Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

SensorFusion.h@43:6251c0169f4f, 2015-05-27 (annotated)

Committer:
pvaibhav
Date:
Wed May 27 11:45:00 2015 +0000
Revision:
43:6251c0169f4f
Parent:
40:8e852115fe55
Child:
44:5483079fa156
Child:
46:fd5a62296b12
9-axis sensor fusion class added, accelerometer switched to 16G range

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 15:4488660e1a3b 1 #ifndef _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 2 #define _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 3
pvaibhav 15:4488660e1a3b 4 #include "I2CPeripheral.h"
pvaibhav 15:4488660e1a3b 5 #include "Magnetometer.h"
pvaibhav 15:4488660e1a3b 6 #include "Accelerometer.h"
pvaibhav 15:4488660e1a3b 7 #include "Gyroscope.h"
pvaibhav 15:4488660e1a3b 8 #include "Quaternion.h"
pvaibhav 40:8e852115fe55 9 #include "Filter.h"
pvaibhav 15:4488660e1a3b 10
pvaibhav 40:8e852115fe55 11 class SensorFusion
pvaibhav 15:4488660e1a3b 12 {
pvaibhav 15:4488660e1a3b 13 public:
pvaibhav 20:503cbe360419 14 class Delegate
pvaibhav 20:503cbe360419 15 {
pvaibhav 21:5a0c9406e119 16 public:
pvaibhav 34:01dec68de3ed 17 virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
pvaibhav 20:503cbe360419 18 };
pvaibhav 20:503cbe360419 19
pvaibhav 40:8e852115fe55 20 void setDelegate(Delegate &d) { delegate = &d; }
pvaibhav 40:8e852115fe55 21
pvaibhav 40:8e852115fe55 22 virtual bool start() { return false; }
pvaibhav 40:8e852115fe55 23 virtual void stop() {}
pvaibhav 15:4488660e1a3b 24
pvaibhav 40:8e852115fe55 25 protected:
pvaibhav 40:8e852115fe55 26 // protected ctor so that base class cannot be instantiated directly
pvaibhav 40:8e852115fe55 27 SensorFusion() : delegate(&defaultDelegate), q(1, 0, 0, 0) {}
pvaibhav 40:8e852115fe55 28 Delegate defaultDelegate; // to avoid check for existence every time
pvaibhav 40:8e852115fe55 29 Delegate* delegate;
pvaibhav 40:8e852115fe55 30 Quaternion q;
pvaibhav 40:8e852115fe55 31 };
pvaibhav 15:4488660e1a3b 32
pvaibhav 40:8e852115fe55 33 class SensorFusion6 : public SensorFusion, public Sensor::Delegate
pvaibhav 40:8e852115fe55 34 {
pvaibhav 40:8e852115fe55 35 public:
pvaibhav 40:8e852115fe55 36 SensorFusion6(I2C &i2c);
pvaibhav 40:8e852115fe55 37 virtual void sensorUpdate(Vector3 gyro_degrees);
pvaibhav 40:8e852115fe55 38 virtual bool start();
pvaibhav 40:8e852115fe55 39 virtual void stop();
pvaibhav 40:8e852115fe55 40
pvaibhav 40:8e852115fe55 41 protected:
pvaibhav 40:8e852115fe55 42 Accelerometer accel;
pvaibhav 40:8e852115fe55 43 Gyroscope gyro;
pvaibhav 40:8e852115fe55 44 float const deltat, beta;
pvaibhav 40:8e852115fe55 45
pvaibhav 40:8e852115fe55 46 LowPassFilter lowpassX;
pvaibhav 40:8e852115fe55 47 LowPassFilter lowpassY;
pvaibhav 40:8e852115fe55 48 LowPassFilter lowpassZ;
pvaibhav 40:8e852115fe55 49
pvaibhav 35:fb6e4601adf3 50 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
pvaibhav 15:4488660e1a3b 51 };
pvaibhav 15:4488660e1a3b 52
pvaibhav 43:6251c0169f4f 53 class SensorFusion9 : public SensorFusion6
pvaibhav 43:6251c0169f4f 54 {
pvaibhav 43:6251c0169f4f 55 public:
pvaibhav 43:6251c0169f4f 56 SensorFusion9(I2C &i2c);
pvaibhav 43:6251c0169f4f 57 virtual void sensorUpdate(Vector3 gyro_degrees);
pvaibhav 43:6251c0169f4f 58 virtual bool start();
pvaibhav 43:6251c0169f4f 59 virtual void stop();
pvaibhav 43:6251c0169f4f 60
pvaibhav 43:6251c0169f4f 61 protected:
pvaibhav 43:6251c0169f4f 62 Magnetometer magneto;
pvaibhav 43:6251c0169f4f 63 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
pvaibhav 43:6251c0169f4f 64 };
pvaibhav 43:6251c0169f4f 65
pvaibhav 15:4488660e1a3b 66 #endif