Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
SensorFusion.cpp@25:abb0f208e6a9, 2015-04-17 (annotated)
- Committer:
- pvaibhav
- Date:
- Fri Apr 17 12:08:00 2015 +0000
- Revision:
- 25:abb0f208e6a9
- Parent:
- 24:23eae343c631
- Child:
- 26:8f3e4e1a3acc
- Barometer now uses first 100 samples to find zero point.; - LED driver updated for SML2 v95; - Comment corrected about gyro rate; - SensorFusion beta reduced to 0.5 (should reduce some noise)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pvaibhav | 15:4488660e1a3b | 1 | #include "SensorFusion.h" |
pvaibhav | 15:4488660e1a3b | 2 | |
pvaibhav | 15:4488660e1a3b | 3 | #define DEBUG "SensorFusion" |
pvaibhav | 15:4488660e1a3b | 4 | #include "Logger.h" |
pvaibhav | 15:4488660e1a3b | 5 | |
pvaibhav | 21:5a0c9406e119 | 6 | SensorFusion::SensorFusion(I2C &i2c) : |
pvaibhav | 21:5a0c9406e119 | 7 | delegate(&defaultDelegate), |
pvaibhav | 21:5a0c9406e119 | 8 | accel(i2c), gyro(i2c), magneto(i2c), |
pvaibhav | 15:4488660e1a3b | 9 | q(1, 0, 0, 0), // output quaternion |
pvaibhav | 15:4488660e1a3b | 10 | deltat(0.010), // sec |
pvaibhav | 25:abb0f208e6a9 | 11 | beta(0.5) // correction gain |
pvaibhav | 15:4488660e1a3b | 12 | { |
pvaibhav | 20:503cbe360419 | 13 | } |
pvaibhav | 20:503cbe360419 | 14 | |
pvaibhav | 20:503cbe360419 | 15 | void SensorFusion::setDelegate(SensorFusion::Delegate &d) |
pvaibhav | 20:503cbe360419 | 16 | { |
pvaibhav | 20:503cbe360419 | 17 | delegate = &d; |
pvaibhav | 15:4488660e1a3b | 18 | } |
pvaibhav | 15:4488660e1a3b | 19 | |
pvaibhav | 15:4488660e1a3b | 20 | bool SensorFusion::start() |
pvaibhav | 15:4488660e1a3b | 21 | { |
pvaibhav | 15:4488660e1a3b | 22 | accel.powerOn(); |
pvaibhav | 15:4488660e1a3b | 23 | accel.start(); |
pvaibhav | 15:4488660e1a3b | 24 | |
pvaibhav | 15:4488660e1a3b | 25 | magneto.powerOn(); |
pvaibhav | 15:4488660e1a3b | 26 | if (magneto.performSelfTest() == false) { |
pvaibhav | 15:4488660e1a3b | 27 | return false; |
pvaibhav | 15:4488660e1a3b | 28 | } |
pvaibhav | 15:4488660e1a3b | 29 | magneto.start(); |
pvaibhav | 15:4488660e1a3b | 30 | |
pvaibhav | 15:4488660e1a3b | 31 | // Since everything is synced to gyro interrupt, start it last |
pvaibhav | 15:4488660e1a3b | 32 | gyro.setDelegate(*this); |
pvaibhav | 15:4488660e1a3b | 33 | gyro.powerOn(); |
pvaibhav | 15:4488660e1a3b | 34 | gyro.start(); |
pvaibhav | 15:4488660e1a3b | 35 | |
pvaibhav | 15:4488660e1a3b | 36 | return true; |
pvaibhav | 15:4488660e1a3b | 37 | } |
pvaibhav | 15:4488660e1a3b | 38 | |
pvaibhav | 15:4488660e1a3b | 39 | void SensorFusion::stop() |
pvaibhav | 15:4488660e1a3b | 40 | { |
pvaibhav | 15:4488660e1a3b | 41 | gyro.stop(); |
pvaibhav | 15:4488660e1a3b | 42 | magneto.stop(); |
pvaibhav | 15:4488660e1a3b | 43 | accel.stop(); |
pvaibhav | 15:4488660e1a3b | 44 | |
pvaibhav | 15:4488660e1a3b | 45 | gyro.powerOff(); |
pvaibhav | 15:4488660e1a3b | 46 | magneto.powerOff(); |
pvaibhav | 15:4488660e1a3b | 47 | accel.powerOff(); |
pvaibhav | 15:4488660e1a3b | 48 | } |
pvaibhav | 15:4488660e1a3b | 49 | |
pvaibhav | 15:4488660e1a3b | 50 | static float const deg_to_radian = 0.0174532925f; |
pvaibhav | 15:4488660e1a3b | 51 | static float const radian_to_deg = 57.2957795131f; |
pvaibhav | 15:4488660e1a3b | 52 | |
pvaibhav | 17:e9d42864c8a1 | 53 | |
pvaibhav | 17:e9d42864c8a1 | 54 | Vector3 SensorFusion::eulerAngles(Quaternion const &q) const { |
pvaibhav | 17:e9d42864c8a1 | 55 | float const q0 = q.w; |
pvaibhav | 17:e9d42864c8a1 | 56 | float const q1 = q.v.x; |
pvaibhav | 17:e9d42864c8a1 | 57 | float const q2 = q.v.y; |
pvaibhav | 17:e9d42864c8a1 | 58 | float const q3 = q.v.z; |
pvaibhav | 17:e9d42864c8a1 | 59 | |
pvaibhav | 17:e9d42864c8a1 | 60 | float const roll = asin(2*(q0*q2-q3*q1)); |
pvaibhav | 17:e9d42864c8a1 | 61 | float const pitch = atan2(2*(q0*q1+q2*q3), 1 - 2*(q1*q1+q2*q2)); |
pvaibhav | 17:e9d42864c8a1 | 62 | float const yaw = atan2(2*(q0*q3+q1*q2), 1 - 2*(q2*q2+q3*q3)); |
pvaibhav | 17:e9d42864c8a1 | 63 | |
pvaibhav | 24:23eae343c631 | 64 | return Vector3(pitch, roll, yaw); |
pvaibhav | 17:e9d42864c8a1 | 65 | } |
pvaibhav | 17:e9d42864c8a1 | 66 | |
pvaibhav | 15:4488660e1a3b | 67 | void SensorFusion::sensorUpdate(Vector3 gyro_degrees) |
pvaibhav | 15:4488660e1a3b | 68 | { |
pvaibhav | 15:4488660e1a3b | 69 | Vector3 const gyro_reading = gyro_degrees * deg_to_radian; |
pvaibhav | 15:4488660e1a3b | 70 | Vector3 const accel_reading = accel.read(); |
pvaibhav | 15:4488660e1a3b | 71 | Vector3 const magneto_reading = magneto.read(); |
pvaibhav | 15:4488660e1a3b | 72 | |
pvaibhav | 15:4488660e1a3b | 73 | updateFilter( accel_reading.x, accel_reading.y, accel_reading.z, |
pvaibhav | 15:4488660e1a3b | 74 | gyro_reading.x, gyro_reading.y, gyro_reading.z, |
pvaibhav | 15:4488660e1a3b | 75 | magneto_reading.x, magneto_reading.y, magneto_reading.z); |
pvaibhav | 15:4488660e1a3b | 76 | |
pvaibhav | 17:e9d42864c8a1 | 77 | Vector3 const fused = eulerAngles(q); |
pvaibhav | 15:4488660e1a3b | 78 | |
pvaibhav | 20:503cbe360419 | 79 | delegate->sensorTick(fused, accel_reading, magneto_reading, gyro_degrees, q); |
pvaibhav | 15:4488660e1a3b | 80 | } |
pvaibhav | 15:4488660e1a3b | 81 | |
pvaibhav | 15:4488660e1a3b | 82 | void SensorFusion::updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) |
pvaibhav | 15:4488660e1a3b | 83 | { |
pvaibhav | 15:4488660e1a3b | 84 | float q1 = q.w, q2 = q.v.x, q3 = q.v.y, q4 = q.v.z; // short name local variable for readability |
pvaibhav | 15:4488660e1a3b | 85 | float norm; |
pvaibhav | 15:4488660e1a3b | 86 | float s1, s2, s3, s4; |
pvaibhav | 15:4488660e1a3b | 87 | |
pvaibhav | 15:4488660e1a3b | 88 | // Auxiliary variables to avoid repeated arithmetic |
pvaibhav | 15:4488660e1a3b | 89 | const float _2q1 = 2.0f * q1; |
pvaibhav | 15:4488660e1a3b | 90 | const float _2q2 = 2.0f * q2; |
pvaibhav | 15:4488660e1a3b | 91 | const float _2q3 = 2.0f * q3; |
pvaibhav | 15:4488660e1a3b | 92 | const float _2q4 = 2.0f * q4; |
pvaibhav | 15:4488660e1a3b | 93 | const float _2q1q3 = 2.0f * q1 * q3; |
pvaibhav | 15:4488660e1a3b | 94 | const float _2q3q4 = 2.0f * q3 * q4; |
pvaibhav | 15:4488660e1a3b | 95 | const float q1q1 = q1 * q1; |
pvaibhav | 15:4488660e1a3b | 96 | const float q1q2 = q1 * q2; |
pvaibhav | 15:4488660e1a3b | 97 | const float q1q3 = q1 * q3; |
pvaibhav | 15:4488660e1a3b | 98 | const float q1q4 = q1 * q4; |
pvaibhav | 15:4488660e1a3b | 99 | const float q2q2 = q2 * q2; |
pvaibhav | 15:4488660e1a3b | 100 | const float q2q3 = q2 * q3; |
pvaibhav | 15:4488660e1a3b | 101 | const float q2q4 = q2 * q4; |
pvaibhav | 15:4488660e1a3b | 102 | const float q3q3 = q3 * q3; |
pvaibhav | 15:4488660e1a3b | 103 | const float q3q4 = q3 * q4; |
pvaibhav | 15:4488660e1a3b | 104 | const float q4q4 = q4 * q4; |
pvaibhav | 15:4488660e1a3b | 105 | |
pvaibhav | 15:4488660e1a3b | 106 | // Normalise accelerometer measurement |
pvaibhav | 15:4488660e1a3b | 107 | norm = sqrt(ax * ax + ay * ay + az * az); |
pvaibhav | 15:4488660e1a3b | 108 | if (norm == 0.0f) return; // handle NaN |
pvaibhav | 15:4488660e1a3b | 109 | norm = 1.0f/norm; |
pvaibhav | 15:4488660e1a3b | 110 | ax *= norm; |
pvaibhav | 15:4488660e1a3b | 111 | ay *= norm; |
pvaibhav | 15:4488660e1a3b | 112 | az *= norm; |
pvaibhav | 15:4488660e1a3b | 113 | |
pvaibhav | 15:4488660e1a3b | 114 | // Normalise magnetometer measurement |
pvaibhav | 15:4488660e1a3b | 115 | norm = sqrt(mx * mx + my * my + mz * mz); |
pvaibhav | 15:4488660e1a3b | 116 | if (norm == 0.0f) return; // handle NaN |
pvaibhav | 15:4488660e1a3b | 117 | norm = 1.0f/norm; |
pvaibhav | 15:4488660e1a3b | 118 | mx *= norm; |
pvaibhav | 15:4488660e1a3b | 119 | my *= norm; |
pvaibhav | 15:4488660e1a3b | 120 | mz *= norm; |
pvaibhav | 15:4488660e1a3b | 121 | |
pvaibhav | 15:4488660e1a3b | 122 | // Reference direction of Earth's magnetic field |
pvaibhav | 15:4488660e1a3b | 123 | const float _2q1mx = 2.0f * q1 * mx; |
pvaibhav | 15:4488660e1a3b | 124 | const float _2q1my = 2.0f * q1 * my; |
pvaibhav | 15:4488660e1a3b | 125 | const float _2q1mz = 2.0f * q1 * mz; |
pvaibhav | 15:4488660e1a3b | 126 | const float _2q2mx = 2.0f * q2 * mx; |
pvaibhav | 15:4488660e1a3b | 127 | const float hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4; |
pvaibhav | 15:4488660e1a3b | 128 | const float hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4; |
pvaibhav | 15:4488660e1a3b | 129 | const float _2bx = sqrt(hx * hx + hy * hy); |
pvaibhav | 15:4488660e1a3b | 130 | const float _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4; |
pvaibhav | 15:4488660e1a3b | 131 | const float _4bx = 2.0f * _2bx; |
pvaibhav | 15:4488660e1a3b | 132 | const float _4bz = 2.0f * _2bz; |
pvaibhav | 15:4488660e1a3b | 133 | |
pvaibhav | 15:4488660e1a3b | 134 | // Gradient decent algorithm corrective step |
pvaibhav | 15:4488660e1a3b | 135 | s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); |
pvaibhav | 15:4488660e1a3b | 136 | s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); |
pvaibhav | 15:4488660e1a3b | 137 | s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); |
pvaibhav | 15:4488660e1a3b | 138 | s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); |
pvaibhav | 15:4488660e1a3b | 139 | norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude |
pvaibhav | 15:4488660e1a3b | 140 | norm = 1.0f/norm; |
pvaibhav | 15:4488660e1a3b | 141 | s1 *= norm; |
pvaibhav | 15:4488660e1a3b | 142 | s2 *= norm; |
pvaibhav | 15:4488660e1a3b | 143 | s3 *= norm; |
pvaibhav | 15:4488660e1a3b | 144 | s4 *= norm; |
pvaibhav | 15:4488660e1a3b | 145 | |
pvaibhav | 15:4488660e1a3b | 146 | // Compute rate of change of quaternion |
pvaibhav | 15:4488660e1a3b | 147 | const float qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1; |
pvaibhav | 15:4488660e1a3b | 148 | const float qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2; |
pvaibhav | 15:4488660e1a3b | 149 | const float qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3; |
pvaibhav | 15:4488660e1a3b | 150 | const float qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4; |
pvaibhav | 15:4488660e1a3b | 151 | |
pvaibhav | 15:4488660e1a3b | 152 | // Integrate to yield quaternion |
pvaibhav | 15:4488660e1a3b | 153 | q1 += qDot1 * deltat; |
pvaibhav | 15:4488660e1a3b | 154 | q2 += qDot2 * deltat; |
pvaibhav | 15:4488660e1a3b | 155 | q3 += qDot3 * deltat; |
pvaibhav | 15:4488660e1a3b | 156 | q4 += qDot4 * deltat; |
pvaibhav | 15:4488660e1a3b | 157 | norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion |
pvaibhav | 15:4488660e1a3b | 158 | norm = 1.0f/norm; |
pvaibhav | 15:4488660e1a3b | 159 | q.w = q1 * norm; |
pvaibhav | 15:4488660e1a3b | 160 | q.v.x = q2 * norm; |
pvaibhav | 15:4488660e1a3b | 161 | q.v.y = q3 * norm; |
pvaibhav | 15:4488660e1a3b | 162 | q.v.z = q4 * norm; |
pvaibhav | 15:4488660e1a3b | 163 | } |