Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
SensorFusion.cpp
- Committer:
- uadhikari
- Date:
- 2015-05-20
- Revision:
- 42:160a37bdaa64
- Parent:
- 41:731e3cfac19b
File content as of revision 42:160a37bdaa64:
#include "SensorFusion.h" #define DEBUG "SensorFusion" #include "Logger.h" #include "Utils.h" #define SIXAXIS SensorFusion::SensorFusion(I2C &i2c) : magnetoMeterEnabled(false), delegate(&defaultDelegate), gyroDelegateWithMagneto(this), gyroDelegateWithoutMagneto(this), accel(i2c), gyro(i2c), magneto(i2c), q(1, 0, 0, 0), // output quaternion deltat(0.010), // sec beta(0.3), // correction gain fused(0, 0, 0) {} void SensorFusion::setDelegate(Delegate &d) { delegate = &d; } void SensorFusion::enableMagnetometer(){ magnetoMeterEnabled = true; stop(); start(); } void SensorFusion::disableMagnetometer(){ magnetoMeterEnabled = false; stop(); start(); } bool SensorFusion::start() { //Reset quarternion q q.w = 1.0; q.v.x = 0.0; q.v.y = 0.0; q.v.z = 0.0; accel.powerOn(); accel.start(); if(magnetoMeterEnabled){ magneto.powerOn(); if (magneto.performSelfTest() == false) { return false; } magneto.start(); gyro.setDelegate(gyroDelegateWithMagneto); }else{ gyro.setDelegate(gyroDelegateWithoutMagneto); } //Since everything is synced to gyro interrupt, start it last gyro.powerOn(); gyro.start(); return true; } void SensorFusion::stop() { gyro.stop(); gyro.powerOff(); if(magnetoMeterEnabled){ magneto.stop(); magneto.powerOff(); } accel.stop(); accel.powerOff(); } static float const deg_to_radian = 0.0174532925f; void SensorFusion::updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz) { float q1 = q.w, q2 = q.v.x, q3 = q.v.y, q4 = q.v.z; // short name local variable for readability float norm; float s1, s2, s3, s4; // Auxiliary variables to avoid repeated arithmetic const float _2q1 = 2.0f * q1; const float _2q2 = 2.0f * q2; const float _2q3 = 2.0f * q3; const float _2q4 = 2.0f * q4; const float _2q1q3 = 2.0f * q1 * q3; const float _2q3q4 = 2.0f * q3 * q4; const float q1q1 = q1 * q1; const float q1q2 = q1 * q2; const float q1q3 = q1 * q3; const float q1q4 = q1 * q4; const float q2q2 = q2 * q2; const float q2q3 = q2 * q3; const float q2q4 = q2 * q4; const float q3q3 = q3 * q3; const float q3q4 = q3 * q4; const float q4q4 = q4 * q4; // Normalise accelerometer measurement norm = sqrt(ax * ax + ay * ay + az * az); if (norm == 0.0f) return; // handle NaN norm = 1.0f/norm; ax *= norm; ay *= norm; az *= norm; // Normalise magnetometer measurement norm = sqrt(mx * mx + my * my + mz * mz); if (norm == 0.0f) return; // handle NaN norm = 1.0f/norm; mx *= norm; my *= norm; mz *= norm; // Reference direction of Earth's magnetic field const float _2q1mx = 2.0f * q1 * mx; const float _2q1my = 2.0f * q1 * my; const float _2q1mz = 2.0f * q1 * mz; const float _2q2mx = 2.0f * q2 * mx; const float hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4; const float hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4; const float _2bx = sqrt(hx * hx + hy * hy); const float _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4; const float _4bx = 2.0f * _2bx; const float _4bz = 2.0f * _2bz; // Gradient decent algorithm corrective step 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); 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); 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); 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); norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude norm = 1.0f/norm; s1 *= norm; s2 *= norm; s3 *= norm; s4 *= norm; // Compute rate of change of quaternion const float qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1; const float qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2; const float qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3; const float qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4; // Integrate to yield quaternion q1 += qDot1 * deltat; q2 += qDot2 * deltat; q3 += qDot3 * deltat; q4 += qDot4 * deltat; norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion norm = 1.0f/norm; q.w = q1 * norm; q.v.x = q2 * norm; q.v.y = q3 * norm; q.v.z = q4 * norm; } SensorFusion::NineAxisSensorFusion::NineAxisSensorFusion(SensorFusion* _ref) : senFuseRef(_ref){} void SensorFusion::NineAxisSensorFusion::sensorUpdate(Vector3 gyro_degrees){ Vector3 const gyro_reading = gyro_degrees * deg_to_radian; Vector3 const accel_reading = senFuseRef->accel.read(); Vector3 const magneto_reading = senFuseRef->magneto.read(); senFuseRef->updateFilter( accel_reading.x, accel_reading.y, accel_reading.z, gyro_reading.x, gyro_reading.y, gyro_reading.z, magneto_reading.x, magneto_reading.y, magneto_reading.z); senFuseRef->delegate->sensorTick(senFuseRef->deltat, senFuseRef->q.getEulerAngles(), accel_reading, magneto_reading, gyro_degrees, senFuseRef->q); } void SensorFusion::updateFilter(float ax, float ay, float az, float gx, float gy, float gz) { float q0 = q.w, q1 = q.v.x, q2 = q.v.y, q3 = q.v.z; // short name local variable for readability float recipNorm; float s0, s1, s2, s3; float qDot1, qDot2, qDot3, qDot4; float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; // Rate of change of quaternion from gyroscope qDot1 = 0.5 * (-q1 * gx - q2 * gy - q3 * gz); qDot2 = 0.5 * (q0 * gx + q2 * gz - q3 * gy); qDot3 = 0.5 * (q0 * gy - q1 * gz + q3 * gx); qDot4 = 0.5 * (q0 * gz + q1 * gy - q2 * gx); // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) if(!((ax == 0.0) && (ay == 0.0) && (az == 0.0))) { // Normalise accelerometer measurement recipNorm = 1.0 / sqrt(ax * ax + ay * ay + az * az); ax *= recipNorm; ay *= recipNorm; az *= recipNorm; // Auxiliary variables to avoid repeated arithmetic _2q0 = 2.0 * q0; _2q1 = 2.0 * q1; _2q2 = 2.0 * q2; _2q3 = 2.0 * q3; _4q0 = 4.0 * q0; _4q1 = 4.0 * q1; _4q2 = 4.0 * q2; _8q1 = 8.0 * q1; _8q2 = 8.0 * q2; q0q0 = q0 * q0; q1q1 = q1 * q1; q2q2 = q2 * q2; q3q3 = q3 * q3; // Gradient decent algorithm corrective step s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; s1 = _4q1 * q3q3 - _2q3 * ax + 4.0 * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; s2 = 4.0 * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; s3 = 4.0 * q1q1 * q3 - _2q1 * ax + 4.0 * q2q2 * q3 - _2q2 * ay; recipNorm = 1.0 / sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude s0 *= recipNorm; s1 *= recipNorm; s2 *= recipNorm; s3 *= recipNorm; // Apply feedback step qDot1 -= beta * s0; qDot2 -= beta * s1; qDot3 -= beta * s2; qDot4 -= beta * s3; } // Integrate rate of change of quaternion to yield quaternion q0 += qDot1 * deltat; q1 += qDot2 * deltat; q2 += qDot3 * deltat; q3 += qDot4 * deltat; // Normalise quaternion recipNorm = 1.0 / sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); q0 *= recipNorm; q1 *= recipNorm; q2 *= recipNorm; q3 *= recipNorm; // return q.w = q0; q.v.x = q1; q.v.y = q2; q.v.z = q3; } SensorFusion::SixAxisSensorFusion::SixAxisSensorFusion(SensorFusion* _ref) : senFuseRef(_ref){}; void SensorFusion::SixAxisSensorFusion::sensorUpdate(Vector3 gyro_degrees){ Vector3 const gyro_reading = gyro_degrees * deg_to_radian; Vector3 const accel_reading = senFuseRef->accel.read(); Vector3 const magneto_reading(0, 0, 0); senFuseRef->updateFilter( accel_reading.x, accel_reading.y, accel_reading.z, gyro_reading.x, gyro_reading.y, gyro_reading.z); //parent's delegate senFuseRef->delegate->sensorTick(senFuseRef->deltat, senFuseRef->q.getEulerAngles(), accel_reading, magneto_reading, gyro_degrees, senFuseRef->q); }