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@ -9,9 +9,16 @@ namespace ugv { |
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static const char *TAG = "ugv_main"; |
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static const char *TAG = "ugv_main"; |
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constexpr uint64_t LOOP_PERIOD_US = 1e6 / 100; |
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constexpr uint64_t LOOP_PERIOD_US = 1e6 / 100; |
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constexpr float LOOP_PERIOD_S = 1000000.f / static_cast<float>(LOOP_PERIOD_US); |
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constexpr float LOOP_HZ = 1000000.f / static_cast<float>(LOOP_PERIOD_US); |
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constexpr float LOOP_PERIOD_S = 1 / LOOP_HZ; |
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constexpr TickType_t WATCHDOG_TICKS = pdMS_TO_TICKS(20 * 1000); |
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constexpr TickType_t WATCHDOG_TICKS = pdMS_TO_TICKS(20 * 1000); |
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constexpr uint64_t NOISE_PERIOD_US = 2000e3; |
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constexpr float NOISE_PERIOD_S = static_cast<float>(NOISE_PERIOD_US) * 1.e-6f; |
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constexpr float ACCEL_NOISE_THRESHOLD = 0.001; |
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constexpr float GYRO_NOISE_THRESHOLD = 0.3; |
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void UpdateLocationFromGPS(comms::messages::Location &location, |
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void UpdateLocationFromGPS(comms::messages::Location &location, |
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const io::GpsData & gps_data) { |
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const io::GpsData & gps_data) { |
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location.set_fix_quality(gps_data.fix_quality); |
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location.set_fix_quality(gps_data.fix_quality); |
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@ -65,7 +72,7 @@ void UGV::SetTarget(LatLong target) { target_ = target; } |
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void UGV::Init() { |
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void UGV::Init() { |
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esp_timer_init(); |
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esp_timer_init(); |
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ahrs_.begin(LOOP_PERIOD_S); // rough sample frequency
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ahrs_.begin(LOOP_HZ); // rough sample frequency
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io->Init(); |
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io->Init(); |
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comms->Init(); |
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comms->Init(); |
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@ -79,6 +86,7 @@ void UGV::Init() { |
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esp_timer_create(&timer_args, &this->timer_handle); |
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esp_timer_create(&timer_args, &this->timer_handle); |
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esp_timer_start_periodic(timer_handle, LOOP_PERIOD_US); |
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esp_timer_start_periodic(timer_handle, LOOP_PERIOD_US); |
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last_print_ = 0; |
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last_print_ = 0; |
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last_noise_ = 0; |
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} |
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} |
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void UGV::UpdateAHRS() { |
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void UGV::UpdateAHRS() { |
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@ -98,11 +106,11 @@ void UGV::UpdateAHRS() { |
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void UGV::DoDebugPrint() { |
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void UGV::DoDebugPrint() { |
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auto &mpu = inputs_.mpu; |
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auto &mpu = inputs_.mpu; |
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ESP_LOGD(TAG, "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)", |
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ESP_LOGV(TAG, "inputs: acc=(%f, %f, %f) gyro=(%f, %f, %f) mag=(%f, %f, %f)", |
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mpu.accel.x, mpu.accel.y, mpu.accel.z, mpu.gyro_rate.x, |
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mpu.accel.x, mpu.accel.y, mpu.accel.z, mpu.gyro_rate.x, |
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mpu.gyro_rate.y, mpu.gyro_rate.z, mpu.mag.x, mpu.mag.y, mpu.mag.z); |
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mpu.gyro_rate.y, mpu.gyro_rate.z, mpu.mag.x, mpu.mag.y, mpu.mag.z); |
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ESP_LOGD(TAG, "ahrs: yaw=%f, pitch=%f, roll=%f", yaw_, pitch_, roll_); |
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ESP_LOGD(TAG, "ahrs: yaw=%f, pitch=%f, roll=%f", yaw_, pitch_, roll_); |
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ESP_LOGD(TAG, "target angle: %f", angle_controller_.Setpoint()); |
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ESP_LOGV(TAG, "target angle: %f", angle_controller_.Setpoint()); |
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} |
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} |
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void UGV::ReadComms() { |
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void UGV::ReadComms() { |
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@ -111,6 +119,7 @@ void UGV::ReadComms() { |
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comms->status.set_yaw_angle(yaw_); |
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comms->status.set_yaw_angle(yaw_); |
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comms->status.set_pitch_angle(pitch_); |
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comms->status.set_pitch_angle(pitch_); |
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comms->status.set_roll_angle(roll_); |
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comms->status.set_roll_angle(roll_); |
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comms->status.set_is_still(is_still_); |
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UGV_State comms_ugv_state = comms->status.state(); |
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UGV_State comms_ugv_state = comms->status.state(); |
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TickType_t ticks_since_last_packet = |
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TickType_t ticks_since_last_packet = |
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(xTaskGetTickCount() - comms->last_packet_tick); |
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(xTaskGetTickCount() - comms->last_packet_tick); |
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@ -148,14 +157,6 @@ void UGV::OnTick() { |
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io->ReadInputs(inputs_); |
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io->ReadInputs(inputs_); |
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UpdateAHRS(); |
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UpdateAHRS(); |
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if (time_us >= last_print_ + 500 * 1000) { |
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DoDebugPrint(); |
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last_print_ = time_us; |
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} |
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ReadComms(); |
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next_state_ = current_state_; |
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angle_controller_.Input(yaw_); |
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angle_controller_.Input(yaw_); |
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float drive_power = 0.; |
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float drive_power = 0.; |
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outputs_.left_motor = 0.0; |
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outputs_.left_motor = 0.0; |
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@ -165,6 +166,28 @@ void UGV::OnTick() { |
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auto min_flip_pitch = conf_.min_flip_pitch(); |
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auto min_flip_pitch = conf_.min_flip_pitch(); |
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bool is_upside_down = (pitch > min_flip_pitch) || (pitch < -min_flip_pitch); |
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bool is_upside_down = (pitch > min_flip_pitch) || (pitch < -min_flip_pitch); |
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io::Vec3f d_accel = inputs_.mpu.accel - last_mpu_.accel; |
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io::Vec3f d_gyro = inputs_.mpu.gyro_rate - last_mpu_.gyro_rate; |
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last_mpu_ = inputs_.mpu; |
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accel_noise_accum_ += d_accel.norm2() * LOOP_PERIOD_S; |
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gyro_noise_accum_ += d_gyro.norm2() * LOOP_PERIOD_S; |
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if (time_us >= last_noise_ + NOISE_PERIOD_US) { |
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accel_noise_ = accel_noise_accum_ / NOISE_PERIOD_S; |
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gyro_noise_ = gyro_noise_accum_ / NOISE_PERIOD_S; |
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is_still_ = (accel_noise_ < ACCEL_NOISE_THRESHOLD) && |
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(gyro_noise_ < GYRO_NOISE_THRESHOLD); |
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ESP_LOGD(TAG, "is still: %s, accel noise: %f, gyro noise: %f", |
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is_still_ ? "still" : "moving", accel_noise_, gyro_noise_); |
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accel_noise_accum_ = 0; |
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gyro_noise_accum_ = 0; |
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last_noise_ = time_us; |
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} |
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ReadComms(); |
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next_state_ = current_state_; |
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switch (current_state_) { |
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switch (current_state_) { |
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default: |
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default: |
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ESP_LOGW(TAG, "unhandled state: %d", current_state_); |
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ESP_LOGW(TAG, "unhandled state: %d", current_state_); |
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@ -271,6 +294,11 @@ void UGV::OnTick() { |
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comms->Lock(); |
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comms->Lock(); |
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comms->status.set_state(next_state_); |
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comms->status.set_state(next_state_); |
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comms->Unlock(); |
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comms->Unlock(); |
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if (time_us >= last_print_ + 500 * 1000) { |
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DoDebugPrint(); |
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last_print_ = time_us; |
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} |
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} |
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} |
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UGV *the_ugv; |
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UGV *the_ugv; |
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