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main.cpp
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/**
* TCL Services
* Larry Littlefield larryl@tclscom
* autopilot
*/
#include "mbed.h"
#include "math.h"
#include "rtos.h"
#include "IMU10DOF.h"
//#include "vector_math.h"
#include "helper_3dmath.h"
void pressed();
DigitalOut led1(LED1);
DigitalOut led2(PA_6);
InterruptIn mybutton(USER_BUTTON);
//Ticker cache;
Timer run_time;
uint32_t rt_st=0;
uint32_t rt_sp=0;
IMU10DOF imu(PB_9, PB_8);
byte s[4];
int Debug_pt = 0;
// autopilot
Quaternion Qset; // set point for desired attitude
Quaternion Qerr; // error values - diff fron desired - actual
Quaternion Qcur; // current orientation
Quaternion Qtmp;
int State=0; // {INIT=0 ,STANBY=1, AUTO=2, DODGE=3};
int lastState=0;
float ypr_set[3], ypr_cur[3], ypr_err[3];
float ypr[3];
float values[11]; //0-2 acc, 3-5 gyro, 6-8 magn, 9-10 baro
float Eangle, Rx, Ry, Rz; // error angle and error rotation axis
float Kpa=10, Kpe=10, Kpr=100; // alerion elevator and rudder positive proportional gains
float Da, De, Dr; // alerion elevator and rudder command
int var2=0;
AnalogIn pin3(PA_0);
void pressed() // User button oressed interupt
{
lastState=State;
State++;
State = (State % 5);
//Debug_pt++;
Debug_pt = (Debug_pt % 6);
imu.pc.printf("\nButton pressed rt_st=%d debug_pt=%d New state=%d \n", rt_st,Debug_pt, State);
}
void fill_cache()
{
uint16_t var2 = pin3.read_u16();;
imu.pc.printf("Var2-%d\n\r",var2);
}
void get_imu(void const *args)
{
if(Debug_pt==4) imu.pc.printf("start get_imu ");
float q[4];
while (1) {
imu.getValues(values);
if(Debug_pt==5) imu.pc.printf("ACC: %04.0f %04.0f %04.0f GYR: %04.0f %04.0f %04.0f MAG: %04.0f %04.0f %04.0f \n\r",values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7], values[8] );
imu.getYawPitchRoll(ypr);
if(Debug_pt==0 && State==0) imu.pc.printf("YAW: %+5.2f PITCH: %+5.2f ROLL: %+5.2f \n",ypr[0],ypr[1],ypr[2]);
imu.getQ(q);
Qcur.w = q[0];Qcur.x = q[1]; Qcur.y = q[2]; Qcur.z = q[3];
// Qcur(q[0],q[1],q[2],q[3]); //for (int i=0;i<4;i++) Qcur[i]=q[i];
if(Debug_pt==0 && State==4) {
imu.pc.printf("q=%+5.3f %+5.3f %+5.3f %+5.3f ", q[0], q[1], q[2], q[3]);
imu.pc.printf("Qcur=%+5.3f %+5.3f %+5.3f %+5.3f\n", Qcur.w, Qcur.x, Qcur.y, Qcur.z);
}
rt_st = run_time.read_us();
Thread::wait(30);
run_time.reset();
}
//imu.pc.printf("get_imu wait=%x \n",Thread::wait(20));
if(Debug_pt==1) imu.pc.printf("end get_imu ");
}
void led2_thread(void const *args) {
while (true) {
printf("Led2 on\n\r");
led2 = !led2;
// imu.pc.printf("led2_th wait=%x \n",Thread::wait(1000));
}
}
float rawHeading()
{ // heading = arctan(Y/X)
float heading = atan2f(values[7], values[6]);
if(heading < 0.0) { heading += PI2; }
if(heading > PI2) { heading -= PI2; }
return heading*180/M_PI;
}
void print_v(float * v)
{
imu.pc.printf(" = %+5.3f %+5.3f %+5.3f ", v[0], v[1], v[2]);
}
void print_q(char * Name, Quaternion q) // print a quaternion
{
imu.pc.printf(" %s= %+5.3f %+5.3f %+5.3f %+5.3f ", Name, q.w, q.x, q.y, q.z);
}
int main() {
//sensor.set_priority(osPriorityAboveNormal);
imu.pc.printf("Ceci est un Test\r\n");
imu.init(true);
imu.gyro.status(s);imu.pc.printf(" GYR: %04i %04i %04i %04i \n\r",s[0],s[1],s[2],s[3]);
imu.gyro.init();
wait(1);
imu.gyro.status(s);imu.pc.printf(" GYR2: %x %x %x %x \n\r",s[0],s[1],s[2],s[3]);
wait(2);
run_time.start();
//cache.attach(&get_imu, 0.1);
Thread sensor(get_imu);
// Thread thread(led2_thread);
mybutton.fall(&pressed); // This works on the correct pin
while (true) {
led1 = !led1;
float hr, hc, hs, he; // Tmp headingd
switch(State) {
case 0: // INIT:
imu.pc.printf("in INIT of case\n");
State++;
break;
case 1: // STANDBY:
imu.pc.printf("STANBY: ");
imu.pc.printf("YAW: %+5.2f PITCH: %+5.2f ROLL: %+5.2f \n",ypr[0],ypr[1],ypr[2]);
break;
case 2: // AUTO:
if (lastState!=2) {
Qset=Qcur;
lastState=2;
}
// Qerror = Qdesired * inverse of Qcurrent
Qerr = Qset.getProduct( Qcur.getConjugate());
Eangle = 2.0f * acosf(Qerr.w); // the error angle
//imu.pc.printf(" Error angle %+6.2f ",Eangle);
Rx = Qerr.x / sinf( Eangle / 2.0f); // error rotation axis
Ry = Qerr.y / sinf( Eangle / 2.0f);
Rz = Qerr.z / sinf( Eangle / 2.0f);
// alerion elevator and rudder command with Kp positive proportional gains
// If I had the rates I could subtract Kd's ( positive derivative gains. )
// for derivative terms using the measured body rates p, q and r as:
Da = Kpa * Eangle * Rx; // - Kda * P ; // alerion command with Kp positive proportional gains
De = Kpe * Eangle * Ry; // - Kde * Q ; // elevator command with Kp positive proportional gains
Dr = Kpr * Eangle * Rz; // - Kdr * R ; // rudder command with Kp positive proportional gains
// So now Dr is the command to the rudder.
//print_q("Qcur", Qcur);
//print_q("Qset", Qset);
//imu.pc.printf("\n");
//Qset.getYawPitchRoll(ypr_set);
//Qcur.getYawPitchRoll(ypr_cur);
//print_v(ypr_set);
//print_v(ypr_cur);
//print_q("Qerr", Qerr);
//hr = rawHeading();
hc=Qcur.getHeading();
hs=Qset.getHeading();
//he=Qerr.getHeading();
//imu.pc.printf("RawHead %+6.2f Cur.head %+6.2f Set.head %+6.2f Err.head %+6.2f ", hr, hc, hs, he);
imu.pc.printf("Set %+6.2f Cur %+6.2f ", hs, hc);
//imu.pc.printf("\n");
//imu.pc.printf(" Error angle %+6.2f and commands %+6.4f %+6.4f %+6.4f \n", Eangle*180/M_PI, Da, De, Dr);
imu.pc.printf(" Commands %+6.4f %+6.4f %+6.4f ", Da, De, Dr);
imu.pc.printf("\n");
break;
case 3: //DODGE:
if (lastState!=3) {
Qset=Qcur;
Qerr=Qcur;
}
Qcur.getEulerRad(ypr_cur);
Qset.getEulerRad(ypr_set);
Qerr.getEulerRad(ypr_err);
print_v(ypr_set);
print_v(ypr_cur);
print_v(ypr_err);
imu.pc.printf("\n");
break;
case 6: //test
for (int i=2;i<8;i++){
imu.pc.printf("inv sqrt of %d is %f\n", (i*i), invSqrt((float)(i*i)));
}
wait(3);
break;
default:
imu.pc.printf("in default of case, state=%d\n", State);
}
//print_q("Qcur",Qcur);
Thread::wait(100);
// get_imu();
// float ypr[3];
// float values[9];
// imu.getValues(values);;
// imu.pc.printf("ACC: %04.0f %04.0f %04.0f GYR: %04.0f %04.0f %04.0f MAG: %04.0f %04.0f %04.0f \n\r",values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7], values[8] );
// imu.getYawPitchRoll(ypr);
// imu.pc.printf("YAW: %+5.2f PITCH: %+5.2f ROLL: %+5.2f \n",ypr[0],ypr[1],ypr[2]);
wait(0.01);
}
}