MPU6050のサンプルプログラム2
Dependencies: ConfigFile SDFileSystem mbed
Fork of LAURUS_program by
main.cpp@24:8838be99cec3, 2015-06-25 (annotated)
- Committer:
- ojan
- Date:
- Thu Jun 25 17:40:18 2015 +0000
- Revision:
- 24:8838be99cec3
- Parent:
- 23:79cdc1432160
- Child:
- 25:4c72d7420d8a
LAURUS_Program_v2.4; ; + add two DEBUG mode; SERVO_DEBUG mode: control servo motor from PC; DIRECTION_DEBUG mode: head for a certain direction
Who changed what in which revision?
User | Revision | Line number | New 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 "Vector.h" |
ojan | 3:5358a691a100 | 7 | #include "Matrix.h" |
ojan | 3:5358a691a100 | 8 | #include "Vector_Matrix_operator.h" |
ojan | 0:bc6f14fc60c7 | 9 | #include "myConstants.h" |
onaka | 7:0ec343d29641 | 10 | #include "SDFileSystem.h" |
onaka | 7:0ec343d29641 | 11 | #include "BufferedSerial.h" |
onaka | 7:0ec343d29641 | 12 | #include "ConfigFile.h" |
ojan | 0:bc6f14fc60c7 | 13 | |
ojan | 14:f85cb5340cb8 | 14 | /****************************** private define ******************************/ |
ojan | 24:8838be99cec3 | 15 | #define LEFT 0 |
ojan | 24:8838be99cec3 | 16 | #define RIGHT 1 |
ojan | 24:8838be99cec3 | 17 | #define NEUTRAL 2 |
ojan | 8:602865d8fca3 | 18 | |
ojan | 15:d14d385d37e2 | 19 | #define RULE1 |
ojan | 15:d14d385d37e2 | 20 | //#define RULE2 |
ojan | 15:d14d385d37e2 | 21 | //#define RULE3 |
ojan | 24:8838be99cec3 | 22 | //#define SERVO_DEBUG |
ojan | 24:8838be99cec3 | 23 | //#define DIRECTION_DEBUG |
ojan | 24:8838be99cec3 | 24 | #ifdef DIRECTION_DEBUG |
ojan | 24:8838be99cec3 | 25 | const float TargetDirection = 90.0f; // 真西に飛ぶ |
ojan | 24:8838be99cec3 | 26 | #endif |
ojan | 24:8838be99cec3 | 27 | |
ojan | 15:d14d385d37e2 | 28 | |
ojan | 14:f85cb5340cb8 | 29 | const float dt = 0.01f; // 割り込み周期(s) |
ojan | 21:d417708e84a8 | 30 | const float ServoMax = 0.0046f; // サーボの最大パルス長(s) |
ojan | 21:d417708e84a8 | 31 | const float ServoMin = 0.0012f; // サーボの最小パルス長(s) |
ojan | 21:d417708e84a8 | 32 | const float PullMax = 25; // 引っ張れる紐の最大量(mm) |
ojan | 14:f85cb5340cb8 | 33 | const float BorderSpiral = 40.0f; // スパイラル検知角度 |
ojan | 14:f85cb5340cb8 | 34 | const short BorderOpt = 30000; // 光センサーの閾値 |
ojan | 14:f85cb5340cb8 | 35 | const float BorderGravity = 0.3f; // 無重力状態の閾値 |
ojan | 14:f85cb5340cb8 | 36 | const int BorderParafoil = 0; // 物理スイッチのOFF出力 |
ojan | 14:f85cb5340cb8 | 37 | const int MaxCount = 3; // 投下シグナルを何回連続で検知したら投下と判断するか(×0.2[s]) |
ojan | 14:f85cb5340cb8 | 38 | const int WaitTime = 1; // 投下後、安定するまで何秒滑空するか |
ojan | 15:d14d385d37e2 | 39 | const float Alpha = 30.0f; // 目標方向と自分の進行方向との差の閾値(deg)(制御則1&2&3の定数 |
ojan | 15:d14d385d37e2 | 40 | const float Beta = 60.0f; // 目標方向と自分の進行方向との間に取るべき角度差(deg)(制御則3の定数 |
ojan | 15:d14d385d37e2 | 41 | const float BorderDistance = 10.0f; // 落下制御に入るための目標値との距離の閾値(m)(制御則2の定数 |
ojan | 1:6cd6d2760856 | 42 | |
ojan | 14:f85cb5340cb8 | 43 | /****************************** private macro ******************************/ |
ojan | 14:f85cb5340cb8 | 44 | /****************************** private typedef ******************************/ |
ojan | 14:f85cb5340cb8 | 45 | /****************************** private variables ******************************/ |
ojan | 10:8ee11e412ad7 | 46 | DigitalOut myled(LED1); // デバッグ用LEDのためのデジタル出力 |
ojan | 10:8ee11e412ad7 | 47 | I2C i2c(PB_9, PB_8); // I2Cポート |
ojan | 10:8ee11e412ad7 | 48 | MPU6050 mpu(&i2c); // 加速度・角速度センサ |
ojan | 10:8ee11e412ad7 | 49 | HMC5883L hmc(&i2c); // 地磁気センサ |
ojan | 10:8ee11e412ad7 | 50 | LPS25H lps(&i2c); // 気圧センサ |
ojan | 10:8ee11e412ad7 | 51 | Serial gps(PA_11, PA_12); // GPS通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 52 | Serial pc(SERIAL_TX, SERIAL_RX); // PC通信用シリアルポート |
ojan | 10:8ee11e412ad7 | 53 | GMS6_CR6 gms(&gps, &pc); // GPS |
onaka | 7:0ec343d29641 | 54 | SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); // microSD |
ojan | 19:ad8ff2de68f5 | 55 | FILE * fp; // ログファイルのポインタ |
onaka | 7:0ec343d29641 | 56 | BufferedSerial xbee(PA_9, PA_10, PC_1); // Xbee |
ojan | 14:f85cb5340cb8 | 57 | ConfigFile cfg; // ConfigFile |
ojan | 24:8838be99cec3 | 58 | PwmOut servoL(PC_7), servoR(PB_6); // サーボ用PWM出力 |
ojan | 14:f85cb5340cb8 | 59 | AnalogIn optSensor(PC_0); // 照度センサ用アナログ入力 |
ojan | 23:79cdc1432160 | 60 | AnalogIn servoVcc(PA_1); // バッテリー電圧監視用アナログ入力(サーボ用) |
ojan | 23:79cdc1432160 | 61 | AnalogIn logicVcc(PA_0); // バッテリー電圧監視用アナログ入力(ロジック用) |
ojan | 14:f85cb5340cb8 | 62 | DigitalIn paraSensor(PB_0); // パラフォイルに繋がる(予定)の物理スイッチ |
ojan | 20:00afba164688 | 63 | Ticker ticker; // 割り込みタイマー |
ojan | 14:f85cb5340cb8 | 64 | Timer timer; // 時間計測用タイマー |
ojan | 0:bc6f14fc60c7 | 65 | |
ojan | 14:f85cb5340cb8 | 66 | int lps_cnt = 0; // 気圧センサ読み取りカウント |
ojan | 24:8838be99cec3 | 67 | bool INT_flag = true; // 割り込み可否フラグ |
ojan | 17:03b45055ca05 | 68 | /* こちらの変数群はメインループでは参照しない */ |
ojan | 14:f85cb5340cb8 | 69 | Vector raw_acc(3); // 加速度(m/s^2) 生 |
ojan | 14:f85cb5340cb8 | 70 | Vector raw_gyro(3); // 角速度(deg/s) 生 |
ojan | 14:f85cb5340cb8 | 71 | Vector raw_geomag(3); // 地磁気(?) 生 |
ojan | 14:f85cb5340cb8 | 72 | float raw_press; // 気圧(hPa) 生 |
ojan | 23:79cdc1432160 | 73 | float raw_temp; // 温度(℃) 生 |
ojan | 17:03b45055ca05 | 74 | /* メインループ内ではこちらを参照する */ |
ojan | 14:f85cb5340cb8 | 75 | Vector acc(3); // 加速度(m/s^2) |
ojan | 14:f85cb5340cb8 | 76 | Vector gyro(3); // 角速度(deg/s) |
ojan | 14:f85cb5340cb8 | 77 | Vector geomag(3); // 地磁気(?) |
ojan | 24:8838be99cec3 | 78 | float p0; // 気圧の初期値 |
ojan | 14:f85cb5340cb8 | 79 | float press; // 気圧(hPa) |
ojan | 23:79cdc1432160 | 80 | float temp; // 温度(℃) |
ojan | 24:8838be99cec3 | 81 | float height; // 高さ(m) |
ojan | 1:6cd6d2760856 | 82 | |
ojan | 14:f85cb5340cb8 | 83 | Vector raw_g(3); // 重力ベクトル 生 |
ojan | 14:f85cb5340cb8 | 84 | Vector g(3); // 重力ベクトル |
ojan | 14:f85cb5340cb8 | 85 | Vector target_p(2); // 目標情報(経度、緯度)(rad) |
ojan | 14:f85cb5340cb8 | 86 | Vector p(2); // 位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 87 | Vector pre_p(2); // 過去の位置情報(経度, 緯度)(rad) |
ojan | 14:f85cb5340cb8 | 88 | int UTC_t = 0; // UTC時刻 |
ojan | 14:f85cb5340cb8 | 89 | int pre_UTC_t = 0; // 前のUTC時刻 |
ojan | 8:602865d8fca3 | 90 | |
ojan | 14:f85cb5340cb8 | 91 | 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 | 14:f85cb5340cb8 | 92 | 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 | 14:f85cb5340cb8 | 93 | 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 | 94 | |
ojan | 14:f85cb5340cb8 | 95 | Vector r_f(3); // 世界座標に固定された、北向きのベクトル(X軸) |
ojan | 14:f85cb5340cb8 | 96 | Vector r_u(3); // 世界座標に固定された、上向きのベクトル(Z軸) |
ojan | 14:f85cb5340cb8 | 97 | Vector r_l(3); // 世界座標に固定された、西向きのベクトル(Y軸) |
ojan | 14:f85cb5340cb8 | 98 | |
ojan | 14:f85cb5340cb8 | 99 | int pull_L = 0; // 左サーボの引っ張り量(mm:0~PullMax) |
ojan | 14:f85cb5340cb8 | 100 | int pull_R = 0; // 右サーボの引っ張り量(mm:0~PullMax) |
ojan | 9:6d4578dcc1ed | 101 | |
ojan | 14:f85cb5340cb8 | 102 | float yaw = 0.0f; // 本体のヨー角(deg)z軸周り |
ojan | 14:f85cb5340cb8 | 103 | float pitch = 0.0f; // 本体のピッチ角(deg)y軸周り |
ojan | 14:f85cb5340cb8 | 104 | float roll = 0.0f; // 本体のロール角(deg)x軸周り |
ojan | 9:6d4578dcc1ed | 105 | |
ojan | 14:f85cb5340cb8 | 106 | float vrt_acc = 0.0f; // 鉛直方向の加速度成分(落下検知に使用) |
ojan | 13:df1e8a650185 | 107 | |
ojan | 14:f85cb5340cb8 | 108 | int step = 0; // シーケンス制御のステップ |
ojan | 20:00afba164688 | 109 | int count = 0; // 安定滑空までの時間測定用カウンター |
ojan | 14:f85cb5340cb8 | 110 | int dir = 0; // 旋回方向(0:左 1:右) |
ojan | 20:00afba164688 | 111 | char data[512] = {}; // 送信データ用配 |
ojan | 20:00afba164688 | 112 | int loopTime = 0; // 1ループに掛かる時間(デバッグ用 |
ojan | 3:5358a691a100 | 113 | |
onaka | 7:0ec343d29641 | 114 | /** config.txt ** |
ojan | 15:d14d385d37e2 | 115 | * #から始めるのはコメント行 |
onaka | 7:0ec343d29641 | 116 | * #イコールの前後に空白を入れない |
onaka | 7:0ec343d29641 | 117 | * target_x=111.222 |
onaka | 7:0ec343d29641 | 118 | * target_y=33.444 |
onaka | 7:0ec343d29641 | 119 | */ |
ojan | 23:79cdc1432160 | 120 | float target_x, target_y; |
onaka | 7:0ec343d29641 | 121 | |
ojan | 14:f85cb5340cb8 | 122 | /* ---------- Kalman Filter ---------- */ |
ojan | 11:083c8c9a5b84 | 123 | // 地磁気ベクトル用 |
ojan | 14:f85cb5340cb8 | 124 | // ジャイロのz軸周りのバイアスも推定 |
ojan | 13:df1e8a650185 | 125 | Vector pri_x1(7); |
ojan | 13:df1e8a650185 | 126 | Matrix pri_P1(7, 7); |
ojan | 13:df1e8a650185 | 127 | Vector post_x1(7); |
ojan | 13:df1e8a650185 | 128 | Matrix post_P1(7, 7); |
ojan | 13:df1e8a650185 | 129 | Matrix F1(7, 7), H1(3, 7); |
ojan | 13:df1e8a650185 | 130 | Matrix R1(7, 7), Q1(3, 3); |
ojan | 13:df1e8a650185 | 131 | Matrix I1(7, 7); |
ojan | 13:df1e8a650185 | 132 | Matrix K1(7, 3); |
ojan | 11:083c8c9a5b84 | 133 | Matrix S1(3, 3), S_inv1(3, 3); |
ojan | 11:083c8c9a5b84 | 134 | |
ojan | 11:083c8c9a5b84 | 135 | // 重力ベクトル用 |
ojan | 14:f85cb5340cb8 | 136 | // ジャイロのx軸、y軸周りのバイアスも同時に推定 |
ojan | 13:df1e8a650185 | 137 | Vector pri_x2(5); |
ojan | 13:df1e8a650185 | 138 | Matrix pri_P2(5, 5); |
ojan | 13:df1e8a650185 | 139 | Vector post_x2(5); |
ojan | 13:df1e8a650185 | 140 | Matrix post_P2(5, 5); |
ojan | 13:df1e8a650185 | 141 | Matrix F2(5, 5), H2(3, 5); |
ojan | 13:df1e8a650185 | 142 | Matrix R2(5, 5), Q2(3, 3); |
ojan | 13:df1e8a650185 | 143 | Matrix I2(5, 5); |
ojan | 13:df1e8a650185 | 144 | Matrix K2(5, 3); |
ojan | 13:df1e8a650185 | 145 | Matrix S2(3, 3), S_inv2(3, 3); |
ojan | 14:f85cb5340cb8 | 146 | /* ---------- ------------- ---------- */ |
ojan | 3:5358a691a100 | 147 | |
ojan | 1:6cd6d2760856 | 148 | |
ojan | 14:f85cb5340cb8 | 149 | /****************************** private functions ******************************/ |
ojan | 21:d417708e84a8 | 150 | bool SD_Init(); // SDカード初期化 |
ojan | 23:79cdc1432160 | 151 | void SensorsInit(); // 各種センサーの初期化 |
ojan | 17:03b45055ca05 | 152 | void KalmanInit(); // カルマンフィルタ初期化 |
ojan | 21:d417708e84a8 | 153 | bool LoadConfig(); // config読み取り |
ojan | 14:f85cb5340cb8 | 154 | int Find_last(); // SDカード初期化用関数 |
ojan | 20:00afba164688 | 155 | void DataProcessing(); // データ処理関数 |
ojan | 20:00afba164688 | 156 | void ControlRoutine(); // 制御ルーチン関数 |
ojan | 14:f85cb5340cb8 | 157 | void KalmanUpdate(); // カルマンフィルタ更新 |
ojan | 14:f85cb5340cb8 | 158 | 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 | 20:00afba164688 | 159 | bool Thrown(); // 投下されたかどうかを判断する |
ojan | 20:00afba164688 | 160 | void DataUpdate(); // データ取得&更新関数 |
ojan | 14:f85cb5340cb8 | 161 | void toString(Matrix& m); // デバッグ用 |
ojan | 14:f85cb5340cb8 | 162 | void toString(Vector& v); // デバッグ用 |
ojan | 1:6cd6d2760856 | 163 | |
ojan | 15:d14d385d37e2 | 164 | inline float min(float a, float b) |
ojan | 15:d14d385d37e2 | 165 | { |
ojan | 14:f85cb5340cb8 | 166 | return ((a > b) ? b : a); |
ojan | 14:f85cb5340cb8 | 167 | } |
ojan | 14:f85cb5340cb8 | 168 | |
ojan | 24:8838be99cec3 | 169 | inline float Height(float press, float temp) { |
ojan | 24:8838be99cec3 | 170 | return (153.8f * (pow((p0/press),0.1902f)-1.0f)*(temp+273.15f)); |
ojan | 24:8838be99cec3 | 171 | } |
ojan | 24:8838be99cec3 | 172 | |
ojan | 14:f85cb5340cb8 | 173 | /****************************** main function ******************************/ |
ojan | 0:bc6f14fc60c7 | 174 | |
ojan | 15:d14d385d37e2 | 175 | int main() |
ojan | 15:d14d385d37e2 | 176 | { |
ojan | 15:d14d385d37e2 | 177 | |
ojan | 14:f85cb5340cb8 | 178 | i2c.frequency(400000); // I2Cの通信速度を400kHzに設定 |
ojan | 23:79cdc1432160 | 179 | |
ojan | 22:3caa2983bf1d | 180 | //Config読み取り |
ojan | 24:8838be99cec3 | 181 | while(!LoadConfig()) { |
ojan | 24:8838be99cec3 | 182 | wait(0.1f); |
ojan | 24:8838be99cec3 | 183 | } |
ojan | 22:3caa2983bf1d | 184 | xbee.printf("target(%.5f, %.5f)\r\n", target_x, target_y); |
ojan | 22:3caa2983bf1d | 185 | |
ojan | 17:03b45055ca05 | 186 | // SDカード初期化 |
ojan | 24:8838be99cec3 | 187 | while(!SD_Init()) { |
ojan | 24:8838be99cec3 | 188 | wait(0.1f); |
ojan | 24:8838be99cec3 | 189 | } |
ojan | 24:8838be99cec3 | 190 | |
ojan | 24:8838be99cec3 | 191 | // センサー関連の初期化 |
ojan | 24:8838be99cec3 | 192 | SensorsInit(); |
ojan | 15:d14d385d37e2 | 193 | |
onaka | 7:0ec343d29641 | 194 | //カルマンフィルタ初期化 |
ojan | 3:5358a691a100 | 195 | KalmanInit(); |
ojan | 15:d14d385d37e2 | 196 | |
ojan | 20:00afba164688 | 197 | ticker.attach(&DataUpdate, dt); // 割り込み有効化(Freq = 0.01fなので、10msおきの割り込み) |
ojan | 20:00afba164688 | 198 | NVIC_SetPriority(TIM5_IRQn, 5); |
ojan | 17:03b45055ca05 | 199 | |
ojan | 17:03b45055ca05 | 200 | servoL.period(0.020f); // サーボの信号の周期は20ms |
ojan | 17:03b45055ca05 | 201 | servoR.period(0.020f); |
ojan | 15:d14d385d37e2 | 202 | |
ojan | 15:d14d385d37e2 | 203 | |
ojan | 14:f85cb5340cb8 | 204 | /* ------------------------------ ↓↓↓ ここからメインループ ↓↓↓ ------------------------------ */ |
ojan | 0:bc6f14fc60c7 | 205 | while(1) { |
ojan | 4:45dc5590abc0 | 206 | timer.stop(); |
ojan | 4:45dc5590abc0 | 207 | timer.reset(); |
ojan | 4:45dc5590abc0 | 208 | timer.start(); |
ojan | 14:f85cb5340cb8 | 209 | myled = 1; // LED is ON |
ojan | 20:00afba164688 | 210 | |
ojan | 24:8838be99cec3 | 211 | INT_flag = false; // 割り込みによる変数書き換えを阻止 |
ojan | 14:f85cb5340cb8 | 212 | /******************************* データ処理 *******************************/ |
ojan | 20:00afba164688 | 213 | DataProcessing(); |
ojan | 15:d14d385d37e2 | 214 | |
ojan | 14:f85cb5340cb8 | 215 | /******************************* 制御ルーチン *******************************/ |
ojan | 24:8838be99cec3 | 216 | #ifdef SERVO_DEBUG |
ojan | 24:8838be99cec3 | 217 | if(xbee.readable()) { |
ojan | 24:8838be99cec3 | 218 | char cmd = xbee.getc(); |
ojan | 24:8838be99cec3 | 219 | if(cmd == 'w') { |
ojan | 24:8838be99cec3 | 220 | pull_R += 5; |
ojan | 24:8838be99cec3 | 221 | } else if(cmd == 's'){ |
ojan | 24:8838be99cec3 | 222 | pull_R -= 5; |
ojan | 24:8838be99cec3 | 223 | } else if(cmd == 'a'){ |
ojan | 24:8838be99cec3 | 224 | pull_L += 5; |
ojan | 24:8838be99cec3 | 225 | } else if(cmd == 'd'){ |
ojan | 24:8838be99cec3 | 226 | pull_L -= 5; |
ojan | 24:8838be99cec3 | 227 | } |
ojan | 24:8838be99cec3 | 228 | } |
ojan | 24:8838be99cec3 | 229 | #else |
ojan | 20:00afba164688 | 230 | ControlRoutine(); |
ojan | 24:8838be99cec3 | 231 | #endif |
ojan | 21:d417708e84a8 | 232 | |
ojan | 21:d417708e84a8 | 233 | float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // サーボ電源電圧 |
ojan | 21:d417708e84a8 | 234 | float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f; // ロジック電源電圧 |
ojan | 24:8838be99cec3 | 235 | |
ojan | 21:d417708e84a8 | 236 | // 指定された引っ張り量だけ紐を引っ張る |
ojan | 21:d417708e84a8 | 237 | if(pull_L < 0) pull_L = 0; |
ojan | 21:d417708e84a8 | 238 | else if(pull_L > PullMax) pull_L = PullMax; |
ojan | 21:d417708e84a8 | 239 | if(pull_R < 0) pull_R = 0; |
ojan | 21:d417708e84a8 | 240 | else if(pull_R > PullMax) pull_R = PullMax; |
ojan | 21:d417708e84a8 | 241 | |
ojan | 21:d417708e84a8 | 242 | servoL.pulsewidth((ServoMax - ServoMin) * pull_L / (float)PullMax + ServoMin); |
ojan | 21:d417708e84a8 | 243 | servoR.pulsewidth((ServoMax - ServoMin) * pull_R / (float)PullMax + ServoMin); |
ojan | 21:d417708e84a8 | 244 | |
ojan | 21:d417708e84a8 | 245 | // データをmicroSDに保存し、XBeeでPCへ送信する |
ojan | 24:8838be99cec3 | 246 | sprintf(data, "%d, %.1f,%.1f,%.1f, %.3f,%.5f,%.5f, %.3f,%.3f,%.3f, %.3f,%d, %d,%d\r\n", |
ojan | 21:d417708e84a8 | 247 | UTC_t, yaw, pitch, roll, |
ojan | 21:d417708e84a8 | 248 | press, gms.longitude, gms.latitude, |
ojan | 24:8838be99cec3 | 249 | vrt_acc, temp, height, |
ojan | 23:79cdc1432160 | 250 | Distance(target_p, p), optSensor.read_u16(), |
ojan | 23:79cdc1432160 | 251 | pull_R, pull_L); |
ojan | 21:d417708e84a8 | 252 | |
ojan | 24:8838be99cec3 | 253 | INT_flag = true; // 割り込み許可 |
ojan | 21:d417708e84a8 | 254 | |
ojan | 21:d417708e84a8 | 255 | fprintf(fp, data); |
ojan | 21:d417708e84a8 | 256 | fflush(fp); |
ojan | 21:d417708e84a8 | 257 | xbee.printf(data); |
ojan | 21:d417708e84a8 | 258 | |
ojan | 15:d14d385d37e2 | 259 | |
ojan | 9:6d4578dcc1ed | 260 | myled = 0; // LED is OFF |
ojan | 15:d14d385d37e2 | 261 | |
ojan | 20:00afba164688 | 262 | loopTime = timer.read_ms(); |
ojan | 20:00afba164688 | 263 | |
ojan | 9:6d4578dcc1ed | 264 | // ループはきっかり0.2秒ごと |
ojan | 9:6d4578dcc1ed | 265 | while(timer.read_ms() < 200); |
ojan | 20:00afba164688 | 266 | |
ojan | 0:bc6f14fc60c7 | 267 | } |
ojan | 15:d14d385d37e2 | 268 | |
ojan | 14:f85cb5340cb8 | 269 | /* ------------------------------ ↑↑↑ ここまでメインループ ↑↑↑ ------------------------------ */ |
onaka | 7:0ec343d29641 | 270 | } |
onaka | 7:0ec343d29641 | 271 | |
ojan | 20:00afba164688 | 272 | /** データ処理関数 |
ojan | 20:00afba164688 | 273 | * |
ojan | 20:00afba164688 | 274 | */ |
ojan | 20:00afba164688 | 275 | void DataProcessing() |
ojan | 20:00afba164688 | 276 | { |
ojan | 20:00afba164688 | 277 | gms.read(); // GPSデータ取得 |
ojan | 20:00afba164688 | 278 | UTC_t = (int)gms.time; |
ojan | 20:00afba164688 | 279 | |
ojan | 20:00afba164688 | 280 | // 参照座標系の基底を求める |
ojan | 20:00afba164688 | 281 | r_u = g; |
ojan | 20:00afba164688 | 282 | r_f = geomag.GetPerpCompTo(g).Normalize(); |
ojan | 20:00afba164688 | 283 | r_l = Cross(r_u, r_f); |
ojan | 20:00afba164688 | 284 | |
ojan | 20:00afba164688 | 285 | // 回転行列を経由してオイラー角を求める |
ojan | 20:00afba164688 | 286 | // 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 | 20:00afba164688 | 287 | // 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 | 20:00afba164688 | 288 | |
ojan | 20:00afba164688 | 289 | float R_11 = r_f * b_f; // 回転行列の(1,1)成分 |
ojan | 20:00afba164688 | 290 | float R_12 = r_f * b_l; // 回転行列の(1,2)成分 |
ojan | 20:00afba164688 | 291 | float R_13 = r_f * b_u; // 回転行列の(1,3)成分 |
ojan | 20:00afba164688 | 292 | float R_23 = r_l * b_u; // 回転行列の(2,3)成分 |
ojan | 20:00afba164688 | 293 | float R_33 = r_u * b_u; // 回転行列の(3,3)成分 |
ojan | 20:00afba164688 | 294 | |
ojan | 20:00afba164688 | 295 | #ifdef RULE3 |
ojan | 20:00afba164688 | 296 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG + MAG_DECLINATION - Beta; |
ojan | 20:00afba164688 | 297 | #else |
ojan | 20:00afba164688 | 298 | yaw = atan2(-R_12, R_11) * RAD_TO_DEG + MAG_DECLINATION; |
ojan | 20:00afba164688 | 299 | #endif |
ojan | 20:00afba164688 | 300 | roll = atan2(-R_23, R_33) * RAD_TO_DEG; |
ojan | 20:00afba164688 | 301 | pitch = asin(R_13) * RAD_TO_DEG; |
ojan | 20:00afba164688 | 302 | |
ojan | 20:00afba164688 | 303 | if(yaw < -180.0f) yaw += 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 20:00afba164688 | 304 | if(yaw > 180.0f) yaw -= 360.0f; // ヨー角を[-π, π]に補正 |
ojan | 20:00afba164688 | 305 | |
ojan | 20:00afba164688 | 306 | if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら |
ojan | 20:00afba164688 | 307 | p.SetComp(1, gms.longitude * DEG_TO_RAD); |
ojan | 20:00afba164688 | 308 | p.SetComp(2, gms.latitude * DEG_TO_RAD); |
ojan | 20:00afba164688 | 309 | |
ojan | 20:00afba164688 | 310 | } else { // 更新されていなかったら |
ojan | 20:00afba164688 | 311 | // GPSの補完処理を追加予定 |
ojan | 20:00afba164688 | 312 | } |
ojan | 20:00afba164688 | 313 | |
ojan | 24:8838be99cec3 | 314 | height = Height(press, temp); |
ojan | 24:8838be99cec3 | 315 | |
ojan | 20:00afba164688 | 316 | pre_p = p; |
ojan | 20:00afba164688 | 317 | pre_UTC_t = UTC_t; |
ojan | 20:00afba164688 | 318 | |
ojan | 20:00afba164688 | 319 | |
ojan | 20:00afba164688 | 320 | } |
ojan | 20:00afba164688 | 321 | |
ojan | 20:00afba164688 | 322 | /** 制御ルーチン関数 |
ojan | 20:00afba164688 | 323 | * |
ojan | 20:00afba164688 | 324 | */ |
ojan | 20:00afba164688 | 325 | void ControlRoutine() |
ojan | 20:00afba164688 | 326 | { |
ojan | 20:00afba164688 | 327 | switch(step) { |
ojan | 20:00afba164688 | 328 | |
ojan | 20:00afba164688 | 329 | // 投下&安定滑空シーケンス |
ojan | 20:00afba164688 | 330 | case 0: |
ojan | 20:00afba164688 | 331 | if(Thrown() || count != 0) { |
ojan | 20:00afba164688 | 332 | count++; |
ojan | 20:00afba164688 | 333 | // 投下直後に紐を引く場合はコメントアウトをはずす |
ojan | 21:d417708e84a8 | 334 | //pull_L = 15; |
ojan | 21:d417708e84a8 | 335 | //pull_R = 15; |
ojan | 20:00afba164688 | 336 | if(count >= WaitTime*5) { |
ojan | 20:00afba164688 | 337 | pull_L = 0; |
ojan | 20:00afba164688 | 338 | pull_R = 0; |
ojan | 20:00afba164688 | 339 | step = 1; |
ojan | 20:00afba164688 | 340 | } |
ojan | 20:00afba164688 | 341 | } |
ojan | 20:00afba164688 | 342 | break; |
ojan | 20:00afba164688 | 343 | |
ojan | 20:00afba164688 | 344 | // 制御シーケンス |
ojan | 20:00afba164688 | 345 | case 1: |
ojan | 20:00afba164688 | 346 | if(fabs(roll) > BorderSpiral) { |
ojan | 20:00afba164688 | 347 | // スパイラル回避行動 |
ojan | 20:00afba164688 | 348 | if(roll > 0) { |
ojan | 20:00afba164688 | 349 | pull_L = PullMax; |
ojan | 20:00afba164688 | 350 | pull_R = 0; |
ojan | 20:00afba164688 | 351 | } else { |
ojan | 20:00afba164688 | 352 | pull_L = 0; |
ojan | 20:00afba164688 | 353 | pull_R = PullMax; |
ojan | 20:00afba164688 | 354 | } |
ojan | 20:00afba164688 | 355 | } else { |
ojan | 20:00afba164688 | 356 | |
ojan | 20:00afba164688 | 357 | /* いずれも地球を完全球体と仮定 */ |
ojan | 20:00afba164688 | 358 | float target_lng = target_x * DEG_TO_RAD; |
ojan | 20:00afba164688 | 359 | float target_lat = target_y * DEG_TO_RAD; |
ojan | 20:00afba164688 | 360 | /* 北から西回りで目標方向の角度を出力 */ |
ojan | 20:00afba164688 | 361 | float targetY = cos( target_lat ) * sin( target_lng - p.GetComp(1) ); |
ojan | 20:00afba164688 | 362 | float targetX = cos( p.GetComp(2) ) * sin( target_lat ) - sin( p.GetComp(2) ) * cos( target_lat ) * cos( target_lng - p.GetComp(1) ); |
ojan | 23:79cdc1432160 | 363 | float theta = -atan2f( targetY, targetX ) * RAD_TO_DEG; |
ojan | 20:00afba164688 | 364 | float delta_theta = 0.0f; |
ojan | 24:8838be99cec3 | 365 | #ifdef DIRECTION_DEBUG |
ojan | 24:8838be99cec3 | 366 | theta = TargetDirection; |
ojan | 24:8838be99cec3 | 367 | #endif |
ojan | 20:00afba164688 | 368 | |
ojan | 20:00afba164688 | 369 | if(yaw >= 0.0f) { // ヨー角が正 |
ojan | 20:00afba164688 | 370 | if(theta >= 0.0f) { // 目標角も正ならば、 |
ojan | 24:8838be99cec3 | 371 | if(theta - yaw > Alpha) dir = LEFT; // 単純に差を取って閾値αと比べる |
ojan | 24:8838be99cec3 | 372 | else if(theta - yaw < -Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 373 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 374 | } else { // 目標角が負であれば |
ojan | 20:00afba164688 | 375 | theta += 360.0f; // 360°足して正の値に変換してから |
ojan | 20:00afba164688 | 376 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 20:00afba164688 | 377 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 24:8838be99cec3 | 378 | if(delta_theta > Alpha) dir = LEFT; |
ojan | 24:8838be99cec3 | 379 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 380 | } else { // 180°より大きければ右旋回 |
ojan | 24:8838be99cec3 | 381 | if(360.0f - delta_theta > Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 382 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 383 | } |
ojan | 20:00afba164688 | 384 | } |
ojan | 20:00afba164688 | 385 | } else { // ヨー角が負 |
ojan | 20:00afba164688 | 386 | if(theta <= 0.0f) { // 目標角も負ならば、 |
ojan | 24:8838be99cec3 | 387 | if(theta - yaw > Alpha) dir = LEFT; // 単純に差を取って閾値αと比べる |
ojan | 24:8838be99cec3 | 388 | else if(theta - yaw < -Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 389 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 390 | } else { // 目標角が正であれば、 |
ojan | 20:00afba164688 | 391 | delta_theta = theta - yaw; // 差を取る(yawから左回りに見たthetaとの差分) |
ojan | 20:00afba164688 | 392 | if(delta_theta < 180.0f) { // 差が180°より小さければ左旋回 |
ojan | 24:8838be99cec3 | 393 | if(delta_theta > Alpha) dir = LEFT; |
ojan | 24:8838be99cec3 | 394 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 395 | } else { // 180°より大きければ右旋回 |
ojan | 24:8838be99cec3 | 396 | if(360.0f - delta_theta > Alpha) dir = RIGHT; |
ojan | 24:8838be99cec3 | 397 | else dir = NEUTRAL; |
ojan | 20:00afba164688 | 398 | } |
ojan | 20:00afba164688 | 399 | } |
ojan | 20:00afba164688 | 400 | } |
ojan | 20:00afba164688 | 401 | |
ojan | 24:8838be99cec3 | 402 | if(dir == LEFT) { //目標は左方向 |
ojan | 20:00afba164688 | 403 | |
ojan | 20:00afba164688 | 404 | pull_L = 20; |
ojan | 20:00afba164688 | 405 | pull_R = 0; |
ojan | 20:00afba164688 | 406 | |
ojan | 24:8838be99cec3 | 407 | } else if (dir == RIGHT) { //目標は右方向 |
ojan | 20:00afba164688 | 408 | |
ojan | 20:00afba164688 | 409 | pull_L = 0; |
ojan | 20:00afba164688 | 410 | pull_R = 20; |
ojan | 20:00afba164688 | 411 | |
ojan | 24:8838be99cec3 | 412 | } else if (dir == NEUTRAL) { |
ojan | 21:d417708e84a8 | 413 | pull_L = 0; |
ojan | 21:d417708e84a8 | 414 | pull_R = 0; |
ojan | 20:00afba164688 | 415 | } |
ojan | 20:00afba164688 | 416 | } |
ojan | 20:00afba164688 | 417 | |
ojan | 20:00afba164688 | 418 | #ifdef RULE2 |
ojan | 20:00afba164688 | 419 | // 目標地点との距離が閾値以下だった場合、落下シーケンスへと移行する |
ojan | 20:00afba164688 | 420 | if(Distance(target_p, p) < BorderDistance) step = 2; |
ojan | 20:00afba164688 | 421 | #endif |
ojan | 20:00afba164688 | 422 | |
ojan | 20:00afba164688 | 423 | break; |
ojan | 20:00afba164688 | 424 | |
ojan | 20:00afba164688 | 425 | #ifdef RULE2 |
ojan | 20:00afba164688 | 426 | // 落下シーケンス |
ojan | 20:00afba164688 | 427 | case 2: |
ojan | 20:00afba164688 | 428 | pull_L = PullMax; |
ojan | 20:00afba164688 | 429 | pull_R = 0; |
ojan | 20:00afba164688 | 430 | |
ojan | 20:00afba164688 | 431 | // もし落下中に目標値から離れてしまった場合は、体勢を立て直して再び滑空 |
ojan | 20:00afba164688 | 432 | // 境界で制御が不安定にならないよう閾値にマージンを取る |
ojan | 21:d417708e84a8 | 433 | if(Distance(target_p, p) > BorderDistance+3.0f) step = 1; |
ojan | 20:00afba164688 | 434 | break; |
ojan | 20:00afba164688 | 435 | #endif |
ojan | 20:00afba164688 | 436 | } |
ojan | 20:00afba164688 | 437 | } |
ojan | 20:00afba164688 | 438 | |
ojan | 23:79cdc1432160 | 439 | /** 各種センサーの初期化を行う関数 |
ojan | 17:03b45055ca05 | 440 | * |
ojan | 17:03b45055ca05 | 441 | */ |
ojan | 23:79cdc1432160 | 442 | void SensorsInit() |
ojan | 20:00afba164688 | 443 | { |
ojan | 23:79cdc1432160 | 444 | |
ojan | 23:79cdc1432160 | 445 | if(!mpu.init()) error("mpu6050 Initialize Error !!"); // mpu6050初期化 |
ojan | 23:79cdc1432160 | 446 | if(!hmc.init()) error("hmc5883l Initialize Error !!"); // hmc5883l初期化 |
ojan | 23:79cdc1432160 | 447 | |
ojan | 17:03b45055ca05 | 448 | //重力ベクトルの初期化 |
ojan | 17:03b45055ca05 | 449 | raw_g.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 450 | raw_g.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 451 | raw_g.SetComp(3, 1.0f); |
ojan | 17:03b45055ca05 | 452 | |
ojan | 17:03b45055ca05 | 453 | // 機体に固定されたベクトルの初期化 |
ojan | 17:03b45055ca05 | 454 | b_f.SetComp(1, 0.0f); |
ojan | 17:03b45055ca05 | 455 | b_f.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 456 | b_f.SetComp(3, -1.0f); |
ojan | 21:d417708e84a8 | 457 | b_u.SetComp(1, -1.0f); |
ojan | 17:03b45055ca05 | 458 | b_u.SetComp(2, 0.0f); |
ojan | 17:03b45055ca05 | 459 | b_u.SetComp(3, 0.0f); |
ojan | 17:03b45055ca05 | 460 | b_l = Cross(b_u, b_f); |
ojan | 20:00afba164688 | 461 | |
ojan | 17:03b45055ca05 | 462 | // 目標座標をベクトルに代入 |
ojan | 17:03b45055ca05 | 463 | target_p.SetComp(1, target_x * DEG_TO_RAD); |
ojan | 17:03b45055ca05 | 464 | target_p.SetComp(2, target_y * DEG_TO_RAD); |
ojan | 24:8838be99cec3 | 465 | |
ojan | 24:8838be99cec3 | 466 | // 地表の気圧を取得 |
ojan | 24:8838be99cec3 | 467 | p0 = 0; |
ojan | 24:8838be99cec3 | 468 | for(int i=0; i<10; i++) { |
ojan | 24:8838be99cec3 | 469 | p0 += (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 24:8838be99cec3 | 470 | } |
ojan | 24:8838be99cec3 | 471 | p0 /= 10.0f; |
ojan | 17:03b45055ca05 | 472 | } |
ojan | 17:03b45055ca05 | 473 | |
ojan | 17:03b45055ca05 | 474 | /** マイクロSDカードの初期化を行う関数 |
ojan | 17:03b45055ca05 | 475 | * |
ojan | 17:03b45055ca05 | 476 | */ |
ojan | 21:d417708e84a8 | 477 | bool SD_Init() |
ojan | 20:00afba164688 | 478 | { |
ojan | 17:03b45055ca05 | 479 | //SDカード初期化 |
ojan | 17:03b45055ca05 | 480 | char filename[15]; |
ojan | 17:03b45055ca05 | 481 | int n = Find_last(); |
ojan | 17:03b45055ca05 | 482 | if(n < 0) { |
ojan | 24:8838be99cec3 | 483 | pc.printf("Could not read a SD Card.\n"); |
ojan | 21:d417708e84a8 | 484 | return false; |
ojan | 17:03b45055ca05 | 485 | } |
ojan | 17:03b45055ca05 | 486 | sprintf(filename, "/sd/log%03d.csv", n+1); |
ojan | 17:03b45055ca05 | 487 | fp = fopen(filename, "w"); |
ojan | 17:03b45055ca05 | 488 | fprintf(fp, "log data\r\n"); |
ojan | 17:03b45055ca05 | 489 | xbee.printf("log data\r\n"); |
ojan | 21:d417708e84a8 | 490 | |
ojan | 21:d417708e84a8 | 491 | return true; |
ojan | 17:03b45055ca05 | 492 | } |
ojan | 17:03b45055ca05 | 493 | |
ojan | 17:03b45055ca05 | 494 | /** コンフィグファイルを読み込む関数 |
ojan | 17:03b45055ca05 | 495 | * |
ojan | 17:03b45055ca05 | 496 | */ |
ojan | 21:d417708e84a8 | 497 | bool LoadConfig() |
ojan | 15:d14d385d37e2 | 498 | { |
onaka | 7:0ec343d29641 | 499 | char value[20]; |
onaka | 7:0ec343d29641 | 500 | //Read a configuration file from a mbed. |
ojan | 15:d14d385d37e2 | 501 | if (!cfg.read("/sd/config.txt")) { |
ojan | 24:8838be99cec3 | 502 | pc.printf("Config file does not exist\n"); |
ojan | 21:d417708e84a8 | 503 | return false; |
ojan | 15:d14d385d37e2 | 504 | } else { |
onaka | 7:0ec343d29641 | 505 | //Get values |
onaka | 7:0ec343d29641 | 506 | if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value); |
ojan | 15:d14d385d37e2 | 507 | else { |
ojan | 24:8838be99cec3 | 508 | pc.printf("Failed to get value for target_x\n"); |
ojan | 21:d417708e84a8 | 509 | return false; |
onaka | 7:0ec343d29641 | 510 | } |
onaka | 7:0ec343d29641 | 511 | if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value); |
ojan | 15:d14d385d37e2 | 512 | else { |
ojan | 24:8838be99cec3 | 513 | pc.printf("Failed to get value for target_y\n"); |
ojan | 21:d417708e84a8 | 514 | return false; |
onaka | 7:0ec343d29641 | 515 | } |
onaka | 7:0ec343d29641 | 516 | } |
ojan | 21:d417708e84a8 | 517 | return true; |
onaka | 7:0ec343d29641 | 518 | } |
onaka | 7:0ec343d29641 | 519 | |
ojan | 17:03b45055ca05 | 520 | /** ログファイルの番号の最大値を得る関数 |
ojan | 17:03b45055ca05 | 521 | * |
ojan | 17:03b45055ca05 | 522 | * @return マイクロSD内に存在するログファイル番号の最大値 |
ojan | 17:03b45055ca05 | 523 | */ |
ojan | 15:d14d385d37e2 | 524 | int Find_last() |
ojan | 15:d14d385d37e2 | 525 | { |
onaka | 7:0ec343d29641 | 526 | int i, n = 0; |
onaka | 7:0ec343d29641 | 527 | char c; |
onaka | 7:0ec343d29641 | 528 | DIR *dp; |
onaka | 7:0ec343d29641 | 529 | struct dirent *dirst; |
onaka | 7:0ec343d29641 | 530 | dp = opendir("/sd/"); |
ojan | 15:d14d385d37e2 | 531 | if (!dp) { |
onaka | 7:0ec343d29641 | 532 | pc.printf("Could not open directry.\n"); |
onaka | 7:0ec343d29641 | 533 | return -1; |
onaka | 7:0ec343d29641 | 534 | } |
onaka | 7:0ec343d29641 | 535 | while((dirst = readdir(dp)) != NULL) { |
onaka | 7:0ec343d29641 | 536 | if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) { |
onaka | 7:0ec343d29641 | 537 | n = i; |
onaka | 7:0ec343d29641 | 538 | } |
onaka | 7:0ec343d29641 | 539 | } |
onaka | 7:0ec343d29641 | 540 | closedir(dp); |
onaka | 7:0ec343d29641 | 541 | return n; |
ojan | 0:bc6f14fc60c7 | 542 | } |
ojan | 0:bc6f14fc60c7 | 543 | |
ojan | 17:03b45055ca05 | 544 | /** カルマンフィルタの初期化を行う関数 |
ojan | 17:03b45055ca05 | 545 | * |
ojan | 17:03b45055ca05 | 546 | */ |
ojan | 15:d14d385d37e2 | 547 | void KalmanInit() |
ojan | 15:d14d385d37e2 | 548 | { |
ojan | 11:083c8c9a5b84 | 549 | // 重力 |
ojan | 11:083c8c9a5b84 | 550 | { |
ojan | 11:083c8c9a5b84 | 551 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 552 | float alpha_R2 = 0.002f; |
ojan | 12:0d978eb4d639 | 553 | float alpha_Q2 = 0.5f; |
ojan | 11:083c8c9a5b84 | 554 | R2 *= alpha_R2; |
ojan | 11:083c8c9a5b84 | 555 | Q2 *= alpha_Q2; |
ojan | 15:d14d385d37e2 | 556 | |
ojan | 13:df1e8a650185 | 557 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 13:df1e8a650185 | 558 | float h2[15] = { |
ojan | 13:df1e8a650185 | 559 | 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 560 | 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 561 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 562 | }; |
ojan | 15:d14d385d37e2 | 563 | |
ojan | 13:df1e8a650185 | 564 | H2.SetComps(h2); |
ojan | 11:083c8c9a5b84 | 565 | } |
ojan | 15:d14d385d37e2 | 566 | |
ojan | 11:083c8c9a5b84 | 567 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 568 | { |
ojan | 11:083c8c9a5b84 | 569 | // 誤差共分散行列の値を決める(対角成分のみ) |
ojan | 13:df1e8a650185 | 570 | float alpha_R1 = 0.002f; |
ojan | 13:df1e8a650185 | 571 | float alpha_Q1 = 0.5f; |
ojan | 11:083c8c9a5b84 | 572 | R1 *= alpha_R1; |
ojan | 11:083c8c9a5b84 | 573 | Q1 *= alpha_Q1; |
ojan | 15:d14d385d37e2 | 574 | |
ojan | 13:df1e8a650185 | 575 | // 観測方程式のヤコビアンの値を設定(時間変化無し) |
ojan | 13:df1e8a650185 | 576 | float h1[21] = { |
ojan | 13:df1e8a650185 | 577 | 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 578 | 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 13:df1e8a650185 | 579 | 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f |
ojan | 11:083c8c9a5b84 | 580 | }; |
ojan | 15:d14d385d37e2 | 581 | |
ojan | 13:df1e8a650185 | 582 | H1.SetComps(h1); |
ojan | 11:083c8c9a5b84 | 583 | } |
ojan | 3:5358a691a100 | 584 | } |
ojan | 3:5358a691a100 | 585 | |
ojan | 17:03b45055ca05 | 586 | /** カルマンフィルタの更新を行う関数 |
ojan | 17:03b45055ca05 | 587 | * |
ojan | 17:03b45055ca05 | 588 | */ |
ojan | 15:d14d385d37e2 | 589 | void KalmanUpdate() |
ojan | 15:d14d385d37e2 | 590 | { |
ojan | 13:df1e8a650185 | 591 | // 重力 |
ojan | 15:d14d385d37e2 | 592 | |
ojan | 11:083c8c9a5b84 | 593 | { |
ojan | 13:df1e8a650185 | 594 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 595 | float f2[25] = { |
ojan | 15:d14d385d37e2 | 596 | 1.0f, (raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, post_x2.GetComp(3)*dt, |
ojan | 15:d14d385d37e2 | 597 | -(raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, -post_x2.GetComp(3)*dt, 0.0f, |
ojan | 15:d14d385d37e2 | 598 | (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, post_x2.GetComp(2)*dt, -post_x2.GetComp(1)*dt, |
ojan | 15:d14d385d37e2 | 599 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 600 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 13:df1e8a650185 | 601 | }; |
ojan | 15:d14d385d37e2 | 602 | |
ojan | 13:df1e8a650185 | 603 | F2.SetComps(f2); |
ojan | 15:d14d385d37e2 | 604 | |
ojan | 11:083c8c9a5b84 | 605 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 606 | //pri_x2 = F2 * post_x2; |
ojan | 15:d14d385d37e2 | 607 | |
ojan | 13:df1e8a650185 | 608 | float pri_x2_vals[5] = { |
ojan | 15:d14d385d37e2 | 609 | post_x2.GetComp(1) + post_x2.GetComp(2) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt - post_x2.GetComp(3) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt, |
ojan | 15:d14d385d37e2 | 610 | post_x2.GetComp(2) + post_x2.GetComp(3) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt - post_x2.GetComp(1) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt, |
ojan | 15:d14d385d37e2 | 611 | post_x2.GetComp(3) + post_x2.GetComp(1) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt - post_x2.GetComp(2) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt, |
ojan | 15:d14d385d37e2 | 612 | post_x2.GetComp(4), |
ojan | 13:df1e8a650185 | 613 | post_x2.GetComp(5) |
ojan | 13:df1e8a650185 | 614 | }; |
ojan | 15:d14d385d37e2 | 615 | |
ojan | 13:df1e8a650185 | 616 | pri_x2.SetComps(pri_x2_vals); |
ojan | 15:d14d385d37e2 | 617 | |
ojan | 11:083c8c9a5b84 | 618 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 619 | pri_P2 = F2 * post_P2 * F2.Transpose() + R2; |
ojan | 15:d14d385d37e2 | 620 | |
ojan | 11:083c8c9a5b84 | 621 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 622 | S2 = Q2 + H2 * pri_P2 * H2.Transpose(); |
ojan | 13:df1e8a650185 | 623 | static float det; |
ojan | 11:083c8c9a5b84 | 624 | if((det = S2.Inverse(S_inv2)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 625 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 626 | 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 | 627 | } |
ojan | 15:d14d385d37e2 | 628 | K2 = pri_P2 * H2.Transpose() * S_inv2; |
ojan | 15:d14d385d37e2 | 629 | |
ojan | 11:083c8c9a5b84 | 630 | // 事後推定値の更新 |
ojan | 13:df1e8a650185 | 631 | post_x2 = pri_x2 + K2 * (raw_acc - H2 * pri_x2); |
ojan | 11:083c8c9a5b84 | 632 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 633 | post_P2 = (I2 - K2 * H2) * pri_P2; |
ojan | 11:083c8c9a5b84 | 634 | } |
ojan | 15:d14d385d37e2 | 635 | |
ojan | 15:d14d385d37e2 | 636 | |
ojan | 11:083c8c9a5b84 | 637 | // 地磁気 |
ojan | 11:083c8c9a5b84 | 638 | { |
ojan | 11:083c8c9a5b84 | 639 | // ヤコビアンの更新 |
ojan | 13:df1e8a650185 | 640 | float f1[49] = { |
ojan | 15:d14d385d37e2 | 641 | 1.0f, (raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, -(raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, 0.0f, 0.0f, 0.0f, -post_x1.GetComp(2) * dt, |
ojan | 15:d14d385d37e2 | 642 | -(raw_gyro.GetComp(3) - post_x1.GetComp(7))*dt, 1.0f, (raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 0.0f, 0.0f, 0.0f, post_x1.GetComp(1) * dt, |
ojan | 15:d14d385d37e2 | 643 | (raw_gyro.GetComp(2) - post_x2.GetComp(5))*dt, -(raw_gyro.GetComp(1) - post_x2.GetComp(4))*dt, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 644 | 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 645 | 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
ojan | 15:d14d385d37e2 | 646 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
ojan | 13:df1e8a650185 | 647 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f |
ojan | 11:083c8c9a5b84 | 648 | }; |
ojan | 15:d14d385d37e2 | 649 | |
ojan | 13:df1e8a650185 | 650 | F1.SetComps(f1); |
ojan | 15:d14d385d37e2 | 651 | |
ojan | 11:083c8c9a5b84 | 652 | // 事前推定値の更新 |
ojan | 13:df1e8a650185 | 653 | //pri_x1 = F1 * post_x1; |
ojan | 13:df1e8a650185 | 654 | float pri_x1_vals[7] = { |
ojan | 15:d14d385d37e2 | 655 | post_x1.GetComp(1) + post_x1.GetComp(2) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt - post_x1.GetComp(3) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt, |
ojan | 15:d14d385d37e2 | 656 | post_x1.GetComp(2) + post_x1.GetComp(3) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt - post_x1.GetComp(1) * (raw_gyro.GetComp(3) - post_x1.GetComp(7)) * dt, |
ojan | 15:d14d385d37e2 | 657 | post_x1.GetComp(3) + post_x1.GetComp(1) * (raw_gyro.GetComp(2) - post_x2.GetComp(5)) * dt - post_x1.GetComp(2) * (raw_gyro.GetComp(1) - post_x2.GetComp(4)) * dt, |
ojan | 15:d14d385d37e2 | 658 | post_x1.GetComp(4), |
ojan | 15:d14d385d37e2 | 659 | post_x1.GetComp(5), |
ojan | 15:d14d385d37e2 | 660 | post_x1.GetComp(6), |
ojan | 13:df1e8a650185 | 661 | post_x1.GetComp(7) |
ojan | 13:df1e8a650185 | 662 | }; |
ojan | 15:d14d385d37e2 | 663 | |
ojan | 13:df1e8a650185 | 664 | pri_x1.SetComps(pri_x1_vals); |
ojan | 15:d14d385d37e2 | 665 | |
ojan | 11:083c8c9a5b84 | 666 | // 事前誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 667 | pri_P1 = F1 * post_P1 * F1.Transpose() + R1; |
ojan | 15:d14d385d37e2 | 668 | |
ojan | 11:083c8c9a5b84 | 669 | // カルマンゲインの計算 |
ojan | 11:083c8c9a5b84 | 670 | S1 = Q1 + H1 * pri_P1 * H1.Transpose(); |
ojan | 13:df1e8a650185 | 671 | static float det; |
ojan | 11:083c8c9a5b84 | 672 | if((det = S1.Inverse(S_inv1)) >= 0.0f) { |
ojan | 11:083c8c9a5b84 | 673 | pc.printf("E:%.3f\r\n", det); |
ojan | 11:083c8c9a5b84 | 674 | 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 | 675 | } |
ojan | 15:d14d385d37e2 | 676 | K1 = pri_P1 * H1.Transpose() * S_inv1; |
ojan | 15:d14d385d37e2 | 677 | |
ojan | 11:083c8c9a5b84 | 678 | // 事後推定値の更新 |
ojan | 11:083c8c9a5b84 | 679 | post_x1 = pri_x1 + K1 * (raw_geomag - H1 * pri_x1); |
ojan | 11:083c8c9a5b84 | 680 | // 事後誤差分散行列の更新 |
ojan | 11:083c8c9a5b84 | 681 | post_P1 = (I1 - K1 * H1) * pri_P1; |
ojan | 3:5358a691a100 | 682 | } |
ojan | 3:5358a691a100 | 683 | } |
ojan | 3:5358a691a100 | 684 | |
ojan | 17:03b45055ca05 | 685 | /** GPS座標から距離を算出 |
ojan | 17:03b45055ca05 | 686 | * @param 座標1(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 687 | * @param 座標2(経度、緯度)(rad) |
ojan | 17:03b45055ca05 | 688 | * |
ojan | 17:03b45055ca05 | 689 | * @return 2点間の距離(m) |
ojan | 17:03b45055ca05 | 690 | */ |
ojan | 15:d14d385d37e2 | 691 | float Distance(Vector p1, Vector p2) |
ojan | 15:d14d385d37e2 | 692 | { |
ojan | 9:6d4578dcc1ed | 693 | if(p1.GetDim() != p2.GetDim()) return 0.0f; |
ojan | 15:d14d385d37e2 | 694 | |
ojan | 21:d417708e84a8 | 695 | float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f; |
ojan | 21:d417708e84a8 | 696 | float s_mu_y = sin(mu_y); |
ojan | 21:d417708e84a8 | 697 | float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y); |
ojan | 21:d417708e84a8 | 698 | float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w); |
ojan | 21:d417708e84a8 | 699 | float n = GPS_A / w; |
ojan | 21:d417708e84a8 | 700 | float d1 = m * (p1.GetComp(2) - p2.GetComp(2)); |
ojan | 21:d417708e84a8 | 701 | float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1)); |
ojan | 15:d14d385d37e2 | 702 | |
ojan | 9:6d4578dcc1ed | 703 | return sqrt(d1 * d1 + d2 * d2); |
ojan | 9:6d4578dcc1ed | 704 | } |
ojan | 9:6d4578dcc1ed | 705 | |
ojan | 14:f85cb5340cb8 | 706 | /** 投下を検知する関数 |
ojan | 15:d14d385d37e2 | 707 | * |
ojan | 14:f85cb5340cb8 | 708 | * @return 投下されたかどうか(true=投下 false=未投下 |
ojan | 15:d14d385d37e2 | 709 | * |
ojan | 17:03b45055ca05 | 710 | */ |
ojan | 20:00afba164688 | 711 | bool Thrown() |
ojan | 15:d14d385d37e2 | 712 | { |
ojan | 14:f85cb5340cb8 | 713 | static int opt_count = 0; |
ojan | 14:f85cb5340cb8 | 714 | static int g_count = 0; |
ojan | 14:f85cb5340cb8 | 715 | static int para_count = 0; |
ojan | 15:d14d385d37e2 | 716 | |
ojan | 14:f85cb5340cb8 | 717 | if(optSensor.read_u16() > BorderOpt) opt_count++; |
ojan | 14:f85cb5340cb8 | 718 | else opt_count = 0; |
ojan | 14:f85cb5340cb8 | 719 | if(vrt_acc < BorderGravity) g_count++; |
ojan | 14:f85cb5340cb8 | 720 | else g_count = 0; |
ojan | 14:f85cb5340cb8 | 721 | if((int)paraSensor == BorderParafoil) para_count++; |
ojan | 14:f85cb5340cb8 | 722 | else para_count = 0; |
ojan | 15:d14d385d37e2 | 723 | |
ojan | 14:f85cb5340cb8 | 724 | if(opt_count >= MaxCount || g_count >= MaxCount || para_count >= MaxCount) { |
ojan | 14:f85cb5340cb8 | 725 | return true; |
ojan | 14:f85cb5340cb8 | 726 | } |
ojan | 15:d14d385d37e2 | 727 | |
ojan | 14:f85cb5340cb8 | 728 | return false; |
ojan | 15:d14d385d37e2 | 729 | |
ojan | 14:f85cb5340cb8 | 730 | } |
ojan | 14:f85cb5340cb8 | 731 | |
ojan | 23:79cdc1432160 | 732 | /* ------------------------------ 割り込み関数 ------------------------------ */ |
ojan | 23:79cdc1432160 | 733 | |
ojan | 20:00afba164688 | 734 | /** データ取得&更新関数 |
ojan | 20:00afba164688 | 735 | * |
ojan | 20:00afba164688 | 736 | */ |
ojan | 20:00afba164688 | 737 | void DataUpdate() |
ojan | 15:d14d385d37e2 | 738 | { |
ojan | 4:45dc5590abc0 | 739 | // センサーの値を更新 |
ojan | 4:45dc5590abc0 | 740 | mpu.read(); |
ojan | 4:45dc5590abc0 | 741 | hmc.read(); |
ojan | 15:d14d385d37e2 | 742 | |
ojan | 4:45dc5590abc0 | 743 | for(int i=0; i<3; i++) { |
ojan | 4:45dc5590abc0 | 744 | raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G); |
ojan | 4:45dc5590abc0 | 745 | raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD); |
ojan | 4:45dc5590abc0 | 746 | raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS); |
ojan | 4:45dc5590abc0 | 747 | } |
ojan | 15:d14d385d37e2 | 748 | |
ojan | 14:f85cb5340cb8 | 749 | Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g |
ojan | 4:45dc5590abc0 | 750 | raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ |
ojan | 4:45dc5590abc0 | 751 | raw_g = raw_g.Normalize(); |
ojan | 15:d14d385d37e2 | 752 | |
ojan | 4:45dc5590abc0 | 753 | KalmanUpdate(); |
ojan | 15:d14d385d37e2 | 754 | |
ojan | 4:45dc5590abc0 | 755 | // LPS25Hによる気圧の取得は10Hz |
ojan | 4:45dc5590abc0 | 756 | lps_cnt = (lps_cnt+1)%10; |
ojan | 4:45dc5590abc0 | 757 | if(lps_cnt == 0) { |
ojan | 4:45dc5590abc0 | 758 | raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA; |
ojan | 24:8838be99cec3 | 759 | raw_temp = TempLsbToDeg(lps.temperature()); |
ojan | 4:45dc5590abc0 | 760 | } |
ojan | 15:d14d385d37e2 | 761 | |
ojan | 24:8838be99cec3 | 762 | if(INT_flag) { |
ojan | 4:45dc5590abc0 | 763 | g = raw_g; |
ojan | 4:45dc5590abc0 | 764 | for(int i=0; i<3; i++) { |
ojan | 11:083c8c9a5b84 | 765 | geomag.SetComp(i+1, post_x1.GetComp(i+1)); |
ojan | 4:45dc5590abc0 | 766 | } |
ojan | 4:45dc5590abc0 | 767 | acc = raw_acc; |
ojan | 4:45dc5590abc0 | 768 | gyro = raw_gyro; |
ojan | 4:45dc5590abc0 | 769 | press = raw_press; |
ojan | 23:79cdc1432160 | 770 | temp = raw_temp; |
ojan | 15:d14d385d37e2 | 771 | |
ojan | 13:df1e8a650185 | 772 | vrt_acc = raw_acc * raw_g; |
ojan | 15:d14d385d37e2 | 773 | |
ojan | 0:bc6f14fc60c7 | 774 | } |
ojan | 3:5358a691a100 | 775 | } |
ojan | 3:5358a691a100 | 776 | |
ojan | 14:f85cb5340cb8 | 777 | /* ------------------------------ デバッグ用関数 ------------------------------ */ |
ojan | 9:6d4578dcc1ed | 778 | |
ojan | 15:d14d385d37e2 | 779 | void toString(Matrix& m) |
ojan | 15:d14d385d37e2 | 780 | { |
ojan | 15:d14d385d37e2 | 781 | |
ojan | 3:5358a691a100 | 782 | for(int i=0; i<m.GetRow(); i++) { |
ojan | 3:5358a691a100 | 783 | for(int j=0; j<m.GetCol(); j++) { |
ojan | 3:5358a691a100 | 784 | pc.printf("%.6f\t", m.GetComp(i+1, j+1)); |
ojan | 3:5358a691a100 | 785 | } |
ojan | 3:5358a691a100 | 786 | pc.printf("\r\n"); |
ojan | 3:5358a691a100 | 787 | } |
ojan | 15:d14d385d37e2 | 788 | |
ojan | 3:5358a691a100 | 789 | } |
ojan | 3:5358a691a100 | 790 | |
ojan | 15:d14d385d37e2 | 791 | void toString(Vector& v) |
ojan | 15:d14d385d37e2 | 792 | { |
ojan | 15:d14d385d37e2 | 793 | |
ojan | 3:5358a691a100 | 794 | for(int i=0; i<v.GetDim(); i++) { |
ojan | 3:5358a691a100 | 795 | pc.printf("%.6f\t", v.GetComp(i+1)); |
ojan | 3:5358a691a100 | 796 | } |
ojan | 3:5358a691a100 | 797 | pc.printf("\r\n"); |
ojan | 15:d14d385d37e2 | 798 | |
ojan | 0:bc6f14fc60c7 | 799 | } |