201903_ISE
Dependencies: mbed Madgwick MPU6050 Kalman BMP180
main.cpp@7:9953d922499d, 2019-03-04 (annotated)
- Committer:
- sashida_h
- Date:
- Mon Mar 04 02:50:16 2019 +0000
- Revision:
- 7:9953d922499d
- Parent:
- 6:f17310205c1f
- Child:
- 8:15a1b22df82f
for longrun
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mikawataru | 0:0ff20d8e9090 | 1 | #include "mbed.h" |
Yukina | 4:4b3ae90ec778 | 2 | #include "MPU6050.h" |
mikawataru | 0:0ff20d8e9090 | 3 | #include "BMP180.h" |
Yukina | 5:f6e956e8a060 | 4 | #include "Kalman.h" |
Yukina | 5:f6e956e8a060 | 5 | #include "MadgwickAHRS.h" |
mikawataru | 0:0ff20d8e9090 | 6 | |
Yukina | 5:f6e956e8a060 | 7 | /*しきい値など*/ |
sashida_h | 7:9953d922499d | 8 | #define ACC_JUDGE_LAUNCH 3.0 |
Yukina | 5:f6e956e8a060 | 9 | #define TIME_BURNING 6 |
sashida_h | 7:9953d922499d | 10 | #define ALT_JUDGE_FIRE 0 |
sashida_h | 7:9953d922499d | 11 | #define ALT_JUDGE_OPEN 1 |
sashida_h | 7:9953d922499d | 12 | #define ANGLE_JUDGE_FIRE_MIN 15 |
sashida_h | 7:9953d922499d | 13 | #define ANGLE_JUDGE_FIRE_MAX 70 |
sashida_h | 7:9953d922499d | 14 | #define CNT_JUDGE 10 |
Yukina | 5:f6e956e8a060 | 15 | #define TIME_JUDGE_CNT 1.5 |
Yukina | 5:f6e956e8a060 | 16 | #define NUM_CNT_MEDIAN 10 |
sashida_h | 7:9953d922499d | 17 | #define RATE_GPS 1.0 |
sashida_h | 7:9953d922499d | 18 | #define RATE_DATA 10 |
sashida_h | 7:9953d922499d | 19 | #define TIMER_NOTFIRE 15.0 |
Yukina | 5:f6e956e8a060 | 20 | #define p0 1013.25f |
Yukina | 5:f6e956e8a060 | 21 | #define RadToDeg 57.295779513082320876798154814105 |
Yukina | 5:f6e956e8a060 | 22 | |
sashida_h | 7:9953d922499d | 23 | MPU6050 mpu(PB_7,PB_6); |
sashida_h | 7:9953d922499d | 24 | BMP180 bmp(PB_7,PB_6); |
Yukina | 5:f6e956e8a060 | 25 | KalmanFilter gKfx, gKfy; |
Yukina | 5:f6e956e8a060 | 26 | Madgwick MadgwickFilter; |
sashida_h | 7:9953d922499d | 27 | Serial pc(PA_2, PA_3); |
sashida_h | 7:9953d922499d | 28 | Serial gps(PA_9, PA_10); |
Yukina | 5:f6e956e8a060 | 29 | Timer timer_open; |
Yukina | 5:f6e956e8a060 | 30 | Timer timer_data; |
Yukina | 5:f6e956e8a060 | 31 | Ticker tic_data; |
Yukina | 5:f6e956e8a060 | 32 | Ticker tic_gps; |
mikawataru | 0:0ff20d8e9090 | 33 | |
Yukina | 5:f6e956e8a060 | 34 | /*自作関数*/ |
Yukina | 5:f6e956e8a060 | 35 | float _getAlt(); |
Yukina | 5:f6e956e8a060 | 36 | float _median(float data[],int num); |
Yukina | 5:f6e956e8a060 | 37 | void _SendData(); |
Yukina | 5:f6e956e8a060 | 38 | void _SendGPS(); |
Yukina | 5:f6e956e8a060 | 39 | float _DMS2DEG(float raw_data); |
Yukina | 4:4b3ae90ec778 | 40 | |
Yukina | 5:f6e956e8a060 | 41 | enum PHASE{STANDBY=0,LAUNCH=1,RISE=3,FIRE=7,OPEN=15,RECOVERY=9,SEA=6} Phase; |
Yukina | 4:4b3ae90ec778 | 42 | |
Yukina | 5:f6e956e8a060 | 43 | /*グローバル変数*/ |
Yukina | 5:f6e956e8a060 | 44 | //カルマン用 |
Yukina | 5:f6e956e8a060 | 45 | float gCalibrateX; |
Yukina | 5:f6e956e8a060 | 46 | float gCalibrateY; |
Yukina | 5:f6e956e8a060 | 47 | float gPrevMicros; |
Yukina | 5:f6e956e8a060 | 48 | float degRoll,degPitch; |
sashida_h | 7:9953d922499d | 49 | //地上高度 |
sashida_h | 7:9953d922499d | 50 | float alt_gnd; |
sashida_h | 7:9953d922499d | 51 | //GPS |
sashida_h | 7:9953d922499d | 52 | int cnt_gps=0; |
sashida_h | 7:9953d922499d | 53 | |
sashida_h | 7:9953d922499d | 54 | int p = 1; |
mikawataru | 0:0ff20d8e9090 | 55 | |
Yukina | 4:4b3ae90ec778 | 56 | int main(){ |
Yukina | 5:f6e956e8a060 | 57 | /*ローカル変数*/ |
Yukina | 5:f6e956e8a060 | 58 | float acc[3],acc_buff[10],gyro[3],gyro_buff[10],acc_abs; |
sashida_h | 7:9953d922499d | 59 | float alt_buff[10],alt_md,alt_max=0; |
Yukina | 5:f6e956e8a060 | 60 | float time_judge; |
Yukina | 5:f6e956e8a060 | 61 | int cnt_data=0,cnt_judge=0; |
sashida_h | 7:9953d922499d | 62 | int i=0; |
Yukina | 5:f6e956e8a060 | 63 | |
Yukina | 5:f6e956e8a060 | 64 | /*センサの初期化等*/ |
sashida_h | 7:9953d922499d | 65 | pc.baud(38400); |
Yukina | 5:f6e956e8a060 | 66 | mpu.setAcceleroRange(3); |
mikawataru | 0:0ff20d8e9090 | 67 | bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER); |
Yukina | 5:f6e956e8a060 | 68 | |
Yukina | 5:f6e956e8a060 | 69 | /*初期位置の設定*/ |
Yukina | 5:f6e956e8a060 | 70 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 71 | mpu.getGyro(gyro); |
Yukina | 5:f6e956e8a060 | 72 | degRoll = atan2(acc[1], acc[2]) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 73 | degPitch = atan(-acc[0] / sqrt(acc[1] * acc[1] + acc[2] * acc[2])) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 74 | gKfx.setAngle(degRoll); |
Yukina | 5:f6e956e8a060 | 75 | gKfy.setAngle(degPitch); |
Yukina | 5:f6e956e8a060 | 76 | gCalibrateY = degPitch; |
Yukina | 5:f6e956e8a060 | 77 | gCalibrateX = degRoll; |
Yukina | 5:f6e956e8a060 | 78 | |
Yukina | 5:f6e956e8a060 | 79 | Phase = STANDBY; |
sashida_h | 7:9953d922499d | 80 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
sashida_h | 7:9953d922499d | 81 | alt_buff[cnt_data] = _getAlt(); |
sashida_h | 7:9953d922499d | 82 | } |
sashida_h | 7:9953d922499d | 83 | alt_gnd = _median(alt_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 84 | wait(2.0); |
sashida_h | 7:9953d922499d | 85 | pc.printf("Hello World!\r\n"); |
sashida_h | 7:9953d922499d | 86 | timer_data.start(); |
sashida_h | 7:9953d922499d | 87 | int r = 0; |
sashida_h | 7:9953d922499d | 88 | float r_time; |
sashida_h | 7:9953d922499d | 89 | pc.printf("TimerStart,Standby_mode\r\n"); |
Yukina | 4:4b3ae90ec778 | 90 | |
Yukina | 5:f6e956e8a060 | 91 | while(1){ |
Yukina | 5:f6e956e8a060 | 92 | switch(Phase){ |
Yukina | 5:f6e956e8a060 | 93 | case STANDBY: |
Yukina | 5:f6e956e8a060 | 94 | /*入力待ち*/ |
Yukina | 5:f6e956e8a060 | 95 | timer_data.start(); |
sashida_h | 7:9953d922499d | 96 | //tic_data.attach(&_SendData, 1.0/RATE_DATA); |
sashida_h | 7:9953d922499d | 97 | if(r == 0) r_time = timer_data.read() / 60.0; |
sashida_h | 7:9953d922499d | 98 | if(r == 1) r_time = (timer_data.read() + 1800.0)/60; |
sashida_h | 7:9953d922499d | 99 | if(r == 2) r_time = (timer_data.read() + 3600.0)/60; |
sashida_h | 7:9953d922499d | 100 | if(r == 3) r_time = (timer_data.read() + 5400.0)/60; |
sashida_h | 7:9953d922499d | 101 | if(r == 4){ |
sashida_h | 7:9953d922499d | 102 | timer_data.reset(); |
sashida_h | 7:9953d922499d | 103 | Phase = LAUNCH; |
sashida_h | 7:9953d922499d | 104 | pc.printf("Flight_mode\r\n"); |
sashida_h | 7:9953d922499d | 105 | } |
sashida_h | 7:9953d922499d | 106 | pc.printf("TIME:%3f[min]",r_time); |
sashida_h | 7:9953d922499d | 107 | if(timer_data.read() > 1800){ |
sashida_h | 7:9953d922499d | 108 | timer_data.reset(); |
sashida_h | 7:9953d922499d | 109 | r++; |
sashida_h | 7:9953d922499d | 110 | } |
sashida_h | 7:9953d922499d | 111 | /*char c = pc.getc(); |
sashida_h | 7:9953d922499d | 112 | if(c=='f'){ |
sashida_h | 7:9953d922499d | 113 | pc.printf("Flight_mode\r\n"); |
sashida_h | 7:9953d922499d | 114 | Phase = LAUNCH; |
sashida_h | 7:9953d922499d | 115 | } |
sashida_h | 7:9953d922499d | 116 | */ |
sashida_h | 7:9953d922499d | 117 | wait(1.0); |
Yukina | 5:f6e956e8a060 | 118 | break; |
Yukina | 5:f6e956e8a060 | 119 | case LAUNCH: |
Yukina | 5:f6e956e8a060 | 120 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
Yukina | 5:f6e956e8a060 | 121 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 122 | acc_buff[cnt_data] = sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)); |
Yukina | 5:f6e956e8a060 | 123 | } |
Yukina | 5:f6e956e8a060 | 124 | acc_abs = _median(acc_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 125 | if(i==50){ |
sashida_h | 7:9953d922499d | 126 | pc.printf("LAUNCH,acc:%f,time:%f\r\n",acc_abs,timer_data.read()); |
sashida_h | 7:9953d922499d | 127 | i=0; |
sashida_h | 7:9953d922499d | 128 | } |
sashida_h | 7:9953d922499d | 129 | i++; |
Yukina | 5:f6e956e8a060 | 130 | /*加速度判定*/ |
Yukina | 5:f6e956e8a060 | 131 | if(acc_abs>ACC_JUDGE_LAUNCH){ |
Yukina | 5:f6e956e8a060 | 132 | cnt_judge++; |
Yukina | 4:4b3ae90ec778 | 133 | } |
sashida_h | 7:9953d922499d | 134 | if(cnt_judge==CNT_JUDGE || timer_data.read()>30.0){ |
Yukina | 5:f6e956e8a060 | 135 | cnt_judge=0; |
Yukina | 5:f6e956e8a060 | 136 | timer_open.start(); |
sashida_h | 7:9953d922499d | 137 | Phase = RISE; |
sashida_h | 7:9953d922499d | 138 | pc.printf("LAUNCH!!!!\r\n"); |
Yukina | 5:f6e956e8a060 | 139 | } |
Yukina | 5:f6e956e8a060 | 140 | break; |
Yukina | 5:f6e956e8a060 | 141 | case RISE: |
Yukina | 5:f6e956e8a060 | 142 | while(timer_open.read() < TIME_BURNING){ |
sashida_h | 7:9953d922499d | 143 | pc.printf("RISE,time:%f\r\n",timer_open.read()); |
sashida_h | 7:9953d922499d | 144 | wait(0.5); |
sashida_h | 7:9953d922499d | 145 | i=0; |
sashida_h | 7:9953d922499d | 146 | } |
sashida_h | 7:9953d922499d | 147 | if(p == 1){ |
sashida_h | 7:9953d922499d | 148 | pc.printf("FIRE_JUDGE_START\r\n"); |
sashida_h | 7:9953d922499d | 149 | p=0; |
Yukina | 5:f6e956e8a060 | 150 | } |
Yukina | 5:f6e956e8a060 | 151 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
Yukina | 5:f6e956e8a060 | 152 | alt_buff[cnt_data] = _getAlt(); |
Yukina | 5:f6e956e8a060 | 153 | } |
Yukina | 5:f6e956e8a060 | 154 | alt_md = _median(alt_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 155 | alt_md = alt_md - alt_gnd; |
Yukina | 5:f6e956e8a060 | 156 | if(alt_md > ALT_JUDGE_FIRE){ |
Yukina | 5:f6e956e8a060 | 157 | Phase = FIRE; |
sashida_h | 7:9953d922499d | 158 | if(i == 5){ |
sashida_h | 7:9953d922499d | 159 | //pc.printf("Time:%f,RISE,alt:%f\r\n",timer_open.read(),alt_md); |
sashida_h | 7:9953d922499d | 160 | pc.printf("Time:%f,RISE,alt:%f\r\n",timer_data.read(),alt_md); |
sashida_h | 7:9953d922499d | 161 | i = 0; |
sashida_h | 7:9953d922499d | 162 | } |
sashida_h | 7:9953d922499d | 163 | }else{ |
sashida_h | 7:9953d922499d | 164 | if(i == 5){ |
sashida_h | 7:9953d922499d | 165 | //pc.printf("Time:%f,RISE,alt:%f\r\n",timer_open.read(),alt_md); |
sashida_h | 7:9953d922499d | 166 | pc.printf("Time:%f,RISE,alt:%f\r\n",timer_data.read(),alt_md); |
sashida_h | 7:9953d922499d | 167 | i = 0; |
sashida_h | 7:9953d922499d | 168 | } |
sashida_h | 7:9953d922499d | 169 | } |
sashida_h | 7:9953d922499d | 170 | i++; |
sashida_h | 7:9953d922499d | 171 | //if(timer_open.read()>TIMER_NOTFIRE){ |
sashida_h | 7:9953d922499d | 172 | if(timer_open.read()>60.0){ |
sashida_h | 7:9953d922499d | 173 | Phase = OPEN; |
sashida_h | 7:9953d922499d | 174 | //pc.printf("NOT_FIRE!\r\n"); |
Yukina | 5:f6e956e8a060 | 175 | } |
Yukina | 5:f6e956e8a060 | 176 | break; |
Yukina | 5:f6e956e8a060 | 177 | case FIRE: |
Yukina | 6:f17310205c1f | 178 | |
Yukina | 6:f17310205c1f | 179 | //カルマン |
Yukina | 6:f17310205c1f | 180 | /* |
Yukina | 5:f6e956e8a060 | 181 | gPrevMicros = timer_open.read(); |
Yukina | 4:4b3ae90ec778 | 182 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 183 | mpu.getGyro(gyro); |
Yukina | 5:f6e956e8a060 | 184 | degRoll = atan2(acc[1], acc[2]) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 185 | degPitch = atan(-acc[0] / sqrt(acc[1] * acc[1] + acc[2] * acc[2])) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 186 | |
Yukina | 5:f6e956e8a060 | 187 | float dpsX = gyro[0] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 188 | float dpsY = gyro[1] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 189 | float dpsZ = gyro[2] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 190 | |
Yukina | 5:f6e956e8a060 | 191 | float curMicros = timer_open.read(); |
Yukina | 5:f6e956e8a060 | 192 | float dt = curMicros - gPrevMicros; |
Yukina | 5:f6e956e8a060 | 193 | gPrevMicros = curMicros; |
Yukina | 4:4b3ae90ec778 | 194 | |
Yukina | 5:f6e956e8a060 | 195 | float degX = gKfx.calcAngle(degRoll, dpsX, dt); |
Yukina | 5:f6e956e8a060 | 196 | float degY = gKfy.calcAngle(degPitch, dpsY, dt); |
Yukina | 5:f6e956e8a060 | 197 | degY -= gCalibrateY; |
Yukina | 5:f6e956e8a060 | 198 | degX -= gCalibrateX; |
Yukina | 5:f6e956e8a060 | 199 | if(degY>ANGLE_JUDGE_FIRE){ |
Yukina | 5:f6e956e8a060 | 200 | Phase = OPEN; |
Yukina | 5:f6e956e8a060 | 201 | } |
Yukina | 6:f17310205c1f | 202 | */ |
Yukina | 6:f17310205c1f | 203 | |
Yukina | 6:f17310205c1f | 204 | //madgwick |
Yukina | 6:f17310205c1f | 205 | float Roll,Pitch,Yaw; |
Yukina | 6:f17310205c1f | 206 | MadgwickFilter.begin(2); |
Yukina | 6:f17310205c1f | 207 | mpu.getAccelero(acc); |
Yukina | 6:f17310205c1f | 208 | mpu.getGyro(gyro); |
Yukina | 6:f17310205c1f | 209 | gyro[0] *= RadToDeg; |
Yukina | 6:f17310205c1f | 210 | gyro[1] *= RadToDeg; |
Yukina | 6:f17310205c1f | 211 | gyro[2] *= RadToDeg; |
Yukina | 6:f17310205c1f | 212 | |
Yukina | 6:f17310205c1f | 213 | MadgwickFilter.updateIMU(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2]); |
Yukina | 6:f17310205c1f | 214 | Roll = MadgwickFilter.getRoll(); |
Yukina | 6:f17310205c1f | 215 | Pitch = MadgwickFilter.getPitch(); |
Yukina | 6:f17310205c1f | 216 | Yaw = MadgwickFilter.getYaw(); |
sashida_h | 7:9953d922499d | 217 | i++; |
sashida_h | 7:9953d922499d | 218 | if(i==400){ |
sashida_h | 7:9953d922499d | 219 | //pc.printf("TIME:%f,Pitch:%f\r\n",timer_data.read(),Pitch); |
sashida_h | 7:9953d922499d | 220 | pc.printf("FIRE:Pitch:%f,Time%f\r\n",Pitch,timer_open.read()); |
sashida_h | 7:9953d922499d | 221 | i=0; |
sashida_h | 7:9953d922499d | 222 | } |
sashida_h | 7:9953d922499d | 223 | /*if(Pitch>ANGLE_JUDGE_FIRE_MIN && Pitch < ANGLE_JUDGE_FIRE_MAX){ |
Yukina | 6:f17310205c1f | 224 | Phase = OPEN; |
sashida_h | 7:9953d922499d | 225 | i=0; |
Yukina | 6:f17310205c1f | 226 | } |
sashida_h | 7:9953d922499d | 227 | */ |
Yukina | 6:f17310205c1f | 228 | |
sashida_h | 7:9953d922499d | 229 | //if(timer_open.read()>TIMER_NOTFIRE){ |
sashida_h | 7:9953d922499d | 230 | if(timer_data.read()>60.0){ |
sashida_h | 7:9953d922499d | 231 | Phase = OPEN; |
sashida_h | 7:9953d922499d | 232 | pc.printf("NOT_FIRE!!\r\n"); |
sashida_h | 7:9953d922499d | 233 | } |
Yukina | 5:f6e956e8a060 | 234 | break; |
Yukina | 5:f6e956e8a060 | 235 | case OPEN: |
Yukina | 5:f6e956e8a060 | 236 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
Yukina | 5:f6e956e8a060 | 237 | alt_buff[cnt_data] = _getAlt(); |
Yukina | 5:f6e956e8a060 | 238 | } |
Yukina | 5:f6e956e8a060 | 239 | alt_md = _median(alt_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 240 | alt_md = alt_md - alt_gnd; |
sashida_h | 7:9953d922499d | 241 | if(i==10){ |
sashida_h | 7:9953d922499d | 242 | pc.printf("OPEN,Cnt:%d,ALT_NOW:%f,ALT_MAX%f\r\n",cnt_judge,alt_md,alt_max); |
sashida_h | 7:9953d922499d | 243 | i=0; |
sashida_h | 7:9953d922499d | 244 | } |
sashida_h | 7:9953d922499d | 245 | i++; |
Yukina | 5:f6e956e8a060 | 246 | if(alt_md > alt_max){ |
Yukina | 5:f6e956e8a060 | 247 | alt_max = alt_md; |
Yukina | 5:f6e956e8a060 | 248 | cnt_judge = 0; |
Yukina | 5:f6e956e8a060 | 249 | } |
Yukina | 5:f6e956e8a060 | 250 | else if((alt_max-alt_md) > ALT_JUDGE_OPEN){ |
Yukina | 5:f6e956e8a060 | 251 | cnt_judge++; |
Yukina | 5:f6e956e8a060 | 252 | time_judge = timer_open.read(); |
Yukina | 5:f6e956e8a060 | 253 | } |
Yukina | 4:4b3ae90ec778 | 254 | |
sashida_h | 7:9953d922499d | 255 | //if((timer_open.read()-time_judge) - TIME_JUDGE_CNT > 0) cnt_judge=0; |
sashida_h | 7:9953d922499d | 256 | //if(cnt_judge == CNT_JUDGE){ |
sashida_h | 7:9953d922499d | 257 | if(timer_data.read() > 70.0){ |
Yukina | 5:f6e956e8a060 | 258 | cnt_judge = 0; |
Yukina | 5:f6e956e8a060 | 259 | Phase = RECOVERY; |
sashida_h | 7:9953d922499d | 260 | pc.printf("Fall!!!\r\n"); |
sashida_h | 7:9953d922499d | 261 | wait(1.0); |
sashida_h | 7:9953d922499d | 262 | |
Yukina | 5:f6e956e8a060 | 263 | } |
Yukina | 5:f6e956e8a060 | 264 | break; |
Yukina | 5:f6e956e8a060 | 265 | case RECOVERY: |
sashida_h | 7:9953d922499d | 266 | //tic_data.detach(); |
Yukina | 5:f6e956e8a060 | 267 | //tic_gps.attach(&_SendGPS, 1.0/RATE_GPS); |
Yukina | 5:f6e956e8a060 | 268 | Phase = SEA; |
Yukina | 5:f6e956e8a060 | 269 | break; |
Yukina | 5:f6e956e8a060 | 270 | case SEA: |
sashida_h | 7:9953d922499d | 271 | char c; |
sashida_h | 7:9953d922499d | 272 | while(1){ |
sashida_h | 7:9953d922499d | 273 | if(gps.readable()){ |
sashida_h | 7:9953d922499d | 274 | c = gps.getc(); |
sashida_h | 7:9953d922499d | 275 | pc.printf("%c",c); |
sashida_h | 7:9953d922499d | 276 | } |
sashida_h | 7:9953d922499d | 277 | } |
sashida_h | 7:9953d922499d | 278 | |
Yukina | 5:f6e956e8a060 | 279 | break; |
Yukina | 4:4b3ae90ec778 | 280 | } |
Yukina | 4:4b3ae90ec778 | 281 | } |
Yukina | 4:4b3ae90ec778 | 282 | } |
Yukina | 4:4b3ae90ec778 | 283 | |
Yukina | 4:4b3ae90ec778 | 284 | float _getAlt(){ |
Yukina | 4:4b3ae90ec778 | 285 | float altitude,pressure,temperature; |
Yukina | 4:4b3ae90ec778 | 286 | bmp.ReadData(&temperature,&pressure); |
Yukina | 4:4b3ae90ec778 | 287 | altitude = (pow((p0/pressure), (1.0f/5.257f))-1.0f)*(temperature+273.15f)/0.0065f; |
Yukina | 4:4b3ae90ec778 | 288 | return altitude; |
Yukina | 4:4b3ae90ec778 | 289 | } |
Yukina | 4:4b3ae90ec778 | 290 | |
Yukina | 5:f6e956e8a060 | 291 | void _SendData(){ |
Yukina | 5:f6e956e8a060 | 292 | float pretime,a[3],g[3],alt; |
Yukina | 5:f6e956e8a060 | 293 | //カルマン |
Yukina | 5:f6e956e8a060 | 294 | /* |
Yukina | 5:f6e956e8a060 | 295 | pretime = timer_data.read(); |
Yukina | 5:f6e956e8a060 | 296 | mpu.getAccelero(a); |
Yukina | 5:f6e956e8a060 | 297 | mpu.getGyro(g); |
Yukina | 5:f6e956e8a060 | 298 | float degroll = atan2(a[1], a[2]) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 299 | float degpitch = atan(-a[0] / sqrt(a[1] * a[1] + a[2] * a[2])) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 300 | |
Yukina | 5:f6e956e8a060 | 301 | float dpsx = g[0] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 302 | float dpsy = g[1] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 303 | float dpsz = g[2] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 304 | |
Yukina | 5:f6e956e8a060 | 305 | float curtime = timer_data.read(); |
Yukina | 5:f6e956e8a060 | 306 | float t = curtime - pretime; |
Yukina | 5:f6e956e8a060 | 307 | pretime = curtime; |
Yukina | 5:f6e956e8a060 | 308 | |
Yukina | 5:f6e956e8a060 | 309 | float degx = gKfx.calcAngle(degroll, dpsx, t); |
Yukina | 5:f6e956e8a060 | 310 | float degy = gKfy.calcAngle(degpitch, dpsx, t); |
Yukina | 5:f6e956e8a060 | 311 | degy -= gCalibrateY; |
Yukina | 5:f6e956e8a060 | 312 | degx -= gCalibrateX; |
Yukina | 5:f6e956e8a060 | 313 | */ |
Yukina | 5:f6e956e8a060 | 314 | /*madgwick*/ |
Yukina | 5:f6e956e8a060 | 315 | float Roll,Pitch,Yaw; |
Yukina | 5:f6e956e8a060 | 316 | MadgwickFilter.begin(2); |
Yukina | 5:f6e956e8a060 | 317 | mpu.getAccelero(a); |
Yukina | 5:f6e956e8a060 | 318 | mpu.getGyro(g); |
Yukina | 5:f6e956e8a060 | 319 | g[0] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 320 | g[1] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 321 | g[2] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 322 | |
Yukina | 5:f6e956e8a060 | 323 | MadgwickFilter.updateIMU(g[0],g[1],g[2],a[0],a[1],a[2]); |
Yukina | 5:f6e956e8a060 | 324 | Roll = MadgwickFilter.getRoll(); |
Yukina | 5:f6e956e8a060 | 325 | Pitch = MadgwickFilter.getPitch(); |
Yukina | 5:f6e956e8a060 | 326 | Yaw = MadgwickFilter.getYaw(); |
Yukina | 5:f6e956e8a060 | 327 | |
Yukina | 5:f6e956e8a060 | 328 | alt = _getAlt(); |
sashida_h | 7:9953d922499d | 329 | alt = alt - alt_gnd; |
Yukina | 5:f6e956e8a060 | 330 | //pc.printf("%d,%f,%f,%f\r\n",Phase,alt,degx,degy); |
Yukina | 5:f6e956e8a060 | 331 | pc.printf("%d,%f,%f,%f\r\n",Phase,alt,Roll,Pitch); |
Yukina | 5:f6e956e8a060 | 332 | } |
Yukina | 5:f6e956e8a060 | 333 | |
sashida_h | 7:9953d922499d | 334 | |
Yukina | 5:f6e956e8a060 | 335 | void _SendGPS(){ |
sashida_h | 7:9953d922499d | 336 | char gps_data[256]; |
sashida_h | 7:9953d922499d | 337 | while(1){ |
sashida_h | 7:9953d922499d | 338 | if(gps.readable()){ |
sashida_h | 7:9953d922499d | 339 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 7:9953d922499d | 340 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 7:9953d922499d | 341 | cnt_gps = 0; |
sashida_h | 7:9953d922499d | 342 | memset(gps_data,'\0',256); |
sashida_h | 7:9953d922499d | 343 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 7:9953d922499d | 344 | float world_time, lon_east, lat_north; |
sashida_h | 7:9953d922499d | 345 | int rlock, sat_num; |
sashida_h | 7:9953d922499d | 346 | char lat,lon; |
sashida_h | 7:9953d922499d | 347 | if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){ |
sashida_h | 7:9953d922499d | 348 | if(rlock==1){ |
sashida_h | 7:9953d922499d | 349 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 7:9953d922499d | 350 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 7:9953d922499d | 351 | //pc.printf("%s\r\n",gps_data); |
sashida_h | 7:9953d922499d | 352 | //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num); |
sashida_h | 7:9953d922499d | 353 | int japan_time = int(world_time) - 9; |
sashida_h | 7:9953d922499d | 354 | pc.printf("Lat:%f,Lon:%f,ntime:%d\r\n",lat_north,lon_east,world_time); |
sashida_h | 7:9953d922499d | 355 | break; |
sashida_h | 7:9953d922499d | 356 | }else{ |
sashida_h | 7:9953d922499d | 357 | //pc.printf("%s\r\n",gps_data); |
sashida_h | 7:9953d922499d | 358 | pc.printf("NoGPSSignal\r\n"); |
sashida_h | 7:9953d922499d | 359 | break; |
sashida_h | 7:9953d922499d | 360 | } |
Yukina | 5:f6e956e8a060 | 361 | }else{ |
sashida_h | 7:9953d922499d | 362 | //ffpc.printf("No_Satellite_signal\r\n"); |
Yukina | 5:f6e956e8a060 | 363 | } |
sashida_h | 7:9953d922499d | 364 | }else{ |
sashida_h | 7:9953d922499d | 365 | cnt_gps++; |
Yukina | 5:f6e956e8a060 | 366 | } |
Yukina | 5:f6e956e8a060 | 367 | } |
Yukina | 4:4b3ae90ec778 | 368 | } |
sashida_h | 7:9953d922499d | 369 | |
Yukina | 4:4b3ae90ec778 | 370 | } |
Yukina | 4:4b3ae90ec778 | 371 | |
Yukina | 4:4b3ae90ec778 | 372 | float _DMS2DEG(float raw_data){ |
Yukina | 4:4b3ae90ec778 | 373 | int d=(int)(raw_data/100); |
Yukina | 4:4b3ae90ec778 | 374 | float m=(raw_data-(float)d*100); |
Yukina | 4:4b3ae90ec778 | 375 | return (float)d+m/60; |
Yukina | 4:4b3ae90ec778 | 376 | } |
sashida_h | 7:9953d922499d | 377 | |
Yukina | 4:4b3ae90ec778 | 378 | |
Yukina | 4:4b3ae90ec778 | 379 | float _median(float data[], int num){ |
Yukina | 4:4b3ae90ec778 | 380 | float *data_cpy, ans; |
Yukina | 4:4b3ae90ec778 | 381 | data_cpy = new float[num]; |
Yukina | 4:4b3ae90ec778 | 382 | memcpy(data_cpy,data,sizeof(float)*num); |
Yukina | 4:4b3ae90ec778 | 383 | |
Yukina | 4:4b3ae90ec778 | 384 | for(int i=0; i<num; i++){ |
Yukina | 4:4b3ae90ec778 | 385 | for(int j=0; j<num-i-1; j++){ |
Yukina | 4:4b3ae90ec778 | 386 | if(data_cpy[j]>data_cpy[j+1]){ |
Yukina | 4:4b3ae90ec778 | 387 | float buff = data_cpy[j+1]; |
Yukina | 4:4b3ae90ec778 | 388 | data_cpy[j+1] = data_cpy[j]; |
Yukina | 4:4b3ae90ec778 | 389 | data_cpy[j] = buff; |
Yukina | 4:4b3ae90ec778 | 390 | } |
Yukina | 4:4b3ae90ec778 | 391 | } |
Yukina | 4:4b3ae90ec778 | 392 | } |
Yukina | 4:4b3ae90ec778 | 393 | |
Yukina | 4:4b3ae90ec778 | 394 | if(num%2!=0) ans = data_cpy[num/2]; |
Yukina | 4:4b3ae90ec778 | 395 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
Yukina | 4:4b3ae90ec778 | 396 | delete[] data_cpy; |
Yukina | 4:4b3ae90ec778 | 397 | return ans; |
sashida_h | 7:9953d922499d | 398 | } |