52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
#include "Filters/Kalman2DFilter.hpp"
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#include "GyverBME280.h"
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#include "I2Cdev.h"
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#include "MPU6050_6Axis_MotionApps20.h"
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#include "RF/BluetoothDispatcher.hpp"
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#include "Sensors/Barometer.hpp"
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#include "Sensors/BatteryController.hpp"
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#include "Sensors/MPU.hpp"
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#include "Wire.h"
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#include "board_pins.h"
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#include <Arduino.h>
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TwoWire i2c = TwoWire(0);
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Barometer barometer(new GyverBME280(i2c));
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MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
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Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
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BatteryController battery;
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BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
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void setup() {
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Serial.begin(115200);
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Serial.print("Ininitialize I2C...");
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Serial.println(i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000));
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Serial.print("Ininitialize BMP280...");
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Serial.println(barometer.initialize());
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Serial.print("Ininitialize MPU6050...");
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Serial.println(mpu.initialize());
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Serial.print("Ininitialize Bluetooth...");
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Serial.println(bluetoothDispatcher.initialize());
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battery.initialize();
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barometer.measureBaseAltitudeSync();
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Serial.println("System initialized");
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}
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void loop() {
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bool err;
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barometer.tick();
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if (mpu.tick(err) && !err) {
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float kalmanAltitude, ZVelocityAltitude;
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float barometerAltitude = barometer.flightHeight();
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kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
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//Serial.print(barometerAltitude);
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}
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bluetoothDispatcher.tick();
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delay(1);
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} |