(p5, p6, p7, p8); // mosi, miso, sck, cs |
Joeatsumi | 2:e6496a794bde | 46 | MPU6050 mpu(p28, p27);//sda scl |
Joeatsumi | 2:e6496a794bde | 47 | HMC5883L compass(p28, p27);//sda scl |
Joeatsumi | 2:e6496a794bde | 48 | |
Joeatsumi | 2:e6496a794bde | 49 | RawSerial gps(p9,p10); //serial port for gps_module |
Joeatsumi | 2:e6496a794bde | 50 | RawSerial pc(USBTX, USBRX); |
Joeatsumi | 2:e6496a794bde | 51 | |
Joeatsumi | 2:e6496a794bde | 52 | /*--------------------------*/ |
Joeatsumi | 2:e6496a794bde | 53 | |
Joeatsumi | 2:e6496a794bde | 54 | DigitalIn switch_off(p30); |
Joeatsumi | 2:e6496a794bde | 55 | DigitalOut led2(LED2); |
Joeatsumi | 2:e6496a794bde | 56 | |
Joeatsumi | 2:e6496a794bde | 57 | /*-----------グローバル変数-----------*/ |
Joeatsumi | 2:e6496a794bde | 58 | float g_hokui,g_tokei; |
Joeatsumi | 2:e6496a794bde | 59 | int fp_count=0; |
Joeatsumi | 2:e6496a794bde | 60 | int gps_flag=0; |
Joeatsumi | 2:e6496a794bde | 61 | int gps_flag_conversion=0; |
Joeatsumi | 2:e6496a794bde | 62 | |
Joeatsumi | 2:e6496a794bde | 63 | 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 | 64 | 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 | 65 | |
Joeatsumi | 2:e6496a794bde | 66 | unsigned int tokei_int_receive; |
Joeatsumi | 2:e6496a794bde | 67 | unsigned int hokui_int_receive; |
Joeatsumi | 2:e6496a794bde | 68 | |
Joeatsumi | 2:e6496a794bde | 69 | float tokei_float_receive; |
Joeatsumi | 2:e6496a794bde | 70 | float hokui_float_receive; |
Joeatsumi | 2:e6496a794bde | 71 | |
Joeatsumi | 2:e6496a794bde | 72 | float a[3];//加速度の値 |
Joeatsumi | 2:e6496a794bde | 73 | float g[3];//ジャイロの値[rad/s] |
Joeatsumi | 2:e6496a794bde | 74 | float dpsX,dpsY,dpsZ; |
Joeatsumi | 2:e6496a794bde | 75 | float AccX,AccY,AccZ; |
Joeatsumi | 2:e6496a794bde | 76 | |
Joeatsumi | 2:e6496a794bde | 77 | int sensor_array[6]; |
Joeatsumi | 2:e6496a794bde | 78 | int16_t mag[3]; |
Joeatsumi | 2:e6496a794bde | 79 | |
Joeatsumi | 2:e6496a794bde | 80 | double Roll_Acc,Pitch_Acc; |
Joeatsumi | 2:e6496a794bde | 81 | double Yaw; |
Joeatsumi | 2:e6496a794bde | 82 | double Azi_mag;//地磁気からの方位 |
Joeatsumi | 2:e6496a794bde | 83 | double Quaternion_from_acc[4];//加速度と地磁気からのQuaternion |
Joeatsumi | 2:e6496a794bde | 84 | |
Joeatsumi | 2:e6496a794bde | 85 | /*----------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 86 | /*--------------------------行列、ベクトル-----------------------------*/ |
Joeatsumi | 2:e6496a794bde | 87 | |
Joeatsumi | 2:e6496a794bde | 88 | Vector Quaternion_atitude_from_omega(4); |
Joeatsumi | 2:e6496a794bde | 89 | Matrix Omega_matrix(4,4),Half_matrix(4,4); |
Joeatsumi | 2:e6496a794bde | 90 | Matrix Complement_matrix_1(4,4),Complement_matrix_2(4,4); |
Joeatsumi | 2:e6496a794bde | 91 | |
Joeatsumi | 2:e6496a794bde | 92 | /*-------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 93 | |
Joeatsumi | 2:e6496a794bde | 94 | /*プロトタイプ宣言*/ |
Joeatsumi | 2:e6496a794bde | 95 | void toString_V(Vector& v); // ベクトルデバッグ用 |
Joeatsumi | 2:e6496a794bde | 96 | void gps_rx(); |
Joeatsumi | 2:e6496a794bde | 97 | void gps_convertion(); |
Joeatsumi | 2:e6496a794bde | 98 | /*--------------*/ |
Joeatsumi | 2:e6496a794bde | 99 | |
Joeatsumi | 2:e6496a794bde | 100 | void toString_V(Vector& v) |
Joeatsumi | 2:e6496a794bde | 101 | { |
Joeatsumi | 2:e6496a794bde | 102 | |
Joeatsumi | 2:e6496a794bde | 103 | for(int i=0; i<v.GetDim(); i++) { |
Joeatsumi | 2:e6496a794bde | 104 | pc.printf("%.6f\t", v.GetComp(i+1)); |
Joeatsumi | 2:e6496a794bde | 105 | } |
Joeatsumi | 2:e6496a794bde | 106 | pc.printf("\r\n"); |
Joeatsumi | 2:e6496a794bde | 107 | |
Joeatsumi | 2:e6496a794bde | 108 | } |
Joeatsumi | 2:e6496a794bde | 109 | |
Joeatsumi | 2:e6496a794bde | 110 | void scan_update(int box_sensor[6],int16_t m[3]){ |
Joeatsumi | 2:e6496a794bde | 111 | |
Joeatsumi | 2:e6496a794bde | 112 | int a[3];//加速度の値 |
Joeatsumi | 2:e6496a794bde | 113 | int g[3];//角速度の値 |
Joeatsumi | 2:e6496a794bde | 114 | |
Joeatsumi | 2:e6496a794bde | 115 | int16_t raw_compass[3];//地磁気センサの値 |
Joeatsumi | 2:e6496a794bde | 116 | |
Joeatsumi | 2:e6496a794bde | 117 | mpu.setAcceleroRange(0);//acceleration range is +-4G |
Joeatsumi | 2:e6496a794bde | 118 | mpu.setGyroRange(0);//gyro rate is +-degree per second(dps) |
Joeatsumi | 2:e6496a794bde | 119 | |
Joeatsumi | 2:e6496a794bde | 120 | 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 | 121 | mpu.getGyroRaw(g); // 角速度を格納する配列[rad/s] |
Joeatsumi | 2:e6496a794bde | 122 | compass.getXYZ(raw_compass);//地磁気の値を格納する配列 |
Joeatsumi | 2:e6496a794bde | 123 | |
Joeatsumi | 2:e6496a794bde | 124 | box_sensor[0]=-g[0]; |
Joeatsumi | 2:e6496a794bde | 125 | box_sensor[1]=g[1]; |
Joeatsumi | 2:e6496a794bde | 126 | box_sensor[2]=-g[2]; |
Joeatsumi | 2:e6496a794bde | 127 | |
Joeatsumi | 2:e6496a794bde | 128 | box_sensor[3]=a[0]; |
Joeatsumi | 2:e6496a794bde | 129 | box_sensor[4]=-a[1]; |
Joeatsumi | 2:e6496a794bde | 130 | box_sensor[5]=a[2]; |
Joeatsumi | 2:e6496a794bde | 131 | |
Joeatsumi | 2:e6496a794bde | 132 | m[0]=(raw_compass[0]);//x |
Joeatsumi | 2:e6496a794bde | 133 | m[1]=(raw_compass[2]);//y |
Joeatsumi | 2:e6496a794bde | 134 | m[2]=(raw_compass[1]);//z |
Joeatsumi | 2:e6496a794bde | 135 | |
Joeatsumi | 2:e6496a794bde | 136 | } |
Joeatsumi | 2:e6496a794bde | 137 | |
Joeatsumi | 2:e6496a794bde | 138 | void gps_rx(){ |
Joeatsumi | 2:e6496a794bde | 139 | |
Joeatsumi | 2:e6496a794bde | 140 | if((gps.getc()=='$')&&(gps_flag==0)){ |
Joeatsumi | 2:e6496a794bde | 141 | for(int i=0;i<9;i++){ |
Joeatsumi | 2:e6496a794bde | 142 | gps_data[i]=gps.getc(); |
Joeatsumi | 2:e6496a794bde | 143 | //pc.putc(gps_data[i]); |
Joeatsumi | 2:e6496a794bde | 144 | } |
Joeatsumi | 2:e6496a794bde | 145 | |
Joeatsumi | 2:e6496a794bde | 146 | gps_data[9]='\0'; |
Joeatsumi | 2:e6496a794bde | 147 | |
Joeatsumi | 2:e6496a794bde | 148 | for(int i=0;i<9;i++){ |
Joeatsumi | 2:e6496a794bde | 149 | gps_data_2[i]=gps.getc(); |
Joeatsumi | 2:e6496a794bde | 150 | //pc.putc(gps_data[i]); |
Joeatsumi | 2:e6496a794bde | 151 | } |
Joeatsumi | 2:e6496a794bde | 152 | |
Joeatsumi | 2:e6496a794bde | 153 | gps_data_2[9]='\0'; |
Joeatsumi | 2:e6496a794bde | 154 | |
Joeatsumi | 2:e6496a794bde | 155 | }//if(twe.getc()==':') |
Joeatsumi | 2:e6496a794bde | 156 | |
Joeatsumi | 2:e6496a794bde | 157 | //pc.printf("%s,%s\r\n",gps_data,gps_data_2); |
Joeatsumi | 2:e6496a794bde | 158 | |
Joeatsumi | 2:e6496a794bde | 159 | gps_flag=1; |
Joeatsumi | 2:e6496a794bde | 160 | |
Joeatsumi | 2:e6496a794bde | 161 | }//gps_rx ends |
Joeatsumi | 2:e6496a794bde | 162 | |
Joeatsumi | 2:e6496a794bde | 163 | void gps_convertion(){ |
Joeatsumi | 2:e6496a794bde | 164 | while(1){ |
Joeatsumi | 2:e6496a794bde | 165 | if(gps_flag==1){ |
Joeatsumi | 2:e6496a794bde | 166 | tokei_int_receive=atoi(gps_data); |
Joeatsumi | 2:e6496a794bde | 167 | hokui_int_receive=atoi(gps_data_2); |
Joeatsumi | 2:e6496a794bde | 168 | |
Joeatsumi | 2:e6496a794bde | 169 | //pc.printf("%d,%d\r\n",tokei_int_receive,hokui_int_receive); |
Joeatsumi | 2:e6496a794bde | 170 | |
Joeatsumi | 2:e6496a794bde | 171 | tokei_float_receive=float(tokei_int_receive)/pow(10.0,6.0)-100.0; |
Joeatsumi | 2:e6496a794bde | 172 | hokui_float_receive=float(hokui_int_receive)/pow(10.0,6.0)-100.0; |
Joeatsumi | 2:e6496a794bde | 173 | |
Joeatsumi | 2:e6496a794bde | 174 | gps_flag_conversion=1; |
Joeatsumi | 2:e6496a794bde | 175 | |
Joeatsumi | 2:e6496a794bde | 176 | }else{gps_flag_conversion=0;} |
Joeatsumi | 2:e6496a794bde | 177 | }//while ends |
Joeatsumi | 2:e6496a794bde | 178 | |
Joeatsumi | 2:e6496a794bde | 179 | }//ends |
Joeatsumi | 2:e6496a794bde | 180 | |
Joeatsumi | 2:e6496a794bde | 181 | void Acc_to_Quaternion(int x_acc,int y_acc,int z_acc,double Yaw,double qua[4]){ |
Joeatsumi | 2:e6496a794bde | 182 | |
Joeatsumi | 2:e6496a794bde | 183 | double Roll_before = double(y_acc)/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 184 | double Roll = atan(Roll_before); |
Joeatsumi | 2:e6496a794bde | 185 | |
Joeatsumi | 2:e6496a794bde | 186 | double Pitch_before = double(x_acc/sqrt(double(y_acc*y_acc+z_acc*z_acc)) ); |
Joeatsumi | 2:e6496a794bde | 187 | double Pitch = -atan(Pitch_before); |
Joeatsumi | 2:e6496a794bde | 188 | |
Joeatsumi | 2:e6496a794bde | 189 | //Yaw=0.0; |
Joeatsumi | 2:e6496a794bde | 190 | |
Joeatsumi | 2:e6496a794bde | 191 | /*Quaternionの要素へオイラー角を変換する*/ |
Joeatsumi | 2:e6496a794bde | 192 | 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 | 193 | 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 | 194 | 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 | 195 | 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 | 196 | |
Joeatsumi | 2:e6496a794bde | 197 | |
Joeatsumi | 2:e6496a794bde | 198 | } |
Joeatsumi | 2:e6496a794bde | 199 | |
Joeatsumi | 2:e6496a794bde | 200 | void Acc_to_Pitch_Roll(int x_acc,int y_acc,int z_acc,double qua[2]){ |
Joeatsumi | 2:e6496a794bde | 201 | |
Joeatsumi | 2:e6496a794bde | 202 | double Roll_before = double(y_acc)/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 203 | double Roll = atan(Roll_before); |
Joeatsumi | 2:e6496a794bde | 204 | |
Joeatsumi | 2:e6496a794bde | 205 | double Pitch_before = double(x_acc/sqrt(double(y_acc*y_acc+z_acc*z_acc)) ); |
Joeatsumi | 2:e6496a794bde | 206 | double Pitch = -atan(Pitch_before); |
Joeatsumi | 2:e6496a794bde | 207 | |
Joeatsumi | 2:e6496a794bde | 208 | |
Joeatsumi | 2:e6496a794bde | 209 | qua[0]=Pitch; |
Joeatsumi | 2:e6496a794bde | 210 | qua[1]=Roll; |
Joeatsumi | 2:e6496a794bde | 211 | |
Joeatsumi | 2:e6496a794bde | 212 | } |
Joeatsumi | 2:e6496a794bde | 213 | |
Joeatsumi | 2:e6496a794bde | 214 | void Correct_n(int x_acc,int y_acc,int z_acc,double n[4]){ |
Joeatsumi | 2:e6496a794bde | 215 | |
Joeatsumi | 2:e6496a794bde | 216 | //y_acc*=-1.0; |
Joeatsumi | 2:e6496a794bde | 217 | |
Joeatsumi | 2:e6496a794bde | 218 | n[0]=-double(y_acc)/sqrt(double(y_acc*y_acc+x_acc*x_acc)); |
Joeatsumi | 2:e6496a794bde | 219 | n[1]=double(x_acc)/sqrt(double(y_acc*y_acc+x_acc*x_acc)); |
Joeatsumi | 2:e6496a794bde | 220 | n[2]=0.0; |
Joeatsumi | 2:e6496a794bde | 221 | |
Joeatsumi | 2:e6496a794bde | 222 | n[3]=sqrt(double(x_acc*x_acc+y_acc*y_acc))/double(z_acc); |
Joeatsumi | 2:e6496a794bde | 223 | |
Joeatsumi | 2:e6496a794bde | 224 | } |
Joeatsumi | 2:e6496a794bde | 225 | |
Joeatsumi | 2:e6496a794bde | 226 | double Geomagnetism_correction(int x_acc,int y_acc,int z_acc,int16_t magnet[3]){ |
Joeatsumi | 2:e6496a794bde | 227 | |
Joeatsumi | 2:e6496a794bde | 228 | Vector Mag_from_sensor(3),Mag_fixed_sensor(3); //座標系 |
Joeatsumi | 2:e6496a794bde | 229 | Matrix Rotation(3, 3); //検算の行列 |
Joeatsumi | 2:e6496a794bde | 230 | |
Joeatsumi | 2:e6496a794bde | 231 | double Correct_vector_n[4];//回転行列の成分 |
Joeatsumi | 2:e6496a794bde | 232 | Correct_n(x_acc,y_acc,z_acc, Correct_vector_n); |
Joeatsumi | 2:e6496a794bde | 233 | |
Joeatsumi | 2:e6496a794bde | 234 | double n_x=Correct_vector_n[0]; |
Joeatsumi | 2:e6496a794bde | 235 | double n_y=Correct_vector_n[1]; |
Joeatsumi | 2:e6496a794bde | 236 | double n_z=Correct_vector_n[2]; |
Joeatsumi | 2:e6496a794bde | 237 | double theta=-Correct_vector_n[3]; |
Joeatsumi | 2:e6496a794bde | 238 | |
Joeatsumi | 2:e6496a794bde | 239 | float Rotate_element[9] = { |
Joeatsumi | 2:e6496a794bde | 240 | n_x*n_x*(1-cos(theta))+cos(theta) , n_x*n_y*(1-cos(theta)) , n_y*sin(theta), |
Joeatsumi | 2:e6496a794bde | 241 | n_x*n_y*(1-cos(theta)) ,n_y*n_y*(1-cos(theta))+cos(theta) , -n_x*sin(theta), |
Joeatsumi | 2:e6496a794bde | 242 | n_y*sin(theta) , n_x*sin(theta) , cos(theta) |
Joeatsumi | 2:e6496a794bde | 243 | }; |
Joeatsumi | 2:e6496a794bde | 244 | |
Joeatsumi | 2:e6496a794bde | 245 | Rotation.SetComps(Rotate_element); |
Joeatsumi | 2:e6496a794bde | 246 | //x y z |
Joeatsumi | 2:e6496a794bde | 247 | float Geomagnetism[3]={ float(magnet[1]+MAG_FIX_X) |
Joeatsumi | 2:e6496a794bde | 248 | , float(magnet[0]+MAG_FIX_Y) |
Joeatsumi | 2:e6496a794bde | 249 | , float( (-1.0)*(magnet[2]+MAG_FIX_Z ))}; |
Joeatsumi | 2:e6496a794bde | 250 | |
Joeatsumi | 2:e6496a794bde | 251 | Mag_from_sensor.SetComps(Geomagnetism); |
Joeatsumi | 2:e6496a794bde | 252 | |
Joeatsumi | 2:e6496a794bde | 253 | 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 | 254 | |
Joeatsumi | 2:e6496a794bde | 255 | float Mag_fixed_x= Mag_fixed_sensor.GetComp(1); |
Joeatsumi | 2:e6496a794bde | 256 | float Mag_fixed_y= Mag_fixed_sensor.GetComp(2); |
Joeatsumi | 2:e6496a794bde | 257 | |
Joeatsumi | 2:e6496a794bde | 258 | double Azi=atan2(double(Mag_fixed_y),double(Mag_fixed_x)); |
Joeatsumi | 2:e6496a794bde | 259 | |
Joeatsumi | 2:e6496a794bde | 260 | /* |
Joeatsumi | 2:e6496a794bde | 261 | if(Azi < 0.0) // fix sign |
Joeatsumi | 2:e6496a794bde | 262 | Azi += PI2; |
Joeatsumi | 2:e6496a794bde | 263 | |
Joeatsumi | 2:e6496a794bde | 264 | if(Azi > PI2) // fix overflow |
Joeatsumi | 2:e6496a794bde | 265 | Azi -= PI2; |
Joeatsumi | 2:e6496a794bde | 266 | */ |
Joeatsumi | 2:e6496a794bde | 267 | |
Joeatsumi | 2:e6496a794bde | 268 | return Azi; |
Joeatsumi | 2:e6496a794bde | 269 | |
Joeatsumi | 2:e6496a794bde | 270 | } |
Joeatsumi | 2:e6496a794bde | 271 | |
Joeatsumi | 2:e6496a794bde | 272 | //void led2_thread(void const *argument) { |
Joeatsumi | 2:e6496a794bde | 273 | void imu_thread() { |
Joeatsumi | 2:e6496a794bde | 274 | while (true) { |
Joeatsumi | 2:e6496a794bde | 275 | }//while ends |
Joeatsumi | 2:e6496a794bde | 276 | } |
Joeatsumi | 2:e6496a794bde | 277 | |
hudakz | 0:87642278ede6 | 278 | // Entry point for the example |
hudakz | 0:87642278ede6 | 279 | int main() |
hudakz | 0:87642278ede6 | 280 | { |
Joeatsumi | 2:e6496a794bde | 281 | gps.baud(115200);//GT-720Fボーレート |
Joeatsumi | 2:e6496a794bde | 282 | pc.baud(115200); |
Joeatsumi | 2:e6496a794bde | 283 | //imu_thread |
Joeatsumi | 2:e6496a794bde | 284 | |
Joeatsumi | 2:e6496a794bde | 285 | compass.init();//hmc5883の起動 |
Joeatsumi | 2:e6496a794bde | 286 | |
Joeatsumi | 2:e6496a794bde | 287 | Thread thread1 (gps_convertion); |
Joeatsumi | 2:e6496a794bde | 288 | gps.attach(gps_rx, Serial::RxIrq); |
Joeatsumi | 2:e6496a794bde | 289 | |
Joeatsumi | 2:e6496a794bde | 290 | float Time_old=0.0;//時間初期化 |
Joeatsumi | 2:e6496a794bde | 291 | passed_time.start();//タイマー開始 |
Joeatsumi | 2:e6496a794bde | 292 | |
Joeatsumi | 2:e6496a794bde | 293 | pc.printf("--- Mbed OS filesystem example ---\n"); |
hudakz | 0:87642278ede6 | 294 | |
hudakz | 0:87642278ede6 | 295 | // Try to mount the filesystem |
Joeatsumi | 2:e6496a794bde | 296 | pc.printf("Mounting the filesystem... "); |
hudakz | 0:87642278ede6 | 297 | fflush(stdout); |
hudakz | 0:87642278ede6 | 298 | |
hudakz | 0:87642278ede6 | 299 | int err = fileSystem.mount(&blockDevice); |
Joeatsumi | 2:e6496a794bde | 300 | pc.printf("%s\n", (err ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 301 | if (err) { |
hudakz | 0:87642278ede6 | 302 | // Reformat if we can't mount the filesystem |
hudakz | 0:87642278ede6 | 303 | // this should only happen on the first boot |
Joeatsumi | 2:e6496a794bde | 304 | pc.printf("No filesystem found, formatting... "); |
hudakz | 0:87642278ede6 | 305 | fflush(stdout); |
hudakz | 0:87642278ede6 | 306 | err = fileSystem.reformat(&blockDevice); |
Joeatsumi | 2:e6496a794bde | 307 | pc.printf("%s\n", (err ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 308 | if (err) { |
hudakz | 0:87642278ede6 | 309 | error("error: %s (%d)\n", strerror(-err), err); |
hudakz | 0:87642278ede6 | 310 | } |
hudakz | 0:87642278ede6 | 311 | } |
hudakz | 0:87642278ede6 | 312 | |
hudakz | 0:87642278ede6 | 313 | // Open the numbers file |
Joeatsumi | 2:e6496a794bde | 314 | pc.printf("Opening \"/fs/numbers.txt\"... "); |
hudakz | 0:87642278ede6 | 315 | fflush(stdout); |
hudakz | 0:87642278ede6 | 316 | |
hudakz | 0:87642278ede6 | 317 | FILE* f = fopen("/fs/numbers.txt", "r+"); |
Joeatsumi | 2:e6496a794bde | 318 | pc.printf("%s\n", (!f ? "Fail :(" : "OK")); |
Joeatsumi | 2:e6496a794bde | 319 | |
hudakz | 0:87642278ede6 | 320 | if (!f) { |
hudakz | 0:87642278ede6 | 321 | // Create the numbers file if it doesn't exist |
Joeatsumi | 2:e6496a794bde | 322 | pc.printf("No file found, creating a new file... "); |
hudakz | 0:87642278ede6 | 323 | fflush(stdout); |
hudakz | 0:87642278ede6 | 324 | f = fopen("/fs/numbers.txt", "w+"); |
Joeatsumi | 2:e6496a794bde | 325 | pc.printf("%s\n", (!f ? "Fail :(" : "OK")); |
hudakz | 0:87642278ede6 | 326 | } |
Joeatsumi | 2:e6496a794bde | 327 | |
Joeatsumi | 2:e6496a794bde | 328 | /*初期姿勢のQuaternionの設定*/ |
Joeatsumi | 2:e6496a794bde | 329 | scan_update(sensor_array,mag);//9軸の値の取得 mag[0]=y mag[1]=x mag[2]=-Z |
Joeatsumi | 2:e6496a794bde | 330 | Azi_mag=Geomagnetism_correction(sensor_array[3],sensor_array[4],sensor_array[5],mag); |
Joeatsumi | 2:e6496a794bde | 331 | |
Joeatsumi | 2:e6496a794bde | 332 | Acc_to_Quaternion(sensor_array[3],sensor_array[4],sensor_array[5],Azi_mag,Quaternion_from_acc); |
Joeatsumi | 2:e6496a794bde | 333 | |
Joeatsumi | 2:e6496a794bde | 334 | float Initialize_atitude[4]; |
Joeatsumi | 2:e6496a794bde | 335 | Initialize_atitude[0]=Quaternion_from_acc[0]; |
Joeatsumi | 2:e6496a794bde | 336 | Initialize_atitude[1]=Quaternion_from_acc[1]; |
Joeatsumi | 2:e6496a794bde | 337 | Initialize_atitude[2]=Quaternion_from_acc[2]; |
Joeatsumi | 2:e6496a794bde | 338 | Initialize_atitude[3]=Quaternion_from_acc[3]; |
Joeatsumi | 2:e6496a794bde | 339 | |
Joeatsumi | 2:e6496a794bde | 340 | Quaternion_atitude_from_omega.SetComps(Initialize_atitude);//ジャイロで計算するQuaternionの初期化 |
Joeatsumi | 2:e6496a794bde | 341 | |
Joeatsumi | 2:e6496a794bde | 342 | |
Joeatsumi | 2:e6496a794bde | 343 | while(1){ |
Joeatsumi | 2:e6496a794bde | 344 | |
Joeatsumi | 2:e6496a794bde | 345 | /*gpsから来た文字列の処理 |
Joeatsumi | 2:e6496a794bde | 346 | if((gps_flag==1)&&(gps_flag_conversion==1)){ |
Joeatsumi | 2:e6496a794bde | 347 | |
Joeatsumi | 2:e6496a794bde | 348 | err = fprintf(f,"%f,%f\r\n",tokei_float_receive,hokui_float_receive); |
Joeatsumi | 2:e6496a794bde | 349 | |
Joeatsumi | 2:e6496a794bde | 350 | gps_flag=0; |
Joeatsumi | 2:e6496a794bde | 351 | gps_flag_conversion=0; |
Joeatsumi | 2:e6496a794bde | 352 | |
Joeatsumi | 2:e6496a794bde | 353 | }else{} |
Joeatsumi | 2:e6496a794bde | 354 | */ |
Joeatsumi | 2:e6496a794bde | 355 | |
Joeatsumi | 2:e6496a794bde | 356 | scan_update(sensor_array,mag);//9軸の値の取得 mag[0]=y mag[1]=x mag[2]=-Z |
Joeatsumi | 2:e6496a794bde | 357 | float Time_new=float(passed_time.read());//時間の取得 |
Joeatsumi | 2:e6496a794bde | 358 | |
Joeatsumi | 2:e6496a794bde | 359 | //地磁気の補正用に使う。 |
Joeatsumi | 2:e6496a794bde | 360 | //pc.printf("%d,%d,%d\r\n",mag[1],mag[0],mag[2]); |
Joeatsumi | 2:e6496a794bde | 361 | |
Joeatsumi | 2:e6496a794bde | 362 | //ジャイロの補正用に使う |
Joeatsumi | 2:e6496a794bde | 363 | //pc.printf("%d,%d,%d\r\n",sensor_array[0],sensor_array[1],sensor_array[2]); |
Joeatsumi | 2:e6496a794bde | 364 | |
Joeatsumi | 2:e6496a794bde | 365 | /*----------------ジャイロセンサからQuaternionを求める----------------*/ |
Joeatsumi | 2:e6496a794bde | 366 | float omega_x=float(( float(sensor_array[0])-GYRO_FIX_X )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 367 | float omega_y=float(( float(sensor_array[1])-GYRO_FIX_Y )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 368 | float omega_z=float(( float(sensor_array[2])-GYRO_FIX_Z )/ 7505.7); |
Joeatsumi | 2:e6496a794bde | 369 | |
Joeatsumi | 2:e6496a794bde | 370 | float omega[16] = { |
Joeatsumi | 2:e6496a794bde | 371 | |
Joeatsumi | 2:e6496a794bde | 372 | 0.0 , -omega_x , -omega_y, -omega_z, |
Joeatsumi | 2:e6496a794bde | 373 | omega_x ,0.0 ,omega_z ,-omega_y , |
Joeatsumi | 2:e6496a794bde | 374 | omega_y , -omega_z , 0.0 , omega_x , |
Joeatsumi | 2:e6496a794bde | 375 | omega_z , omega_y ,-omega_x , 0.0 |
Joeatsumi | 2:e6496a794bde | 376 | |
Joeatsumi | 2:e6496a794bde | 377 | }; |
hudakz | 0:87642278ede6 | 378 | |
Joeatsumi | 2:e6496a794bde | 379 | Omega_matrix.SetComps(omega); |
Joeatsumi | 2:e6496a794bde | 380 | |
Joeatsumi | 2:e6496a794bde | 381 | float half[16] ={ |
Joeatsumi | 2:e6496a794bde | 382 | (Time_new-Time_old)*0.5,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 383 | 0.0,(Time_new-Time_old)*0.5,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 384 | 0.0,0.0,(Time_new-Time_old)*0.5,0.0, |
Joeatsumi | 2:e6496a794bde | 385 | 0.0,0.0,0.0,(Time_new-Time_old)*0.5 |
Joeatsumi | 2:e6496a794bde | 386 | }; |
Joeatsumi | 2:e6496a794bde | 387 | |
Joeatsumi | 2:e6496a794bde | 388 | |
Joeatsumi | 2:e6496a794bde | 389 | Half_matrix.SetComps(half); |
Joeatsumi | 2:e6496a794bde | 390 | //Quaternion_atitude_from_omega+=(Time_new-Time_old)* |
Joeatsumi | 2:e6496a794bde | 391 | Quaternion_atitude_from_omega +=Half_matrix*Omega_matrix*Quaternion_atitude_from_omega; |
Joeatsumi | 2:e6496a794bde | 392 | |
Joeatsumi | 2:e6496a794bde | 393 | Quaternion_atitude_from_omega=Quaternion_atitude_from_omega.Normalize(); |
Joeatsumi | 2:e6496a794bde | 394 | |
Joeatsumi | 2:e6496a794bde | 395 | |
Joeatsumi | 2:e6496a794bde | 396 | Time_old=Time_new;//時間の更新 |
Joeatsumi | 2:e6496a794bde | 397 | |
Joeatsumi | 2:e6496a794bde | 398 | /* |
Joeatsumi | 2:e6496a794bde | 399 | pc.printf("%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 400 | ,Quaternion_atitude_from_omega.GetComp(1),Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 401 | ,Quaternion_atitude_from_omega.GetComp(3),Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 402 | */ |
Joeatsumi | 2:e6496a794bde | 403 | |
Joeatsumi | 2:e6496a794bde | 404 | /*----------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 405 | |
Joeatsumi | 2:e6496a794bde | 406 | /* |
Joeatsumi | 2:e6496a794bde | 407 | err = fprintf(f,"A,%f,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n" |
Joeatsumi | 2:e6496a794bde | 408 | ,val,sensor_array[0],sensor_array[1],sensor_array[2],sensor_array[3],sensor_array[4],sensor_array[5] |
Joeatsumi | 2:e6496a794bde | 409 | ,sensor_array[6],sensor_array[7],sensor_array[8]); |
Joeatsumi | 2:e6496a794bde | 410 | */ |
Joeatsumi | 2:e6496a794bde | 411 | |
Joeatsumi | 2:e6496a794bde | 412 | /*--------------------加速センサで地磁気の値を補正する --------------------*/ |
Joeatsumi | 2:e6496a794bde | 413 | |
Joeatsumi | 2:e6496a794bde | 414 | if(9.8065*1.1 > |
Joeatsumi | 2:e6496a794bde | 415 | sqrt(double(sensor_array[3]*sensor_array[3]+sensor_array[4]*sensor_array[4]+sensor_array[5]*sensor_array[5])) |
Joeatsumi | 2:e6496a794bde | 416 | / 16384.0 * 9.81) |
Joeatsumi | 2:e6496a794bde | 417 | { |
Joeatsumi | 2:e6496a794bde | 418 | |
Joeatsumi | 2:e6496a794bde | 419 | Azi_mag=Geomagnetism_correction(sensor_array[3],sensor_array[4],sensor_array[5],mag); |
Joeatsumi | 2:e6496a794bde | 420 | |
Joeatsumi | 2:e6496a794bde | 421 | pc.printf("Azimath=%f\r\n",Azi_mag*RAD_TO_DEG); |
Joeatsumi | 2:e6496a794bde | 422 | |
Joeatsumi | 2:e6496a794bde | 423 | double pitch_and_roll[2]; |
Joeatsumi | 2:e6496a794bde | 424 | Acc_to_Pitch_Roll(sensor_array[3],sensor_array[4],sensor_array[5],pitch_and_roll); |
Joeatsumi | 2:e6496a794bde | 425 | |
Joeatsumi | 2:e6496a794bde | 426 | //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 | 427 | |
Joeatsumi | 2:e6496a794bde | 428 | Acc_to_Quaternion(sensor_array[3],sensor_array[4],sensor_array[5],Azi_mag,Quaternion_from_acc); |
Joeatsumi | 2:e6496a794bde | 429 | |
Joeatsumi | 2:e6496a794bde | 430 | /*Quaternion_from_acc_fixedの要素をfloatへ変換する*/ |
Joeatsumi | 2:e6496a794bde | 431 | float Quaternion_from_acc_fixed[4]; |
Joeatsumi | 2:e6496a794bde | 432 | Quaternion_from_acc_fixed[0]=float(Quaternion_from_acc[0]); |
Joeatsumi | 2:e6496a794bde | 433 | Quaternion_from_acc_fixed[1]=float(Quaternion_from_acc[1]); |
Joeatsumi | 2:e6496a794bde | 434 | Quaternion_from_acc_fixed[2]=float(Quaternion_from_acc[2]); |
Joeatsumi | 2:e6496a794bde | 435 | Quaternion_from_acc_fixed[3]=float(Quaternion_from_acc[3]); |
Joeatsumi | 2:e6496a794bde | 436 | |
Joeatsumi | 2:e6496a794bde | 437 | Vector Qua_acc(4); |
Joeatsumi | 2:e6496a794bde | 438 | |
Joeatsumi | 2:e6496a794bde | 439 | Qua_acc.SetComps(Quaternion_from_acc_fixed); |
Joeatsumi | 2:e6496a794bde | 440 | /*---------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 441 | |
Joeatsumi | 2:e6496a794bde | 442 | /*---------------------相補フィルタのゲインに用いる---------------------*/ |
Joeatsumi | 2:e6496a794bde | 443 | float comp_1[16]={0.95,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 444 | 0.0,0.95,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 445 | 0.0,0.0,0.95,0.0, |
Joeatsumi | 2:e6496a794bde | 446 | 0.0,0.0,0.0,0.95 |
Joeatsumi | 2:e6496a794bde | 447 | }; |
Joeatsumi | 2:e6496a794bde | 448 | /*--------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 449 | /*---------------------quaternionの時間微分に用いる---------------------*/ |
Joeatsumi | 2:e6496a794bde | 450 | float comp_2[16]={0.05,0.0,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 451 | 0.0,0.05,0.0,0.0, |
Joeatsumi | 2:e6496a794bde | 452 | 0.0,0.0,0.05,0.0, |
Joeatsumi | 2:e6496a794bde | 453 | 0.0,0.0,0.0,0.05 |
Joeatsumi | 2:e6496a794bde | 454 | }; |
Joeatsumi | 2:e6496a794bde | 455 | |
Joeatsumi | 2:e6496a794bde | 456 | Complement_matrix_1.SetComps(comp_1); |
Joeatsumi | 2:e6496a794bde | 457 | Complement_matrix_2.SetComps(comp_2); |
Joeatsumi | 2:e6496a794bde | 458 | |
Joeatsumi | 2:e6496a794bde | 459 | /*--------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 460 | |
Joeatsumi | 2:e6496a794bde | 461 | |
Joeatsumi | 2:e6496a794bde | 462 | /*-------------------加速度と地磁気でジャイロデータを補正する------------------------*/ |
Joeatsumi | 2:e6496a794bde | 463 | /* |
Joeatsumi | 2:e6496a794bde | 464 | Quaternion_atitude_from_omega=Complement_matrix_1*Quaternion_atitude_from_omega |
Joeatsumi | 2:e6496a794bde | 465 | +Complement_matrix_2*Qua_acc; |
Joeatsumi | 2:e6496a794bde | 466 | */ |
Joeatsumi | 2:e6496a794bde | 467 | /*----------------------------------------------------------------------------*/ |
Joeatsumi | 2:e6496a794bde | 468 | |
Joeatsumi | 2:e6496a794bde | 469 | |
Joeatsumi | 2:e6496a794bde | 470 | /* |
Joeatsumi | 2:e6496a794bde | 471 | pc.printf("%f,%f,%f,%f,%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 472 | ,Quaternion_from_acc[0],Quaternion_atitude_from_omega.GetComp(1) |
Joeatsumi | 2:e6496a794bde | 473 | ,Quaternion_from_acc[1],Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 474 | ,Quaternion_from_acc[2],Quaternion_atitude_from_omega.GetComp(3) |
Joeatsumi | 2:e6496a794bde | 475 | ,Quaternion_from_acc[3],Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 476 | */ |
Joeatsumi | 2:e6496a794bde | 477 | |
Joeatsumi | 2:e6496a794bde | 478 | }else{} |
Joeatsumi | 2:e6496a794bde | 479 | |
Joeatsumi | 2:e6496a794bde | 480 | /* |
Joeatsumi | 2:e6496a794bde | 481 | pc.printf("%f,%f,%f,%f,%f\r\n" |
Joeatsumi | 2:e6496a794bde | 482 | ,Time_new |
Joeatsumi | 2:e6496a794bde | 483 | ,Quaternion_atitude_from_omega.GetComp(1) |
Joeatsumi | 2:e6496a794bde | 484 | ,Quaternion_atitude_from_omega.GetComp(2) |
Joeatsumi | 2:e6496a794bde | 485 | ,Quaternion_atitude_from_omega.GetComp(3) |
Joeatsumi | 2:e6496a794bde | 486 | ,Quaternion_atitude_from_omega.GetComp(4)); |
Joeatsumi | 2:e6496a794bde | 487 | */ |
Joeatsumi | 2:e6496a794bde | 488 | wait(0.001); |
Joeatsumi | 2:e6496a794bde | 489 | |
Joeatsumi | 2:e6496a794bde | 490 | /*----------------------------------------------------------------*/ |
hudakz | 0:87642278ede6 | 491 | |
Joeatsumi | 2:e6496a794bde | 492 | if(switch_off==1){ |
Joeatsumi | 2:e6496a794bde | 493 | // Close the file which also flushes any cached writes |
Joeatsumi | 2:e6496a794bde | 494 | pc.printf("Closing \"/fs/numbers.txt\"... "); |
Joeatsumi | 2:e6496a794bde | 495 | err = fclose(f); |
Joeatsumi | 2:e6496a794bde | 496 | break; |
Joeatsumi | 2:e6496a794bde | 497 | } |
Joeatsumi | 2:e6496a794bde | 498 | |
Joeatsumi | 2:e6496a794bde | 499 | }//while(1) ends |
Joeatsumi | 2:e6496a794bde | 500 | }//main ends |