Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
SensorFusion.h@46:fd5a62296b12, 2015-05-27 (annotated)
- Committer:
- pvaibhav
- Date:
- Wed May 27 13:01:43 2015 +0000
- Revision:
- 46:fd5a62296b12
- Parent:
- 43:6251c0169f4f
Code reformatted
Who changed what in which revision?
User | Revision | Line number | New 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 | 40:8e852115fe55 | 19 | |
pvaibhav | 46:fd5a62296b12 | 20 | void setDelegate(Delegate &d) { |
pvaibhav | 46:fd5a62296b12 | 21 | delegate = &d; |
pvaibhav | 46:fd5a62296b12 | 22 | } |
pvaibhav | 46:fd5a62296b12 | 23 | |
pvaibhav | 46:fd5a62296b12 | 24 | virtual bool start() { |
pvaibhav | 46:fd5a62296b12 | 25 | return false; |
pvaibhav | 46:fd5a62296b12 | 26 | } |
pvaibhav | 40:8e852115fe55 | 27 | virtual void stop() {} |
pvaibhav | 15:4488660e1a3b | 28 | |
pvaibhav | 40:8e852115fe55 | 29 | protected: |
pvaibhav | 40:8e852115fe55 | 30 | // protected ctor so that base class cannot be instantiated directly |
pvaibhav | 40:8e852115fe55 | 31 | SensorFusion() : delegate(&defaultDelegate), q(1, 0, 0, 0) {} |
pvaibhav | 40:8e852115fe55 | 32 | Delegate defaultDelegate; // to avoid check for existence every time |
pvaibhav | 40:8e852115fe55 | 33 | Delegate* delegate; |
pvaibhav | 40:8e852115fe55 | 34 | Quaternion q; |
pvaibhav | 40:8e852115fe55 | 35 | }; |
pvaibhav | 15:4488660e1a3b | 36 | |
pvaibhav | 40:8e852115fe55 | 37 | class SensorFusion6 : public SensorFusion, public Sensor::Delegate |
pvaibhav | 40:8e852115fe55 | 38 | { |
pvaibhav | 40:8e852115fe55 | 39 | public: |
pvaibhav | 40:8e852115fe55 | 40 | SensorFusion6(I2C &i2c); |
pvaibhav | 40:8e852115fe55 | 41 | virtual void sensorUpdate(Vector3 gyro_degrees); |
pvaibhav | 40:8e852115fe55 | 42 | virtual bool start(); |
pvaibhav | 40:8e852115fe55 | 43 | virtual void stop(); |
pvaibhav | 46:fd5a62296b12 | 44 | |
pvaibhav | 40:8e852115fe55 | 45 | protected: |
pvaibhav | 40:8e852115fe55 | 46 | Accelerometer accel; |
pvaibhav | 40:8e852115fe55 | 47 | Gyroscope gyro; |
pvaibhav | 40:8e852115fe55 | 48 | float const deltat, beta; |
pvaibhav | 46:fd5a62296b12 | 49 | |
pvaibhav | 40:8e852115fe55 | 50 | LowPassFilter lowpassX; |
pvaibhav | 40:8e852115fe55 | 51 | LowPassFilter lowpassY; |
pvaibhav | 40:8e852115fe55 | 52 | LowPassFilter lowpassZ; |
pvaibhav | 46:fd5a62296b12 | 53 | |
pvaibhav | 35:fb6e4601adf3 | 54 | void updateFilter(float ax, float ay, float az, float gx, float gy, float gz); |
pvaibhav | 15:4488660e1a3b | 55 | }; |
pvaibhav | 15:4488660e1a3b | 56 | |
pvaibhav | 43:6251c0169f4f | 57 | class SensorFusion9 : public SensorFusion6 |
pvaibhav | 43:6251c0169f4f | 58 | { |
pvaibhav | 43:6251c0169f4f | 59 | public: |
pvaibhav | 43:6251c0169f4f | 60 | SensorFusion9(I2C &i2c); |
pvaibhav | 43:6251c0169f4f | 61 | virtual void sensorUpdate(Vector3 gyro_degrees); |
pvaibhav | 43:6251c0169f4f | 62 | virtual bool start(); |
pvaibhav | 43:6251c0169f4f | 63 | virtual void stop(); |
pvaibhav | 46:fd5a62296b12 | 64 | |
pvaibhav | 43:6251c0169f4f | 65 | protected: |
pvaibhav | 43:6251c0169f4f | 66 | Magnetometer magneto; |
pvaibhav | 43:6251c0169f4f | 67 | void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); |
pvaibhav | 43:6251c0169f4f | 68 | }; |
pvaibhav | 43:6251c0169f4f | 69 | |
pvaibhav | 15:4488660e1a3b | 70 | #endif |