HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

global.cpp@144:b3a713b4f1c4, 22 months ago (annotated)

Committer:
NaotoMorita
Date:
Wed Jun 29 07:57:10 2022 +0000
Revision:
144:b3a713b4f1c4
Parent:
143:53808e4e684c 
can fly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
NaotoMorita 67:41fcdfb7cc5a 3
cocorlow 56:888379912f81 4 // var
cocorlow 56:888379912f81 5
cocorlow 56:888379912f81 6 // communication
NaotoMorita 82:c183c29d2427 7 UsaPack pc(USBTX, USBRX, 115200); // log - tail
NaotoMorita 132:896ad37b534b 8 UsaPack sd(PG_14,PG_9, 115200);
NaotoMorita 134:d57c6b2a706b 9 UsaPack twelite(PD_1,PD_0,38400);
cocorlow 56:888379912f81 10 // io
cocorlow 56:888379912f81 11 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 12 SBUS sbus(PD_5, PD_6);
osaka 88:be349faa1976 13 I2C i2c(PB_9, PB_8);
osaka 88:be349faa1976 14 LSM9DS1 lsm(i2c);
osaka 88:be349faa1976 15 LPS lps(i2c);
NaotoMorita 99:98b892ca70ec 16 GPSUBX_UART gps(PF_7, PE_7);
NaotoMorita 119:a21e283730d1 17 CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 18 float magres = 0.0f;
cocorlow 56:888379912f81 19 // control
NaotoMorita 94:579e875a4244 20 Timer _t;
NaotoMorita 144:b3a713b4f1c4 21 FastPWM motor1(PE_9);
NaotoMorita 144:b3a713b4f1c4 22 FastPWM motor2(PE_11);
NaotoMorita 144:b3a713b4f1c4 23 FastPWM motor3(PE_13);
NaotoMorita 144:b3a713b4f1c4 24 FastPWM motor4(PA_6);
NaotoMorita 144:b3a713b4f1c4 25 FastPWM motor5(PA_0);
NaotoMorita 144:b3a713b4f1c4 26 FastPWM motor6(PB_10);
NaotoMorita 144:b3a713b4f1c4 27 PID pitchPID(0.05f,0.0f,0.0f,PID_dt); //rad
NaotoMorita 144:b3a713b4f1c4 28 PID pitchratePID(0.05f, 0.0f, 0.0f, PID_dt);//rad/s
NaotoMorita 144:b3a713b4f1c4 29 PID rollPID(0.05f,0.0f,0.0f,PID_dt);
NaotoMorita 94:579e875a4244 30 PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 144:b3a713b4f1c4 31 PID yawratePID(0.3f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 144:b3a713b4f1c4 32 PID vxPID(0.5f, 0.1f, 0.0f, PID_dt);
NaotoMorita 144:b3a713b4f1c4 33 PID vyPID(0.5f, 0.1f, 0.0f, PID_dt);
NaotoMorita 144:b3a713b4f1c4 34 PID vzPID(0.05f, 0.0f, 0.0f, PID_dt);
cocorlow 140:53dbdb207542 35 solaESKF eskf; // ESKF class
cocorlow 56:888379912f81 36
NaotoMorita 70:99f974d8960e 37 float rc[16];
cocorlow 56:888379912f81 38 int loop_count = 0;
cocorlow 56:888379912f81 39 float att_dt = 0.01f;
cocorlow 56:888379912f81 40 // position
NaotoMorita 144:b3a713b4f1c4 41 Matrix3f SensorAlignmentAG = Matrix3f::Zero();
NaotoMorita 144:b3a713b4f1c4 42 Matrix3f SensorAlignmentMAG = Matrix3f::Zero();
NaotoMorita 144:b3a713b4f1c4 43 Vector3f euler = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 44 Vector3f acc = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 45 Vector3f mag = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 46 Vector3f magref = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 47 Vector3f gyro = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 48 Vector3f vi = Vector3f::Zero();
NaotoMorita 144:b3a713b4f1c4 49 Vector3f pi = Vector3f::Zero();
NaotoMorita 92:00460f6df439 50 float palt;
NaotoMorita 98:bdaa6bbfb1d9 51 float palt0;
NaotoMorita 129:a76be8380bb2 52 float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 53 int itow_status = 0;
NaotoMorita 100:7589b663d462 54 bool gpsUpdateFlag = false;
NaotoMorita 106:2d854e92cebb 55 bool gpsLlh0Fixed = false;
NaotoMorita 127:d73a6233ee4b 56 bool headingUpdateFlag = false;
NaotoMorita 143:53808e4e684c 57 bool hinf_flag = false;
NaotoMorita 77:2bf856e3eca4 58
NaotoMorita 73:84ffa0166e6c 59 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 60 float da = 0.0f;
NaotoMorita 144:b3a713b4f1c4 61 float dr = 0.0f;
NaotoMorita 73:84ffa0166e6c 62 float dT = 0.0f;
NaotoMorita 72:267e2cfddb0b 63
NaotoMorita 144:b3a713b4f1c4 64 float scaledMotorOut[6]= {-1.0f,-1.0f,-1.0f,-1.0f,-1.0f,-1.0f};
NaotoMorita 144:b3a713b4f1c4 65 float motorOut[6] = {1100.0f,1100.0f,1100.0f,1100.0f,1100.0f,1100.0f};
NaotoMorita 93:b827f78a717a 66 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 76:7fd3ac1afe3e 67
cocorlow 56:888379912f81 68
cocorlow 56:888379912f81 69 // UsaPack
NaotoMorita 73:84ffa0166e6c 70 valuePack vp;
NaotoMorita 83:e69ab831031c 71 sendPack sp;
NaotoMorita 132:896ad37b534b 72 logPack lp;
NaotoMorita 134:d57c6b2a706b 73 telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 74
NaotoMorita 73:84ffa0166e6c 75 // HIL
NaotoMorita 144:b3a713b4f1c4 76 bool hilFlag = false;
NaotoMorita 143:53808e4e684c 77 int16_t hilDataOut = 0;
cocorlow 56:888379912f81 78
cocorlow 56:888379912f81 79 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 80 {
cocorlow 56:888379912f81 81 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 82 }
NaotoMorita 93:b827f78a717a 83
cocorlow 141:725321fe2949 84 void setDiag(Matrix3f& mat, float val){
cocorlow 141:725321fe2949 85 for (int i = 0; i < mat.cols(); i++){
NaotoMorita 143:53808e4e684c 86 for (int j = 0; j < mat.rows(); j++){
NaotoMorita 143:53808e4e684c 87 mat(i,j) = 0.0f;
NaotoMorita 143:53808e4e684c 88 }
NaotoMorita 143:53808e4e684c 89 }
NaotoMorita 143:53808e4e684c 90 for (int i = 0; i < mat.cols(); i++){
cocorlow 141:725321fe2949 91 mat(i,i) = val;
cocorlow 141:725321fe2949 92 }
cocorlow 141:725321fe2949 93 }
cocorlow 141:725321fe2949 94
cocorlow 141:725321fe2949 95 void setDiag(MatrixXf& mat, float val){
NaotoMorita 143:53808e4e684c 96 for (int i = 0; i < mat.cols(); i++){
NaotoMorita 143:53808e4e684c 97 for (int j = 0; j < mat.rows(); j++){
NaotoMorita 143:53808e4e684c 98 mat(i,j) = 0.0f;
NaotoMorita 143:53808e4e684c 99 }
NaotoMorita 143:53808e4e684c 100 }
cocorlow 141:725321fe2949 101 for (int i = 0; i < mat.cols(); i++)
cocorlow 141:725321fe2949 102 {
cocorlow 141:725321fe2949 103 mat(i, i) = val;
cocorlow 141:725321fe2949 104 }
cocorlow 141:725321fe2949 105 }
cocorlow 141:725321fe2949 106
cocorlow 139:b378528c05f2 107 //void setBlockDiag(MatrixXf& mat, float val,int startIndex, int endIndex){
cocorlow 139:b378528c05f2 108 // for (int i = startIndex; i < endIndex+1; i++){
cocorlow 139:b378528c05f2 109 // mat(i,i) = val;
cocorlow 139:b378528c05f2 110 // }
cocorlow 139:b378528c05f2 111 //}