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.hpp@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 #ifndef __GLOBAL_HPP__
cocorlow 56:888379912f81 2 #define __GLOBAL_HPP__
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 #include "mbed.h"
NaotoMorita 70:99f974d8960e 5 #include "SBUS.hpp"
cocorlow 56:888379912f81 6 #include "PIDcontroller.h"
cocorlow 56:888379912f81 7 #include "LoopTicker.hpp"
cocorlow 56:888379912f81 8 #include "FastPWM.h"
cocorlow 56:888379912f81 9 #include <cmath>
cocorlow 56:888379912f81 10 #include "UsaPack.hpp"
osaka 88:be349faa1976 11 #include "LSM9DS1.h"
osaka 88:be349faa1976 12 #include "LPS.h"
NaotoMorita 119:a21e283730d1 13 #include "CalibrateMagneto.h"
NaotoMorita 90:96c2b0ed4b96 14 #include "solaESKF.hpp"
osaka 96:3645f8f9bdd3 15 #include "GPSUBX_UART.hpp"
cocorlow 56:888379912f81 16
cocorlow 139:b378528c05f2 17 // Eigen
cocorlow 139:b378528c05f2 18 #include <Eigen/Dense.h>
cocorlow 141:725321fe2949 19 //#include <Eigen/Core.h>
cocorlow 141:725321fe2949 20 //#include <Eigen/LU.h>
cocorlow 141:725321fe2949 21 //#include <Eigen/Geometry.h>
cocorlow 139:b378528c05f2 22 //using namespace std;
cocorlow 139:b378528c05f2 23 using namespace Eigen;
cocorlow 139:b378528c05f2 24
NaotoMorita 104:20b8caa29185 25 #define magresThreshold 0.025f
cocorlow 56:888379912f81 26 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 27 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 28 #define PID_dt 0.015f
cocorlow 56:888379912f81 29 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 30 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 31 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 32 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 33
cocorlow 139:b378528c05f2 34 #ifndef M_PI_F
cocorlow 139:b378528c05f2 35 #define M_PI_F 3.141592f
cocorlow 139:b378528c05f2 36 #endif
osaka 88:be349faa1976 37
NaotoMorita 143:53808e4e684c 38
cocorlow 56:888379912f81 39 struct valuePack
cocorlow 56:888379912f81 40 {
NaotoMorita 73:84ffa0166e6c 41 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 42 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 43 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 44 int16_t viData[3];
NaotoMorita 92:00460f6df439 45 int16_t piData[3];
NaotoMorita 143:53808e4e684c 46 //int16_t airspeed;
NaotoMorita 143:53808e4e684c 47 //int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 48 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 49 int16_t commandVal;
NaotoMorita 83:e69ab831031c 50 };
NaotoMorita 83:e69ab831031c 51
NaotoMorita 83:e69ab831031c 52 struct sendPack
NaotoMorita 83:e69ab831031c 53 {
NaotoMorita 144:b3a713b4f1c4 54 float motor[6];
NaotoMorita 143:53808e4e684c 55 float euler[3];
NaotoMorita 143:53808e4e684c 56 float state[4];
NaotoMorita 143:53808e4e684c 57 float variance[3];
NaotoMorita 143:53808e4e684c 58
cocorlow 56:888379912f81 59 };
NaotoMorita 132:896ad37b534b 60 struct logPack
NaotoMorita 132:896ad37b534b 61 {
NaotoMorita 143:53808e4e684c 62 float time; // 1
NaotoMorita 143:53808e4e684c 63 float hertz; // 2
NaotoMorita 143:53808e4e684c 64 float gpsFix; // 3
NaotoMorita 143:53808e4e684c 65 float da; // 4
NaotoMorita 143:53808e4e684c 66 float de; // 5
NaotoMorita 143:53808e4e684c 67 float dT; // 6
NaotoMorita 143:53808e4e684c 68 float rpy[3]; // 7 8 9
NaotoMorita 143:53808e4e684c 69 float pihat[3]; // 10 11 12
NaotoMorita 143:53808e4e684c 70 float vihat[3]; // 13 14 15
NaotoMorita 143:53808e4e684c 71 float pi[3]; // 16 17 18
NaotoMorita 143:53808e4e684c 72 float vi[3]; // 19 20 21
NaotoMorita 143:53808e4e684c 73 float palt; // 22
NaotoMorita 143:53808e4e684c 74 float acc[3]; // 23 24 25
NaotoMorita 143:53808e4e684c 75 float gyro[3]; // 26 27 28
NaotoMorita 143:53808e4e684c 76 float mag[3]; // 29 30 31
NaotoMorita 143:53808e4e684c 77 float rc[16]; // 32 ... 47
NaotoMorita 143:53808e4e684c 78 float wind[3]; // 48 49 50
NaotoMorita 143:53808e4e684c 79 float pitch_obj; // 51
NaotoMorita 143:53808e4e684c 80 float roll_obj; // 52
NaotoMorita 143:53808e4e684c 81 float u_pitot; // 53
NaotoMorita 132:896ad37b534b 82 };
cocorlow 56:888379912f81 83
NaotoMorita 134:d57c6b2a706b 84 struct telemetryPack
NaotoMorita 134:d57c6b2a706b 85 {
NaotoMorita 143:53808e4e684c 86 float pi[3];
NaotoMorita 143:53808e4e684c 87 float rpy_l[3];
NaotoMorita 143:53808e4e684c 88 float rpy_c[3];
NaotoMorita 143:53808e4e684c 89 float rpy_r[3];
NaotoMorita 143:53808e4e684c 90 float vi[3];
NaotoMorita 143:53808e4e684c 91 float palt;
NaotoMorita 143:53808e4e684c 92 float gps_fix;
NaotoMorita 143:53808e4e684c 93 float mode; //preflight:0, flight:1
NaotoMorita 134:d57c6b2a706b 94 float time;
NaotoMorita 143:53808e4e684c 95 float gps_acc;
NaotoMorita 143:53808e4e684c 96 float vx_opt;
NaotoMorita 143:53808e4e684c 97 float vy_opt;
NaotoMorita 143:53808e4e684c 98 float dist_ir;
NaotoMorita 143:53808e4e684c 99 float voltage[2];
NaotoMorita 143:53808e4e684c 100 float current[2];
NaotoMorita 143:53808e4e684c 101 float wind[3];
NaotoMorita 143:53808e4e684c 102 float pitch_obj;
NaotoMorita 143:53808e4e684c 103 float roll_obj;
NaotoMorita 143:53808e4e684c 104 float hinf;
NaotoMorita 143:53808e4e684c 105 float u_pitot;
NaotoMorita 134:d57c6b2a706b 106 };
NaotoMorita 134:d57c6b2a706b 107
cocorlow 56:888379912f81 108 // var
cocorlow 56:888379912f81 109
cocorlow 56:888379912f81 110 // communication
osaka 88:be349faa1976 111
NaotoMorita 64:e9661430f0e3 112 extern UsaPack pc; // log - tail
NaotoMorita 132:896ad37b534b 113 extern UsaPack sd;
NaotoMorita 133:346ce20b3950 114 extern UsaPack twelite;
cocorlow 56:888379912f81 115
cocorlow 56:888379912f81 116 // io
cocorlow 56:888379912f81 117 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 118 extern SBUS sbus;
osaka 88:be349faa1976 119 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 120 extern LSM9DS1 lsm;
osaka 88:be349faa1976 121 extern LPS lps;
osaka 96:3645f8f9bdd3 122 extern GPSUBX_UART gps;
NaotoMorita 119:a21e283730d1 123 extern CalibrateMagneto magCalibrator;
NaotoMorita 143:53808e4e684c 124
cocorlow 56:888379912f81 125 // control
NaotoMorita 94:579e875a4244 126 extern Timer _t;
NaotoMorita 144:b3a713b4f1c4 127 extern FastPWM motor1;
NaotoMorita 144:b3a713b4f1c4 128 extern FastPWM motor2;
NaotoMorita 144:b3a713b4f1c4 129 extern FastPWM motor3;
NaotoMorita 144:b3a713b4f1c4 130 extern FastPWM motor4;
NaotoMorita 144:b3a713b4f1c4 131 extern FastPWM motor5;
NaotoMorita 144:b3a713b4f1c4 132 extern FastPWM motor6;
NaotoMorita 70:99f974d8960e 133 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 134 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 135 extern PID rollPID;
NaotoMorita 70:99f974d8960e 136 extern PID rollratePID;//rad/s
NaotoMorita 143:53808e4e684c 137 extern PID yawratePID;//rad/s
NaotoMorita 144:b3a713b4f1c4 138 extern PID vxPID;//m/s
NaotoMorita 144:b3a713b4f1c4 139 extern PID vyPID;//m/s
NaotoMorita 144:b3a713b4f1c4 140 extern PID vzPID;//m/s
NaotoMorita 144:b3a713b4f1c4 141
cocorlow 140:53dbdb207542 142 extern solaESKF eskf; // EKF class
NaotoMorita 144:b3a713b4f1c4 143
cocorlow 56:888379912f81 144
NaotoMorita 70:99f974d8960e 145 extern float rc[16];
cocorlow 56:888379912f81 146 extern int loop_count;
cocorlow 56:888379912f81 147 extern float att_dt;
cocorlow 56:888379912f81 148
NaotoMorita 70:99f974d8960e 149
cocorlow 56:888379912f81 150 // position
cocorlow 139:b378528c05f2 151 extern Matrix3f SensorAlignmentAG;
cocorlow 139:b378528c05f2 152 extern Matrix3f SensorAlignmentMAG;
cocorlow 139:b378528c05f2 153 extern Vector3f euler;
cocorlow 139:b378528c05f2 154 extern Vector3f acc;
cocorlow 139:b378528c05f2 155 extern Vector3f mag;
cocorlow 139:b378528c05f2 156 extern Vector3f magref;
cocorlow 139:b378528c05f2 157 extern Vector3f gyro;
cocorlow 139:b378528c05f2 158 extern Vector3f vi;
cocorlow 139:b378528c05f2 159 extern Vector3f pi;
NaotoMorita 92:00460f6df439 160 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 161 extern float palt0;
NaotoMorita 129:a76be8380bb2 162 extern float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 163 extern int itow_status;
NaotoMorita 100:7589b663d462 164 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 165 extern bool gpsLlh0Fixed;
NaotoMorita 127:d73a6233ee4b 166 extern bool headingUpdateFlag;
NaotoMorita 143:53808e4e684c 167 extern bool hinf_flag;
osaka 87:89bbbcdb667b 168
NaotoMorita 73:84ffa0166e6c 169 extern float de;
NaotoMorita 73:84ffa0166e6c 170 extern float da;
NaotoMorita 144:b3a713b4f1c4 171 extern float dr;
NaotoMorita 73:84ffa0166e6c 172 extern float dT;
cocorlow 56:888379912f81 173
NaotoMorita 144:b3a713b4f1c4 174 extern float scaledMotorOut[6];
NaotoMorita 144:b3a713b4f1c4 175 extern float motorOut[6];
cocorlow 56:888379912f81 176
NaotoMorita 93:b827f78a717a 177 extern float agoffset[6];
cocorlow 56:888379912f81 178
cocorlow 56:888379912f81 179
cocorlow 56:888379912f81 180 //// UsaPack
NaotoMorita 73:84ffa0166e6c 181 extern valuePack vp;
NaotoMorita 83:e69ab831031c 182 extern sendPack sp;
NaotoMorita 132:896ad37b534b 183 extern logPack lp;
NaotoMorita 134:d57c6b2a706b 184 extern telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 185
NaotoMorita 73:84ffa0166e6c 186 // HIL
NaotoMorita 73:84ffa0166e6c 187 extern bool hilFlag;
NaotoMorita 143:53808e4e684c 188 extern int16_t hilDataOut;
NaotoMorita 143:53808e4e684c 189
cocorlow 56:888379912f81 190 // function
cocorlow 56:888379912f81 191
cocorlow 56:888379912f81 192 // main.cpp
cocorlow 56:888379912f81 193
cocorlow 56:888379912f81 194 // setup.cpp
cocorlow 56:888379912f81 195 extern void setup();
cocorlow 56:888379912f81 196 extern void calibrate();
NaotoMorita 143:53808e4e684c 197
NaotoMorita 143:53808e4e684c 198 // preflight.cpp
NaotoMorita 143:53808e4e684c 199 extern void preflightCalibration();
NaotoMorita 143:53808e4e684c 200 extern void preflightCheck();
NaotoMorita 143:53808e4e684c 201 extern void setEskfCov();
NaotoMorita 143:53808e4e684c 202
cocorlow 56:888379912f81 203 // run.cpp
cocorlow 56:888379912f81 204 extern void run();
cocorlow 56:888379912f81 205
cocorlow 56:888379912f81 206 // imu.cpp
osaka 88:be349faa1976 207 extern void getIMUval();
cocorlow 56:888379912f81 208
osaka 96:3645f8f9bdd3 209 //gps.cpp
osaka 96:3645f8f9bdd3 210 extern void getGPSval();
osaka 97:2b3242c2dd85 211 extern void change_refpos();
osaka 96:3645f8f9bdd3 212
NaotoMorita 73:84ffa0166e6c 213 // hil.cpp
NaotoMorita 92:00460f6df439 214 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 215 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 216 extern float randn();
NaotoMorita 73:84ffa0166e6c 217
osaka 109:eb255fc4462b 218 //autopilot.cpp
osaka 109:eb255fc4462b 219 extern void level_flight();
osaka 109:eb255fc4462b 220 extern void point_guide();
osaka 109:eb255fc4462b 221 extern void turning();
osaka 137:240588882ae2 222 extern void climb();
cocorlow 139:b378528c05f2 223 extern Vector3f calc_vdot();
osaka 109:eb255fc4462b 224
cocorlow 56:888379912f81 225 // servo.cpp
cocorlow 56:888379912f81 226 extern void calcServoOut();
cocorlow 56:888379912f81 227
osaka 87:89bbbcdb667b 228 // transferData.cpp
osaka 87:89bbbcdb667b 229 extern void sendData2PC();
osaka 87:89bbbcdb667b 230 extern void sendTelemetry();
osaka 87:89bbbcdb667b 231 extern void writeSDcard();
cocorlow 56:888379912f81 232
cocorlow 56:888379912f81 233 // global.cpp
cocorlow 56:888379912f81 234 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 139:b378528c05f2 235 extern void setDiag(Matrix3f& mat, float val);
cocorlow 141:725321fe2949 236 extern void setDiag(MatrixXf& mat, float val);
cocorlow 141:725321fe2949 237 //extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 238 #endif