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@10:8ee11e412ad7, 2015-06-15 (annotated)

Committer:
ojan
Date:
Mon Jun 15 13:29:36 2015 +0000
Revision:
10:8ee11e412ad7
Parent:
7:0ec343d29641
Parent:
9:6d4578dcc1ed
Child:
11:083c8c9a5b84
merge iori's program and onaka's program.; add config file loader and calculation of Euler angles.

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 3:5358a691a100 92 Vector pri_x(6);
ojan 3:5358a691a100 93 Matrix pri_P(6, 6);
ojan 3:5358a691a100 94 Vector post_x(6);
ojan 3:5358a691a100 95 Matrix post_P(6, 6);
ojan 3:5358a691a100 96 Matrix F(6, 6), H(3, 6);
ojan 3:5358a691a100 97 Matrix R(6, 6), Q(3, 3);
ojan 3:5358a691a100 98 Matrix I(6, 6);
ojan 3:5358a691a100 99 Matrix K(6, 3);
ojan 3:5358a691a100 100 Matrix S(3, 3), inv(3, 3);
ojan 3:5358a691a100 101 /* ----- ------------- ----- */
ojan 3:5358a691a100 102
ojan 3:5358a691a100 103 Timer timer;
ojan 3:5358a691a100 104
onaka 6:2b68f85a984a 105 char data[512] = {};
ojan 1:6cd6d2760856 106
ojan 0:bc6f14fc60c7 107 /********** private functions **********/
ojan 10:8ee11e412ad7 108 void LoadConfig(); // config読み取り
ojan 10:8ee11e412ad7 109 int find_last(); // SDカード初期化用関数
ojan 9:6d4578dcc1ed 110 void KalmanInit(); // カルマンフィルタ初期化
ojan 9:6d4578dcc1ed 111 void KalmanUpdate(); // カルマンフィルタ更新
ojan 9:6d4578dcc1ed 112 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 113 void INT_func(); // 割り込み用関数
ojan 3:5358a691a100 114 void toString(Matrix& m);
ojan 3:5358a691a100 115 void toString(Vector& v);
ojan 1:6cd6d2760856 116
ojan 0:bc6f14fc60c7 117 /********** main function **********/
ojan 0:bc6f14fc60c7 118
ojan 0:bc6f14fc60c7 119 int main() {
ojan 0:bc6f14fc60c7 120
ojan 0:bc6f14fc60c7 121 i2c.frequency(400000); // I2Cの通信速度を400kHzに設定
ojan 0:bc6f14fc60c7 122
ojan 0:bc6f14fc60c7 123 if(!mpu.init()) AbortWithMsg("mpu6050 Initialize Error !!"); // mpu6050初期化
ojan 0:bc6f14fc60c7 124 if(!hmc.init()) AbortWithMsg("hmc5883l Initialize Error !!"); // hmc5883l初期化
ojan 0:bc6f14fc60c7 125
onaka 7:0ec343d29641 126 //Config読み取り
onaka 7:0ec343d29641 127 LoadConfig();
ojan 3:5358a691a100 128
onaka 7:0ec343d29641 129 //SDカード初期化
onaka 7:0ec343d29641 130 FILE *fp;
onaka 7:0ec343d29641 131 char filename[15];
onaka 7:0ec343d29641 132 int n = find_last();
onaka 7:0ec343d29641 133 if(n < 0){
onaka 7:0ec343d29641 134 pc.printf("Could not read a SD Card.\n");
onaka 7:0ec343d29641 135 return 0;
onaka 7:0ec343d29641 136 }
onaka 7:0ec343d29641 137 sprintf(filename, "/sd/log%03d.csv", n+1);
onaka 7:0ec343d29641 138 fp = fopen(filename, "w");
onaka 7:0ec343d29641 139 fprintf(fp, "log data\r\n");
onaka 7:0ec343d29641 140 xbee.printf("log data\r\n");
onaka 7:0ec343d29641 141
ojan 10:8ee11e412ad7 142 servoL.period(0.020f); // サーボの信号の周期は20ms
ojan 8:602865d8fca3 143 servoR.period(0.020f);
ojan 8:602865d8fca3 144
onaka 7:0ec343d29641 145 //カルマンフィルタ初期化
ojan 3:5358a691a100 146 KalmanInit();
ojan 3:5358a691a100 147
ojan 3:5358a691a100 148 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 149
ojan 1:6cd6d2760856 150 //重力ベクトルの初期化
ojan 4:45dc5590abc0 151 raw_g.SetComp(1, 0.0f);
ojan 4:45dc5590abc0 152 raw_g.SetComp(2, 0.0f);
ojan 4:45dc5590abc0 153 raw_g.SetComp(3, 1.0f);
ojan 0:bc6f14fc60c7 154
ojan 9:6d4578dcc1ed 155 // 機体に固定されたベクトルの初期化
ojan 9:6d4578dcc1ed 156 b_f.SetComp(1, 0.0f);
ojan 9:6d4578dcc1ed 157 b_f.SetComp(2, 0.0f);
ojan 9:6d4578dcc1ed 158 b_f.SetComp(3, -1.0f);
ojan 9:6d4578dcc1ed 159 b_u.SetComp(1, 1.0f);
ojan 9:6d4578dcc1ed 160 b_u.SetComp(2, 0.0f);
ojan 9:6d4578dcc1ed 161 b_u.SetComp(3, 0.0f);
ojan 9:6d4578dcc1ed 162 b_l = Cross(b_u, b_f);
ojan 9:6d4578dcc1ed 163
ojan 2:d2b60a1d0cd9 164 /* ---------- ↓↓↓ ここからメインループ ↓↓↓ ---------- */
ojan 0:bc6f14fc60c7 165 while(1) {
ojan 4:45dc5590abc0 166 timer.stop();
ojan 4:45dc5590abc0 167 timer.reset();
ojan 4:45dc5590abc0 168 timer.start();
ojan 3:5358a691a100 169 // 0.1秒おきにセンサーの出力をpcへ出力
ojan 4:45dc5590abc0 170 myled = 1; // LED is ON
ojan 8:602865d8fca3 171
ojan 0:bc6f14fc60c7 172 INT_flag = FALSE; // 割り込みによる変数書き換えを阻止
ojan 0:bc6f14fc60c7 173
ojan 9:6d4578dcc1ed 174 // データ処理
ojan 9:6d4578dcc1ed 175 {
ojan 9:6d4578dcc1ed 176 gms.read(); // GPSデータ取得
ojan 9:6d4578dcc1ed 177 UTC_t = (int)gms.time;
ojan 9:6d4578dcc1ed 178
ojan 9:6d4578dcc1ed 179 // 参照座標系の基底を求める
ojan 9:6d4578dcc1ed 180 r_u = g;
ojan 9:6d4578dcc1ed 181 r_f = geomag.GetPerpCompTo(g).Normalize();
ojan 9:6d4578dcc1ed 182 r_l = Cross(r_u, r_f);
ojan 9:6d4578dcc1ed 183
ojan 9:6d4578dcc1ed 184 // 回転行列を経由してオイラー角を求める
ojan 9:6d4578dcc1ed 185 // 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 186 // 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 187
ojan 9:6d4578dcc1ed 188 float R_11 = r_f * b_f; // 回転行列の(1,1)成分
ojan 9:6d4578dcc1ed 189 float R_12 = r_f * b_l; // 回転行列の(1,2)成分
ojan 9:6d4578dcc1ed 190 float R_13 = r_f * b_u; // 回転行列の(1,3)成分
ojan 9:6d4578dcc1ed 191 float R_23 = r_l * b_u; // 回転行列の(2,3)成分
ojan 9:6d4578dcc1ed 192 float R_33 = r_u * b_u; // 回転行列の(3,3)成分
ojan 9:6d4578dcc1ed 193
ojan 9:6d4578dcc1ed 194 yaw = atan2(R_11, -R_12) * RAD_TO_DEG;
ojan 9:6d4578dcc1ed 195 roll = atan2(R_33, -R_23) * RAD_TO_DEG;
ojan 9:6d4578dcc1ed 196 pitch = atan2(R_11/cos(yaw), R_13) * RAD_TO_DEG;
ojan 9:6d4578dcc1ed 197
ojan 9:6d4578dcc1ed 198 if(UTC_t - pre_UTC_t >= 1) { // GPSデータが更新されていたら
ojan 9:6d4578dcc1ed 199 p.SetComp(1, gms.longitude * DEG_TO_RAD);
ojan 9:6d4578dcc1ed 200 p.SetComp(2, gms.latitude * DEG_TO_RAD);
ojan 9:6d4578dcc1ed 201 } else { // 更新されていなかったら
ojan 9:6d4578dcc1ed 202
ojan 9:6d4578dcc1ed 203 }
ojan 9:6d4578dcc1ed 204
ojan 9:6d4578dcc1ed 205 pre_p = p;
ojan 9:6d4578dcc1ed 206 pre_UTC_t = UTC_t;
ojan 9:6d4578dcc1ed 207 }
ojan 9:6d4578dcc1ed 208
ojan 5:182f6356bce1 209 float sv = (float)servoVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 210 float lv = (float)logicVcc.read_u16() * ADC_LSB_TO_V * 2.0f;
ojan 5:182f6356bce1 211
ojan 5:182f6356bce1 212 sprintf(data, "%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%d\r\n",
ojan 5:182f6356bce1 213 g.GetComp(1), g.GetComp(2), g.GetComp(3),
ojan 4:45dc5590abc0 214 geomag.GetComp(1), geomag.GetComp(2), geomag.GetComp(3),
ojan 5:182f6356bce1 215 press, gms.longitude, gms.latitude,
ojan 10:8ee11e412ad7 216 sv, lv, optSensor.read_u16());
onaka 7:0ec343d29641 217 fprintf(fp, data);
onaka 7:0ec343d29641 218 xbee.printf(data);
ojan 4:45dc5590abc0 219
ojan 0:bc6f14fc60c7 220 INT_flag = TRUE; // 割り込み許可
ojan 0:bc6f14fc60c7 221
ojan 5:182f6356bce1 222 // 制御ルーチン
ojan 9:6d4578dcc1ed 223 {
ojan 9:6d4578dcc1ed 224 //pull_L = (pull_L+5)%30;
ojan 9:6d4578dcc1ed 225 //pull_R = (pull_R+5)%30;
ojan 9:6d4578dcc1ed 226 pull_L = 0;
ojan 9:6d4578dcc1ed 227 pull_R = 30;
ojan 9:6d4578dcc1ed 228 servoL.pulsewidth((ServoMax - ServoMin) * pull_L / PullMax + ServoMin);
ojan 9:6d4578dcc1ed 229 servoR.pulsewidth((ServoMax - ServoMin) * pull_R / PullMax + ServoMin);
ojan 8:602865d8fca3 230
ojan 9:6d4578dcc1ed 231 }
ojan 9:6d4578dcc1ed 232
ojan 9:6d4578dcc1ed 233 myled = 0; // LED is OFF
ojan 5:182f6356bce1 234
ojan 9:6d4578dcc1ed 235 // ループはきっかり0.2秒ごと
ojan 9:6d4578dcc1ed 236 while(timer.read_ms() < 200);
ojan 5:182f6356bce1 237
ojan 9:6d4578dcc1ed 238 pc.printf("time: %.3f[s]\r\n", (float)timer.read_ms()/1000.0f);
ojan 4:45dc5590abc0 239
ojan 0:bc6f14fc60c7 240 }
ojan 2:d2b60a1d0cd9 241
ojan 2:d2b60a1d0cd9 242 /* ---------- ↑↑↑ ここまでメインループ ↑↑↑ ---------- */
onaka 7:0ec343d29641 243 //fclose(fp);
onaka 7:0ec343d29641 244 }
onaka 7:0ec343d29641 245
onaka 7:0ec343d29641 246 void LoadConfig(){
onaka 7:0ec343d29641 247 char value[20];
onaka 7:0ec343d29641 248 //Read a configuration file from a mbed.
onaka 7:0ec343d29641 249 if (!cfg.read("/sd/config.txt")){
onaka 7:0ec343d29641 250 pc.printf("Config file does not exist\n");
onaka 7:0ec343d29641 251 }else{
onaka 7:0ec343d29641 252 //Get values
onaka 7:0ec343d29641 253 if (cfg.getValue("target_x", &value[0], sizeof(value))) target_x = atof(value);
onaka 7:0ec343d29641 254 else{
onaka 7:0ec343d29641 255 pc.printf("Failed to get value for target_x\n");
onaka 7:0ec343d29641 256 }
onaka 7:0ec343d29641 257 if (cfg.getValue("target_y", &value[0], sizeof(value))) target_y = atof(value);
onaka 7:0ec343d29641 258 else{
onaka 7:0ec343d29641 259 pc.printf("Failed to get value for target_y\n");
onaka 7:0ec343d29641 260 }
onaka 7:0ec343d29641 261 }
onaka 7:0ec343d29641 262 }
onaka 7:0ec343d29641 263
onaka 7:0ec343d29641 264 int find_last() {
onaka 7:0ec343d29641 265 int i, n = 0;
onaka 7:0ec343d29641 266 char c;
onaka 7:0ec343d29641 267 DIR *dp;
onaka 7:0ec343d29641 268 struct dirent *dirst;
onaka 7:0ec343d29641 269 dp = opendir("/sd/");
onaka 7:0ec343d29641 270 if (!dp){
onaka 7:0ec343d29641 271 pc.printf("Could not open directry.\n");
onaka 7:0ec343d29641 272 return -1;
onaka 7:0ec343d29641 273 }
onaka 7:0ec343d29641 274 while((dirst = readdir(dp)) != NULL) {
onaka 7:0ec343d29641 275 if(sscanf(dirst->d_name, "log%03d.csv%c", &i, &c) == 1 && i>n) {
onaka 7:0ec343d29641 276 n = i;
onaka 7:0ec343d29641 277 }
onaka 7:0ec343d29641 278 }
onaka 7:0ec343d29641 279 closedir(dp);
onaka 7:0ec343d29641 280 return n;
ojan 0:bc6f14fc60c7 281 }
ojan 0:bc6f14fc60c7 282
ojan 3:5358a691a100 283 void KalmanInit() {
ojan 3:5358a691a100 284
ojan 3:5358a691a100 285 // 誤差共分散行列の値を決める（対角成分のみ）
ojan 3:5358a691a100 286 float alpha_R = 60.0f;
ojan 3:5358a691a100 287 float alpha_Q = 100.0f;
ojan 3:5358a691a100 288 R *= alpha_R;
ojan 3:5358a691a100 289 Q *= alpha_Q;
ojan 3:5358a691a100 290
ojan 3:5358a691a100 291 // 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 3:5358a691a100 292 float f[36] = {
ojan 4:45dc5590abc0 293 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 294 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 295 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 296 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 297 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 298 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 299 };
ojan 3:5358a691a100 300
ojan 3:5358a691a100 301 F.SetComps(f);
ojan 3:5358a691a100 302
ojan 3:5358a691a100 303 // 観測方程式のヤコビアンの値を設定（時間変化無し）
ojan 3:5358a691a100 304 float h[18] = {
ojan 3:5358a691a100 305 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 306 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 307 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 308 };
ojan 3:5358a691a100 309
ojan 3:5358a691a100 310 H.SetComps(h);
ojan 3:5358a691a100 311 }
ojan 3:5358a691a100 312
ojan 3:5358a691a100 313 void KalmanUpdate() {
ojan 3:5358a691a100 314 // ヤコビアンの更新
ojan 3:5358a691a100 315 float f[36] = {
ojan 4:45dc5590abc0 316 1.0f, raw_gyro.GetComp(3)*dt, -raw_gyro.GetComp(2)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 317 -raw_gyro.GetComp(3)*dt, 1.0f, raw_gyro.GetComp(1)*dt, 0.0f, 0.0f, 0.0f,
ojan 4:45dc5590abc0 318 raw_gyro.GetComp(2)*dt, -raw_gyro.GetComp(1)*dt, 1.0f, 0.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 319 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
ojan 3:5358a691a100 320 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
ojan 3:5358a691a100 321 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f
ojan 3:5358a691a100 322 };
ojan 3:5358a691a100 323
ojan 3:5358a691a100 324 F.SetComps(f);
ojan 3:5358a691a100 325
ojan 3:5358a691a100 326 // 事前推定値の更新
ojan 3:5358a691a100 327 pri_x = F * post_x;
ojan 3:5358a691a100 328 // 事前誤差分散行列の更新
ojan 3:5358a691a100 329 pri_P = F * post_P * F.Transpose() + R;
ojan 3:5358a691a100 330
ojan 3:5358a691a100 331 // カルマンゲインの計算
ojan 3:5358a691a100 332 S = Q + H * pri_P * H.Transpose();
ojan 3:5358a691a100 333 float det;
ojan 3:5358a691a100 334 if((det = S.Inverse(inv)) >= 0.0f) {
ojan 3:5358a691a100 335 pc.printf("E:%.3f\r\n", det);
ojan 3:5358a691a100 336 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 3:5358a691a100 337 }
ojan 3:5358a691a100 338 K = pri_P * H.Transpose() * inv;
ojan 3:5358a691a100 339
ojan 3:5358a691a100 340 // 事後推定値の更新
ojan 4:45dc5590abc0 341 post_x = pri_x + K * (raw_geomag - H * pri_x);
ojan 3:5358a691a100 342 // 事後誤差分散行列の更新
ojan 3:5358a691a100 343 post_P = (I - K * H) * pri_P;
ojan 3:5358a691a100 344 }
ojan 3:5358a691a100 345
ojan 9:6d4578dcc1ed 346 float distance(Vector p1, Vector p2) {
ojan 9:6d4578dcc1ed 347 if(p1.GetDim() != p2.GetDim()) return 0.0f;
ojan 9:6d4578dcc1ed 348
ojan 9:6d4578dcc1ed 349 float mu_y = (p1.GetComp(2) + p2.GetComp(2)) * 0.5f;
ojan 9:6d4578dcc1ed 350 float s_mu_y = sin(mu_y);
ojan 9:6d4578dcc1ed 351 float w = sqrt(1 - GPS_SQ_E * s_mu_y * s_mu_y);
ojan 9:6d4578dcc1ed 352 float m = GPS_A * (1 - GPS_SQ_E) / (w * w * w);
ojan 9:6d4578dcc1ed 353 float n = GPS_A / w;
ojan 9:6d4578dcc1ed 354 float d1 = m * (p1.GetComp(2) - p2.GetComp(2));
ojan 9:6d4578dcc1ed 355 float d2 = n * cos(mu_y) * (p1.GetComp(1) - p2.GetComp(1));
ojan 9:6d4578dcc1ed 356
ojan 9:6d4578dcc1ed 357 return sqrt(d1 * d1 + d2 * d2);
ojan 9:6d4578dcc1ed 358 }
ojan 9:6d4578dcc1ed 359
ojan 9:6d4578dcc1ed 360 /* -------------------- 割り込み関数 -------------------- */
ojan 9:6d4578dcc1ed 361
ojan 0:bc6f14fc60c7 362 void INT_func() {
ojan 4:45dc5590abc0 363 // センサーの値を更新
ojan 4:45dc5590abc0 364 mpu.read();
ojan 4:45dc5590abc0 365 hmc.read();
ojan 4:45dc5590abc0 366
ojan 4:45dc5590abc0 367 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 368 raw_acc.SetComp(i+1, (float)mpu.data.value.acc[i] * ACC_LSB_TO_G);
ojan 4:45dc5590abc0 369 raw_gyro.SetComp(i+1, (float)mpu.data.value.gyro[i] * GYRO_LSB_TO_DEG * DEG_TO_RAD);
ojan 4:45dc5590abc0 370 raw_geomag.SetComp(i+1, (float)hmc.data.value[i] * MAG_LSB_TO_GAUSS);
ojan 4:45dc5590abc0 371 }
ojan 0:bc6f14fc60c7 372
ojan 4:45dc5590abc0 373 Vector delta_g = Cross(raw_gyro, raw_g); // Δg = ω × g
ojan 4:45dc5590abc0 374 raw_g = 0.9f * (raw_g - delta_g * dt) + 0.1f * raw_acc.Normalize(); // 相補フィルタ
ojan 4:45dc5590abc0 375 raw_g = raw_g.Normalize();
ojan 4:45dc5590abc0 376
ojan 4:45dc5590abc0 377 KalmanUpdate();
ojan 0:bc6f14fc60c7 378
ojan 4:45dc5590abc0 379 // LPS25Hによる気圧の取得は10Hz
ojan 4:45dc5590abc0 380 lps_cnt = (lps_cnt+1)%10;
ojan 4:45dc5590abc0 381 if(lps_cnt == 0) {
ojan 4:45dc5590abc0 382 raw_press = (float)lps.pressure() * PRES_LSB_TO_HPA;
ojan 4:45dc5590abc0 383 }
ojan 4:45dc5590abc0 384 //pc.printf("%d(us)\r\n", timer.read_us());
ojan 4:45dc5590abc0 385
ojan 4:45dc5590abc0 386 if(INT_flag != FALSE) {
ojan 4:45dc5590abc0 387 g = raw_g;
ojan 4:45dc5590abc0 388 for(int i=0; i<3; i++) {
ojan 4:45dc5590abc0 389 geomag.SetComp(i+1, post_x.GetComp(i+1));
ojan 4:45dc5590abc0 390 }
ojan 4:45dc5590abc0 391 acc = raw_acc;
ojan 4:45dc5590abc0 392 gyro = raw_gyro;
ojan 4:45dc5590abc0 393 press = raw_press;
ojan 1:6cd6d2760856 394
ojan 0:bc6f14fc60c7 395 }
ojan 3:5358a691a100 396 }
ojan 3:5358a691a100 397
ojan 9:6d4578dcc1ed 398 /* -------------------- デバッグ用関数 -------------------- */
ojan 9:6d4578dcc1ed 399
ojan 3:5358a691a100 400 void toString(Matrix& m) {
ojan 3:5358a691a100 401
ojan 3:5358a691a100 402 for(int i=0; i<m.GetRow(); i++) {
ojan 3:5358a691a100 403 for(int j=0; j<m.GetCol(); j++) {
ojan 3:5358a691a100 404 pc.printf("%.6f\t", m.GetComp(i+1, j+1));
ojan 3:5358a691a100 405 }
ojan 3:5358a691a100 406 pc.printf("\r\n");
ojan 3:5358a691a100 407 }
ojan 3:5358a691a100 408
ojan 3:5358a691a100 409 }
ojan 3:5358a691a100 410
ojan 3:5358a691a100 411 void toString(Vector& v) {
ojan 3:5358a691a100 412
ojan 3:5358a691a100 413 for(int i=0; i<v.GetDim(); i++) {
ojan 3:5358a691a100 414 pc.printf("%.6f\t", v.GetComp(i+1));
ojan 3:5358a691a100 415 }
ojan 3:5358a691a100 416 pc.printf("\r\n");
ojan 3:5358a691a100 417
ojan 0:bc6f14fc60c7 418 }