hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

main.cpp@11:083c8c9a5b84, 2015-06-16 (annotated)

Committer:
ojan
Date:
Tue Jun 16 15:31:38 2015 +0000
Revision:
11:083c8c9a5b84
Parent:
10:8ee11e412ad7
Child:
12:0d978eb4d639
add Gravity vector estimation with Kalman filter (unsuccessful)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ojan 0:bc6f14fc60c7 1 #include "mbed.h"
ojan 0:bc6f14fc60c7 2 #include "MPU6050.h"
ojan 0:bc6f14fc60c7 3 #include "HMC5883L.h"
ojan 0:bc6f14fc60c7 4 #include "LPS25H.h"
ojan 1:6cd6d2760856 5 #include "GMS6_CR6.h"
ojan 0:bc6f14fc60c7 6 #include "ErrorLogger.h"
ojan 0:bc6f14fc60c7 7 #include "Vector.h"
ojan 3:5358a691a100 8 #include "Matrix.h"
ojan 3:5358a691a100 9 #include "Vector_Matrix_operator.h"
ojan 0:bc6f14fc60c7 10 #include "myConstants.h"
onaka 7:0ec343d29641 11 #include "SDFileSystem.h"
onaka 7:0ec343d29641 12 #include "BufferedSerial.h"
onaka 7:0ec343d29641 13 #include "ConfigFile.h"
ojan 0:bc6f14fc60c7 14
ojan 0:bc6f14fc60c7 15 /********** private define **********/
ojan 0:bc6f14fc60c7 16 #define TRUE 1
ojan 0:bc6f14fc60c7 17 #define FALSE 0
ojan 8:602865d8fca3 18
ojan 9:6d4578dcc1ed 19 #define x 1
ojan 9:6d4578dcc1ed 20 #define y 2
ojan 9:6d4578dcc1ed 21 #define z 3
ojan 9:6d4578dcc1ed 22
ojan 8:602865d8fca3 23 const float dt = 0.1f; // 割り込み周期(s)
ojan 8:602865d8fca3 24 const float ServoMax = 0.0023f; // サーボの最大パルス長(s)
ojan 8:602865d8fca3 25 const float ServoMin = 0.0006f; // サーボの最小パルス長(s)
ojan 9:6d4578dcc1ed 26 const float PullMax = 25.0f; // 引っ張れる紐の最大量(mm)
ojan 0:bc6f14fc60c7 27 /********** private macro **********/
ojan 1:6cd6d2760856 28
ojan 0:bc6f14fc60c7 29 /********** private typedef **********/
ojan 1:6cd6d2760856 30
ojan 0:bc6f14fc60c7 31 /********** private variables **********/
ojan 10:8ee11e412ad7 32 DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力
ojan 10:8ee11e412ad7 33 I2C i2c(PB_9, PB_8); // I2Cポート
ojan 10:8ee11e412ad7 34 MPU6050 mpu(&i2c); // 加速度・角速度センサ
ojan 10:8ee11e412ad7 35 HMC5883L hmc(&i2c); // 地磁気センサ
ojan 10:8ee11e412ad7 36 LPS25H lps(&i2c); // 気圧センサ
ojan 10:8ee11e412ad7 37 Serial gps(PA_11, PA_12); // GPS通信用シリアルポート
ojan 10:8ee11e412ad7 38 Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート
ojan 10:8ee11e412ad7 39 GMS6_CR6 gms(&gps, &pc); // GPS
onaka 7:0ec343d29641 40 SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD
onaka 7:0ec343d29641 41 BufferedSerial xbee(PA_9, PA_10, PC_1); // Xbee
onaka 7:0ec343d29641 42 ConfigFile cfg; //ConfigFile
ojan 10:8ee11e412ad7 43 PwmOut servoL(PB_6), servoR(PC_7); // サーボ用PWM出力
ojan 10:8ee11e412ad7 44 AnalogIn optSensor(PC_0); // 照度センサ用アナログ入力
ojan 10:8ee11e412ad7 45 AnalogIn servoVcc(PA_0); // バッテリー電圧監視用アナログ入力(サーボ用)
ojan 10:8ee11e412ad7 46 AnalogIn logicVcc(PA_1); // バッテリー電圧監視用アナログ入力(ロジック用)
ojan 10:8ee11e412ad7 47 Ticker INT_timer; // 割り込みタイマー
ojan 0:bc6f14fc60c7 48
ojan 8:602865d8fca3 49 int lps_cnt = 0; // 気圧センサ読み取りカウント
ojan 8:602865d8fca3 50 uint8_t INT_flag = TRUE; // 割り込み可否フラグ
ojan 8:602865d8fca3 51 Vector raw_acc(3); // 加速度(m/s^2) 生
ojan 8:602865d8fca3 52 Vector raw_gyro(3); // 角速度(deg/s) 生
ojan 8:602865d8fca3 53 Vector raw_geomag(3); // 地磁気(?) 生
ojan 8:602865d8fca3 54 float raw_press; // 気圧(hPa) 生
ojan 8:602865d8fca3 55 Vector acc(3); // 加速度(m/s^2)
ojan 8:602865d8fca3 56 Vector gyro(3); // 角速度(deg/s)
ojan 8:602865d8fca3 57 Vector geomag(3); // 地磁気(?)
ojan 8:602865d8fca3 58 float press; // 気圧(hPa)
ojan 1:6cd6d2760856 59
ojan 8:602865d8fca3 60 Vector raw_g(3); // 重力ベクトル 生
ojan 8:602865d8fca3 61 Vector g(3); // 重力ベクトル
ojan 9:6d4578dcc1ed 62 Vector p(2); // 位置情報(経度, 緯度)
ojan 9:6d4578dcc1ed 63 Vector pre_p(2); // 過去の位置情報(経度, 緯度)
ojan 9:6d4578dcc1ed 64 int UTC_t = 0; // UTC時刻
ojan 9:6d4578dcc1ed 65 int pre_UTC_t = 0; // 前のUTC時刻
ojan 8:602865d8fca3 66 //Vector n(3); // 地磁気ベクトル
ojan 8:602865d8fca3 67
ojan 9:6d4578dcc1ed 68 Vector b_f(3); // 機体座標に固定された、機体前方向きのベクトル（x軸）
ojan 9:6d4578dcc1ed 69 Vector b_u(3); // 機体座標に固定された、機体上方向きのベクトル（z軸）
ojan 9:6d4578dcc1ed 70 Vector b_l(3); // 機体座標に固定された、機体左方向きのベクトル（y軸）
ojan 9:6d4578dcc1ed 71
ojan 9:6d4578dcc1ed 72 Vector r_f(3); // 参照座標に固定された、北向きのベクトル（X軸）
ojan 9:6d4578dcc1ed 73 Vector r_u(3); // 参照座標に固定された、上向きのベクトル（Z軸）
ojan 9:6d4578dcc1ed 74 Vector r_l(3); // 参照座標に固定された、西向きのベクトル（Y軸）
ojan 9:6d4578dcc1ed 75
ojan 9:6d4578dcc1ed 76 int pull_L = 0; // 左サーボの引っ張り量(mm：0~PullMax)
ojan 9:6d4578dcc1ed 77 int pull_R = 0; // 右サーボの引っ張り量(mm：0~PullMax)
ojan 9:6d4578dcc1ed 78
ojan 9:6d4578dcc1ed 79 float yaw = 0.0f; // 本体のヨー角（deg）
ojan 9:6d4578dcc1ed 80 float pitch = 0.0f; // 本体のピッチ角（deg）
ojan 9:6d4578dcc1ed 81 float roll = 0.0f; // 本体のロール角（deg）
ojan 3:5358a691a100 82
onaka 7:0ec343d29641 83 /** config.txt **
onaka 7:0ec343d29641 84 * #から始めるのはコメント行
onaka 7:0ec343d29641 85 * #イコールの前後に空白を入れない
onaka 7:0ec343d29641 86 * target_x=111.222
onaka 7:0ec343d29641 87 * target_y=33.444
onaka 7:0ec343d29641 88 */
onaka 7:0ec343d29641 89 float target_x, target_y;
onaka 7:0ec343d29641 90
ojan 3:5358a691a100 91 /* ----- Kalman Filter ----- */
ojan 11:083c8c9a5b84 92 // 地磁気ベクトル用
ojan 11:083c8c9a5b84 93 Vector pri_x1(6);
ojan 11:083c8c9a5b84 94 Matrix pri_P1(6, 6);
ojan 11:083c8c9a5b84 95 Vector post_x1(6);
ojan 11:083c8c9a5b84 96 Matrix post_P1(6, 6);
ojan 11:083c8c9a5b84 97 Matrix F1(6, 6), H1(3, 6);
ojan 11:083c8c9a5b84 98 Matrix R1(6, 6), Q1(3, 3);
ojan 11:083c8c9a5b84 99 Matrix I1(6, 6);
ojan 11:083c8c9a5b84 100 Matrix K1(6, 3);
ojan 11:083c8c9a5b84 101 Matrix S1(3, 3), S_inv1(3, 3);
ojan 11:083c8c9a5b84 102
ojan 11:083c8c9a5b84 103 // 重力ベクトル用
ojan 11:083c8c9a5b84 104 // ジャイロのバイアスも同時に推定する
ojan 11:083c8c9a5b84 105 Vector pri_x2(6);
ojan 11:083c8c9a5b84 106 Matrix pri_P2(6, 6);
ojan 11:083c8c9a5b84 107 Vector post_x2(6);
ojan 11:083c8c9a5b84 108 Matrix post_P2(6, 6);
ojan 11:083c8c9a5b84 109 Matrix F2(6, 6), H2(3, 6);
ojan 11:083c8c9a5b84 110 Matrix R2(6, 6), Q2(3, 3);
ojan 11:083c8c9a5b84 111 Matrix I2(6, 6);
ojan 11:083c8c9a5b84 112 Matrix K2(6, 3);
ojan 11:083c8c9a5b84 113 Matrix S2(3, 3), S_inv2(3, 3);
ojan 3:5358a691a100 114 /* ----- ------------- ----- */
ojan 3:5358a691a100 115
ojan 3:5358a691a100 116 Timer timer;
ojan 3:5358a691a100 117
onaka 6:2b68f85a984a 118 char data[512] = {};
ojan 1:6cd6d2760856 119
ojan 0:bc6f14fc60c7 120 /********** private functions **********/
ojan 10:8ee11e412ad7 121 void LoadConfig(); // config読み取り
ojan 10:8ee11e412ad7 122 int find_last(); // SDカード初期化用関数
ojan 9:6d4578dcc1ed 123 void KalmanInit(); // カルマンフィルタ初期化
ojan 9:6d4578dcc1ed 124 void KalmanUpdate(); // カルマンフィルタ更新
ojan 9:6d4578dcc1ed 125 float distance(Vector p1, Vector p2); // 緯度・経度の差から2点間の距離を算出(m)
ojan 9:6d4578dcc1ed 126 void INT_func(); // 割り込み用関数
ojan 3:5358a691a100 127 void toString(Matrix& m);
ojan 3:5358a691a100 128 void toString(Vector& v);
ojan 1:6cd6d2760856 129
ojan 0:bc6f14fc60c7 130 /********** main function **********/
ojan 0:bc6f14fc60c7 131
ojan 0:bc6f14fc60c7 132 int main() {
ojan 0:bc6f14fc60c7 133
ojan 0:bc6f14fc60c7 134 i2c.frequency(400000); // I2Cの通信速度を400kHzに設定
ojan 0:bc6f14fc60c7 135
ojan 0:bc6f14fc60c7 136 if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化
ojan 0:bc6f14fc60c7 137 if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化
ojan 11:083c8c9a5b84 138 /*
onaka 7:0ec343d29641 139 //Config読み取り
onaka 7:0ec343d29641 140 LoadConfig();
ojan 3:5358a691a100 141
onaka 7:0ec343d29641 142 //SDカード初期化
onaka 7:0ec343d29641 143 FILE *fp;
onaka 7:0ec343d29641 144 char filename[15];
onaka 7:0ec343d29641 145 int n = find_last();
onaka 7:0ec343d29641 146 if(n < 0){
onaka 7:0ec343d29641 147 pc.printf("Could not read a SD Card.\n");
onaka 7:0ec343d29641 148 return 0;
onaka 7:0ec343d29641 149 }
onaka 7:0ec343d29641 150 sprintf(filename, "/sd/log%03d.csv", n+1);
onaka 7:0ec343d29641 151 fp = fopen(filename, "w");
onaka 7:0ec343d29641 152 fprintf(fp, "log data\r\n");
onaka 7:0ec343d29641 153 xbee.printf("log data\r\n");
ojan 11:083c8c9a5b84 154 */
ojan 10:8ee11e412ad7 155 servoL.period(0.020f); // サーボの信号の周期は20ms
ojan 8:602865d8fca3 156 servoR.period(0.020f);
ojan 8:602865d8fca3 157
onaka 7:0ec343d29641 158 //カルマンフィルタ初期化
ojan 3:5358a691a100 159 KalmanInit();
ojan 3:5358a691a100 160
ojan 3:5358a691a100 161 INT_timer.attach(&INT_func, dt); // 割り込み有効化（Freq = 0.01fなので、10msおきの割り込み）
ojan 1:6cd6d2760856 162
ojan 1:6cd6d2760856 163 //重力ベクトルの初期化
ojan 4:45dc5590abc0 164 raw_g.SetComp(1, 0.0f);
ojan 4:45dc5590abc0 165 raw_g.SetComp(2, 0.0f);
ojan 4:45dc5590abc0 166 raw_g.SetComp(3, 1.0f);
ojan 0:bc6f14fc60c7 167
ojan 9:6d4578dcc1ed 168 // 機体に固定されたベクトルの初期化
ojan 11:083c8c9a5b84 169 b_f.SetComp(1, 1.0f);
ojan 9:6d4578dcc1ed 170 b_f.SetComp(2, 0.0f);
ojan 11:083c8c9a5b84 171 b_f.SetComp(3, 0.0f);
ojan 11:083c8c9a5b84 172 b_u.SetComp(1, 0.0f);
ojan 9:6d4578dcc1ed 173 b_u.SetComp(2, 0.0f);
ojan 11:083c8c9a5b84 174 b_u.SetComp(3, 1.0f);
ojan 9:6d4578dcc1ed 175 b_l = Cross(b_u, b_f);
ojan 9:6d4578dcc1ed 176
ojan 2:d2b60a1d0cd9 177 /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */
ojan 0:bc6f14fc60c7 178 while(1) {
ojan 4:45dc5590abc0 179 timer.stop();
ojan 4:45dc5590abc0 180 timer.reset();
ojan 4:45dc5590abc0 181 timer.start();
ojan 3:5358a691a100 182 // 0.1秒おきにセンサーの出力をpcへ出力
ojan 4:45dc5590abc0 183 myled = 1; // LED is ON
ojan 8:602865d8fca3 184
ojan 0:bc6f14fc60c7 185 INT_flag = FALSE; // 割り込みによる変数書き換えを阻止
ojan 0:bc6f14fc60c7 186
ojan 9:6d4578dcc1ed 187 // データ処理
ojan 9:6d4578dcc1ed 188 {
ojan 9:6d4578dcc1ed 189 gms.read(); // GPSデータ取得
ojan 9:6d4578dcc1ed 190 UTC_t = (int)gms.time;
ojan 9:6d4578dcc1ed 191
ojan 9:6d4578dcc1ed 192 // 参照座標系の基底を求める
ojan 9:6d4578dcc1ed 193 r_u = g;
ojan 9:6d4578dcc1ed 194 r_f = geomag.GetPerpCompTo(g).Normalize();
ojan 9:6d4578dcc1ed 195 r_l = Cross(r_u, r_f);
ojan 9:6d4578dcc1ed 196
ojan 11:083c8c9a5b84 197
ojan 9:6d4578dcc1ed 198 // 回転行列を経由してオイラー角を求める
ojan 9:6d4578dcc1ed 199 // オイラー角はヨー・ピッチ・ロールの順に回転したものとする
ojan 9:6d4578dcc1ed 200 // 各オイラー角を求めるのに回転行列の全成分は要らないので、一部だけ計算する。
ojan 9:6d4578dcc1ed 201
ojan 9:6d4578dcc1ed 202 float R_11 = r_f * b_f; // 回転行列の(1,1)成分
ojan 9:6d4578dcc1ed 203 float R_12 = r_f * b_l; // 回転行列の(1,2)成分
ojan 9:6d4578dcc1ed 204 float R_13 = r_f * b_u; // 回転行列の(1,3)成分
ojan 9:6d4578dcc1ed 205 float R_23 = r_l * b_u; // 回転行列の(2,3)成分
ojan 9:6d4578dcc1ed 206 float R_33 = r_u * b_u; // 回転行列の(3,3)成分
ojan 9:6d4578dcc1ed 207
ojan 11:083c8c9a5b84 208 yaw = atan2(-R_12, R_11) * RAD_TO_DEG;
ojan 11:083c8c9a5b84 209 roll = atan2(-R_23, R_33) * RAD_TO_DEG;
ojan 11:083c8c9a5b84 210 pitch = asin(R_13) * RAD_TO_DEG;
ojan 11:083c8c9a5b84 211
ojan 11:083c8c9a5b84 212 pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n",
ojan 11:083c8c9a5b84 213 gyro.GetComp(1), post_x2.GetComp(4),
ojan 11:083c8c9a5b84 214 gyro.GetComp(2), post_x2.GetComp(5),
ojan 11:083c8c9a5b84 215 gyro.GetComp(3), post_x2.GetComp(6));
ojan 9:6d4578dcc1ed 216
ojan 9:6d4578dcc1ed 217 if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら
ojan 9:6d4578dcc1ed 218 p.SetComp(1, gms.longitude * DEG_TO_RAD);
ojan 9:6d4578dcc1ed 219 p.SetComp(2, gms.latitude * DEG_TO_RAD);
ojan 9:6d4578dcc1ed 220 } else { // 更新されていなかったら
ojan 9:6d4578dcc1ed 221
ojan 9:6d4578dcc1ed 222 }
ojan 9:6d4578dcc1ed 223
ojan 9:6d4578dcc1ed 224 pre_p = p;
ojan 9:6d4578dcc1ed 225 pre_UTC_t = UTC_t;
ojan 9:6d4578dcc1ed 226 }
ojan 9:6d4578dcc1ed 227
ojan 5:182f6356bce1 228 float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 229 float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 230
ojan 5:182f6356bce1 231 sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n",
ojan 5:182f6356bce1 232 g.GetComp(1), g.GetComp(2), g.GetComp(3),
ojan 4:45dc5590abc0 233 geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3),
ojan 5:182f6356bce1 234 press, gms.longitude, gms.latitude,
ojan 10:8ee11e412ad7 235 sv, lv, optSensor.read_u16());
ojan 11:083c8c9a5b84 236 //fprintf(fp, data);
ojan 11:083c8c9a5b84 237 //fflush(fp);
ojan 11:083c8c9a5b84 238 //xbee.printf(data);
ojan 4:45dc5590abc0 239
ojan 0:bc6f14fc60c7 240 INT_flag = TRUE; // 割り込み許可
ojan 0:bc6f14fc60c7 241
ojan 5:182f6356bce1 242 // 制御ルーチン
ojan 9:6d4578dcc1ed 243 {
ojan 11:083c8c9a5b84 244 pull_L = (pull_L+5)%30;
ojan 11:083c8c9a5b84 245 pull_R = (pull_R+5)%30;
ojan 11:083c8c9a5b84 246 //pull_L = 0;
ojan 11:083c8c9a5b84 247 //pull_R = 30;
ojan 9:6d4578dcc1ed 248 servoL.pulsewidth((ServoMax - ServoMin) * pull_L / PullMax + ServoMin);
ojan 9:6d4578dcc1ed 249 servoR.pulsewidth((ServoMax - ServoMin) * pull_R / PullMax + ServoMin);
ojan 8:602865d8fca3 250
ojan 9:6d4578dcc1ed 251 }
ojan 9:6d4578dcc1ed 252
ojan 9:6d4578dcc1ed 253 myled = 0; // LED is OFF
ojan 11:083c8c9a5b84 254 /*pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n",
ojan 11:083c8c9a5b84 255 post_x.GetComp(4), post_x.GetComp(5), post_x.GetComp(6),
ojan 11:083c8c9a5b84 256 yaw, pitch, roll,
ojan 11:083c8c9a5b84 257 geomag.GetNorm());*/
ojan 5:182f6356bce1 258
ojan 9:6d4578dcc1ed 259 // ループはきっかり0.2秒ごと
ojan 9:6d4578dcc1ed 260 while(timer.read_ms() < 200);
ojan 5:182f6356bce1 261
ojan 4:45dc5590abc0 262
ojan 0:bc6f14fc60c7 263 }
ojan 2:d2b60a1d0cd9 264
ojan 2:d2b60a1d0cd9 265 /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */
onaka 7:0ec343d29641 266 //fclose(fp);
onaka 7:0ec343d29641 267 }
onaka 7:0ec343d29641 268
onaka 7:0ec343d29641 269 void LoadConfig(){
onaka 7:0ec343d29641 270 char value[20];
onaka 7:0ec343d29641 271 //Read a configuration file from a mbed.
onaka 7:0ec343d29641 272 if (!cfg.read("/sd/config.txt")){
onaka 7:0ec343d29641 273 pc.printf("Config file does not exist\n");
onaka 7:0ec343d29641 274 }else{
onaka 7:0ec343d29641 275 //Get values
onaka 7:0ec343d29641 276 if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value);
onaka 7:0ec343d29641 277 else{
onaka 7:0ec343d29641 278 pc.printf("Failed to get value for target_x\n");
onaka 7:0ec343d29641 279 }
onaka 7:0ec343d29641 280 if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value);
onaka 7:0ec343d29641 281 else{
onaka 7:0ec343d29641 282 pc.printf("Failed to get value for target_y\n");
onaka 7:0ec343d29641 283 }
onaka 7:0ec343d29641 284 }
onaka 7:0ec343d29641 285 }
onaka 7:0ec343d29641 286
onaka 7:0ec343d29641 287 int find_last() {
onaka 7:0ec343d29641 288 int i, n = 0;
onaka 7:0ec343d29641 289 char c;
onaka 7:0ec343d29641 290 DIR *dp;
onaka 7:0ec343d29641 291 struct dirent *dirst;
onaka 7:0ec343d29641 292 dp = opendir("/sd/");
onaka 7:0ec343d29641 293 if (!dp){
onaka 7:0ec343d29641 294 pc.printf("Could not open directry.\n");
onaka 7:0ec343d29641 295 return -1;
onaka 7:0ec343d29641 296 }
onaka 7:0ec343d29641 297 while((dirst = readdir(dp)) != NULL) {
onaka 7:0ec343d29641 298 if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) {
onaka 7:0ec343d29641 299 n = i;
onaka 7:0ec343d29641 300 }
onaka 7:0ec343d29641 301 }
onaka 7:0ec343d29641 302 closedir(dp);
onaka 7:0ec343d29641 303 return n;
ojan 0:bc6f14fc60c7 304 }
ojan 0:bc6f14fc60c7 305
ojan 3:5358a691a100 306 void KalmanInit() {
ojan 11:083c8c9a5b84 307 // 重力
ojan 11:083c8c9a5b84 308 {
ojan 11:083c8c9a5b84 309 // 誤差共分散行列の値を決める（対角成分のみ）
ojan 11:083c8c9a5b84 310 float alpha_R2 = 60.0f;
ojan 11:083c8c9a5b84 311 float alpha_Q2 = 100.0f;
ojan 11:083c8c9a5b84 312 R2 *= alpha_R2;
ojan 11:083c8c9a5b84 313 Q2 *= alpha_Q2;
ojan 11:083c8c9a5b84 314
ojan 11:083c8c9a5b84 315 // 状態方程式のヤコビアンの初期値を代入（時間変化あり）
ojan 11:083c8c9a5b84 316 float f[36] = {
ojan 11:083c8c9a5b84 317 1.0f, (raw_gyro.GetComp(3) - post_x2.GetComp(6))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, post_x2.GetComp(3), -post_x2.GetComp(2),
ojan 11:083c8c9a5b84 318 -(raw_gyro.GetComp(3) - post_x2.GetComp(6))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, -post_x2.GetComp(3), 0.0f, post_x2.GetComp(1),
ojan 11:083c8c9a5b84 319 (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, post_x2.GetComp(2), -post_x2.GetComp(1), 0.0f,
ojan 11:083c8c9a5b84 320 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 321 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 11:083c8c9a5b84 322 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 11:083c8c9a5b84 323 };
ojan 11:083c8c9a5b84 324
ojan 11:083c8c9a5b84 325 F2.SetComps(f);
ojan 11:083c8c9a5b84 326
ojan 11:083c8c9a5b84 327 // 観測方程式のヤコビアンの値を設定（時間変化無し）
ojan 11:083c8c9a5b84 328 float h[18] = {
ojan 11:083c8c9a5b84 329 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 330 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 331 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f
ojan 11:083c8c9a5b84 332 };
ojan 11:083c8c9a5b84 333
ojan 11:083c8c9a5b84 334 H2.SetComps(h);
ojan 11:083c8c9a5b84 335 }
ojan 3:5358a691a100 336
ojan 11:083c8c9a5b84 337 // 地磁気
ojan 11:083c8c9a5b84 338 {
ojan 11:083c8c9a5b84 339 // 誤差共分散行列の値を決める（対角成分のみ）
ojan 11:083c8c9a5b84 340 float alpha_R1 = 500.0f;
ojan 11:083c8c9a5b84 341 float alpha_Q1 = 1000.0f;
ojan 11:083c8c9a5b84 342 R1 *= alpha_R1;
ojan 11:083c8c9a5b84 343 Q1 *= alpha_Q1;
ojan 11:083c8c9a5b84 344
ojan 11:083c8c9a5b84 345 // 状態方程式のヤコビアンの初期値を代入（時間変化あり）
ojan 11:083c8c9a5b84 346 float f[36] = {
ojan 11:083c8c9a5b84 347 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 348 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 349 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 350 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 351 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 11:083c8c9a5b84 352 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 11:083c8c9a5b84 353 };
ojan 11:083c8c9a5b84 354
ojan 11:083c8c9a5b84 355 F1.SetComps(f);
ojan 11:083c8c9a5b84 356
ojan 11:083c8c9a5b84 357 // 観測方程式のヤコビアンの値を設定（時間変化無し）
ojan 11:083c8c9a5b84 358 float h[18] = {
ojan 11:083c8c9a5b84 359 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 360 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 11:083c8c9a5b84 361 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f
ojan 11:083c8c9a5b84 362 };
ojan 11:083c8c9a5b84 363
ojan 11:083c8c9a5b84 364 H1.SetComps(h);
ojan 11:083c8c9a5b84 365 }
ojan 3:5358a691a100 366 }
ojan 3:5358a691a100 367
ojan 3:5358a691a100 368 void KalmanUpdate() {
ojan 11:083c8c9a5b84 369 {
ojan 11:083c8c9a5b84 370 // ヤコビアンの更新
ojan 11:083c8c9a5b84 371 float f[36] = {
ojan 11:083c8c9a5b84 372 1.0f, (raw_gyro.GetComp(3) - post_x2.GetComp(6))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, post_x2.GetComp(3), -post_x2.GetComp(2),
ojan 11:083c8c9a5b84 373 -(raw_gyro.GetComp(3) - post_x2.GetComp(6))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, -post_x2.GetComp(3), 0.0f, post_x2.GetComp(1),
ojan 11:083c8c9a5b84 374 (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, post_x2.GetComp(2), -post_x2.GetComp(1), 0.0f,
ojan 11:083c8c9a5b84 375 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 376 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 11:083c8c9a5b84 377 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 11:083c8c9a5b84 378 };
ojan 11:083c8c9a5b84 379
ojan 11:083c8c9a5b84 380 F2.SetComps(f);
ojan 11:083c8c9a5b84 381
ojan 11:083c8c9a5b84 382 // 事前推定値の更新
ojan 11:083c8c9a5b84 383 pri_x2 = F2 * post_x2;
ojan 11:083c8c9a5b84 384 // 事前誤差分散行列の更新
ojan 11:083c8c9a5b84 385 pri_P2 = F2 * post_P2 * F2.Transpose() + R2;
ojan 11:083c8c9a5b84 386
ojan 11:083c8c9a5b84 387 // カルマンゲインの計算
ojan 11:083c8c9a5b84 388 S2 = Q2 + H2 * pri_P2 * H2.Transpose();
ojan 11:083c8c9a5b84 389 float det;
ojan 11:083c8c9a5b84 390 if((det = S2.Inverse(S_inv2)) >= 0.0f) {
ojan 11:083c8c9a5b84 391 pc.printf("E:%.3f\r\n", det);
ojan 11:083c8c9a5b84 392 return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了
ojan 11:083c8c9a5b84 393 }
ojan 11:083c8c9a5b84 394 K2 = pri_P2 * H2.Transpose() * S_inv2;
ojan 11:083c8c9a5b84 395
ojan 11:083c8c9a5b84 396 // 事後推定値の更新
ojan 11:083c8c9a5b84 397 post_x2 = pri_x2 + K2 * (raw_acc - H2 * pri_x2);
ojan 11:083c8c9a5b84 398 // 事後誤差分散行列の更新
ojan 11:083c8c9a5b84 399 post_P2 = (I2 - K2 * H2) * pri_P2;
ojan 11:083c8c9a5b84 400 }
ojan 3:5358a691a100 401
ojan 11:083c8c9a5b84 402 // 地磁気
ojan 11:083c8c9a5b84 403 {
ojan 11:083c8c9a5b84 404 // ヤコビアンの更新
ojan 11:083c8c9a5b84 405 float f[36] = {
ojan 11:083c8c9a5b84 406 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 407 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 408 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 409 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 11:083c8c9a5b84 410 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 11:083c8c9a5b84 411 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 11:083c8c9a5b84 412 };
ojan 11:083c8c9a5b84 413
ojan 11:083c8c9a5b84 414 F1.SetComps(f);
ojan 11:083c8c9a5b84 415
ojan 11:083c8c9a5b84 416 // 事前推定値の更新
ojan 11:083c8c9a5b84 417 pri_x1 = F1 * post_x1;
ojan 11:083c8c9a5b84 418 // 事前誤差分散行列の更新
ojan 11:083c8c9a5b84 419 pri_P1 = F1 * post_P1 * F1.Transpose() + R1;
ojan 11:083c8c9a5b84 420
ojan 11:083c8c9a5b84 421 // カルマンゲインの計算
ojan 11:083c8c9a5b84 422 S1 = Q1 + H1 * pri_P1 * H1.Transpose();
ojan 11:083c8c9a5b84 423 float det;
ojan 11:083c8c9a5b84 424 if((det = S1.Inverse(S_inv1)) >= 0.0f) {
ojan 11:083c8c9a5b84 425 pc.printf("E:%.3f\r\n", det);
ojan 11:083c8c9a5b84 426 return; // 万が一、逆行列が見つからなかった場合は前回の推定値を保持して終了
ojan 11:083c8c9a5b84 427 }
ojan 11:083c8c9a5b84 428 K1 = pri_P1 * H1.Transpose() * S_inv1;
ojan 11:083c8c9a5b84 429
ojan 11:083c8c9a5b84 430 // 事後推定値の更新
ojan 11:083c8c9a5b84 431 post_x1 = pri_x1 + K1 * (raw_geomag - H1 * pri_x1);
ojan 11:083c8c9a5b84 432 // 事後誤差分散行列の更新
ojan 11:083c8c9a5b84 433 post_P1 = (I1 - K1 * H1) * pri_P1;
ojan 3:5358a691a100 434 }
ojan 3:5358a691a100 435 }
ojan 3:5358a691a100 436
ojan 9:6d4578dcc1ed 437 float distance(Vector p1, Vector p2) {
ojan 9:6d4578dcc1ed 438 if(p1.GetDim() != p2.GetDim()) return 0.0f;
ojan 9:6d4578dcc1ed 439
ojan 9:6d4578dcc1ed 440 float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f;
ojan 9:6d4578dcc1ed 441 float s_mu_y = sin(mu_y);
ojan 9:6d4578dcc1ed 442 float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y);
ojan 9:6d4578dcc1ed 443 float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w);
ojan 9:6d4578dcc1ed 444 float n = GPS_A / w;
ojan 9:6d4578dcc1ed 445 float d1 = m * (p1.GetComp(2) - p2.GetComp(2));
ojan 9:6d4578dcc1ed 446 float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1));
ojan 9:6d4578dcc1ed 447
ojan 9:6d4578dcc1ed 448 return sqrt(d1 * d1 + d2 * d2);
ojan 9:6d4578dcc1ed 449 }
ojan 9:6d4578dcc1ed 450
ojan 9:6d4578dcc1ed 451 /* -------------------- 割り込み関数 -------------------- */
ojan 9:6d4578dcc1ed 452
ojan 0:bc6f14fc60c7 453 void INT_func() {
ojan 4:45dc5590abc0 454 // センサーの値を更新
ojan 4:45dc5590abc0 455 mpu.read();
ojan 4:45dc5590abc0 456 hmc.read();
ojan 4:45dc5590abc0 457
ojan 4:45dc5590abc0 458 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 459 raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G);
ojan 4:45dc5590abc0 460 raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD);
ojan 4:45dc5590abc0 461 raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS);
ojan 4:45dc5590abc0 462 }
ojan 0:bc6f14fc60c7 463
ojan 4:45dc5590abc0 464 Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g
ojan 4:45dc5590abc0 465 raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ
ojan 4:45dc5590abc0 466 raw_g = raw_g.Normalize();
ojan 4:45dc5590abc0 467
ojan 4:45dc5590abc0 468 KalmanUpdate();
ojan 0:bc6f14fc60c7 469
ojan 4:45dc5590abc0 470 // LPS25Hによる気圧の取得は10Hz
ojan 4:45dc5590abc0 471 lps_cnt = (lps_cnt+1)%10;
ojan 4:45dc5590abc0 472 if(lps_cnt == 0) {
ojan 4:45dc5590abc0 473 raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA;
ojan 4:45dc5590abc0 474 }
ojan 4:45dc5590abc0 475 //pc.printf("%d(us)\r\n", timer.read_us());
ojan 4:45dc5590abc0 476
ojan 4:45dc5590abc0 477 if(INT_flag != FALSE) {
ojan 4:45dc5590abc0 478 g = raw_g;
ojan 4:45dc5590abc0 479 for(int i=0; i<3; i++) {
ojan 11:083c8c9a5b84 480 geomag.SetComp(i+1, post_x1.GetComp(i+1));
ojan 4:45dc5590abc0 481 }
ojan 4:45dc5590abc0 482 acc = raw_acc;
ojan 4:45dc5590abc0 483 gyro = raw_gyro;
ojan 4:45dc5590abc0 484 press = raw_press;
ojan 1:6cd6d2760856 485
ojan 0:bc6f14fc60c7 486 }
ojan 3:5358a691a100 487 }
ojan 3:5358a691a100 488
ojan 9:6d4578dcc1ed 489 /* -------------------- デバッグ用関数 -------------------- */
ojan 9:6d4578dcc1ed 490
ojan 3:5358a691a100 491 void toString(Matrix& m) {
ojan 3:5358a691a100 492
ojan 3:5358a691a100 493 for(int i=0; i<m.GetRow(); i++) {
ojan 3:5358a691a100 494 for(int j=0; j<m.GetCol(); j++) {
ojan 3:5358a691a100 495 pc.printf("%.6f\t", m.GetComp(i+1, j+1));
ojan 3:5358a691a100 496 }
ojan 3:5358a691a100 497 pc.printf("\r\n");
ojan 3:5358a691a100 498 }
ojan 3:5358a691a100 499
ojan 3:5358a691a100 500 }
ojan 3:5358a691a100 501
ojan 3:5358a691a100 502 void toString(Vector& v) {
ojan 3:5358a691a100 503
ojan 3:5358a691a100 504 for(int i=0; i<v.GetDim(); i++) {
ojan 3:5358a691a100 505 pc.printf("%.6f\t", v.GetComp(i+1));
ojan 3:5358a691a100 506 }
ojan 3:5358a691a100 507 pc.printf("\r\n");
ojan 3:5358a691a100 508
ojan 0:bc6f14fc60c7 509 }