altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@20:1182bc29c195, 2019-10-09 (annotated)

Committer:
altb2
Date:
Wed Oct 09 13:45:36 2019 +0000
Revision:
20:1182bc29c195
Parent:
19:42ea6dd68185
Child:
21:31e01d3e0143
Major changes for new structure of IndNav_QK3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 3:6811c0ce95f6 1 #include "AHRS.h"
altb 3:6811c0ce95f6 2 #include "Mahony.h"
altb 3:6811c0ce95f6 3 #include "MadgwickAHRS.h"
altb2 20:1182bc29c195 4 #include "EKF.h"
altb2 4:3c21fb0c9e84 5
altb 3:6811c0ce95f6 6 #define PI 3.141592653589793
altb 3:6811c0ce95f6 7
altb 3:6811c0ce95f6 8 using namespace std;
altb 3:6811c0ce95f6 9
pmic 17:f9eed26536d9 10 //OLD: AHRS::AHRS(uint8_t filtertype, float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){
altb2 20:1182bc29c195 11 AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS)//, dout3(PA_10)
pmic 17:f9eed26536d9 12 {
pmic 17:f9eed26536d9 13 /* setup storage */
altb2 20:1182bc29c195 14 this->Ts = TS;
pmic 17:f9eed26536d9 15 float gyro[3], accel[3], magnet[3];
altb2 20:1182bc29c195 16 for(uint8_t i = 0; i < 3; i++)
altb2 20:1182bc29c195 17 {
pmic 17:f9eed26536d9 18 gyro[i] = 0.0f;
pmic 17:f9eed26536d9 19 accel[i] = 0.0f;
pmic 17:f9eed26536d9 20 magnet[i] = 0.0f;
altb2 20:1182bc29c195 21 }
pmic 17:f9eed26536d9 22
pmic 17:f9eed26536d9 23 /* inform user if imu is not responsive */
altb2 20:1182bc29c195 24 while (!imu.begin())
altb2 20:1182bc29c195 25 {
altb2 9:644266463f5f 26 wait(1);
altb2 9:644266463f5f 27 printf("Failed to communicate with LSM9DS1.\r\n");
altb2 20:1182bc29c195 28 }
pmic 17:f9eed26536d9 29
pmic 17:f9eed26536d9 30 /* take mean value of N samples */
pmic 17:f9eed26536d9 31 uint8_t N = 200;
altb2 20:1182bc29c195 32 if(calib)
altb2 20:1182bc29c195 33 {
altb2 9:644266463f5f 34 wait_ms(500);
pmic 17:f9eed26536d9 35 /* read and cumsum data */
pmic 17:f9eed26536d9 36 for(uint16_t i = 0; i < N; i++) {
pmic 17:f9eed26536d9 37 imu.readGyro();
pmic 17:f9eed26536d9 38 imu.readAccel();
pmic 17:f9eed26536d9 39 imu.readMag();
pmic 17:f9eed26536d9 40 gyro[0] += imu.gyroX;
pmic 17:f9eed26536d9 41 gyro[1] += imu.gyroY;
pmic 17:f9eed26536d9 42 gyro[2] += imu.gyroZ;
pmic 17:f9eed26536d9 43 accel[0] += imu.accX;
pmic 17:f9eed26536d9 44 accel[1] += imu.accY;
pmic 17:f9eed26536d9 45 accel[2] += imu.accZ;
pmic 17:f9eed26536d9 46 magnet[0] += imu.magX;
pmic 17:f9eed26536d9 47 magnet[1] += imu.magY;
pmic 17:f9eed26536d9 48 magnet[2] += imu.magZ;
pmic 17:f9eed26536d9 49 wait_ms(10);
pmic 17:f9eed26536d9 50 }
pmic 17:f9eed26536d9 51 /* calculate mean value */
pmic 17:f9eed26536d9 52 for(uint16_t i = 0; i < 3; i++) {
pmic 17:f9eed26536d9 53 gyro[i] /= (float)N;
pmic 17:f9eed26536d9 54 accel[i] /= (float)N;
pmic 17:f9eed26536d9 55 magnet[i] /= (float)N;
altb2 20:1182bc29c195 56 }
pmic 17:f9eed26536d9 57 printf("Correct gyro: %1.5f %1.5f %1.5f accel: %1.5f %1.5f %1.5f magnet: %1.5f %1.5f %1.5f\r\n", gyro[0], gyro[1], gyro[2], accel[0], accel[1], accel[2], magnet[0], magnet[1], magnet[2]);
pmic 17:f9eed26536d9 58 }
pmic 17:f9eed26536d9 59
pmic 17:f9eed26536d9 60 /* gyro */
pmic 17:f9eed26536d9 61 raw_gx2gx.setup( 1.0, gyro[0]);
pmic 17:f9eed26536d9 62 raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system)
pmic 17:f9eed26536d9 63 raw_gz2gz.setup( 1.0, gyro[2]);
pmic 17:f9eed26536d9 64
pmic 17:f9eed26536d9 65 // pmic, 23.09.2019
pmic 17:f9eed26536d9 66 // calibration for acc and mag needs to be redone on real copter pes board with power on and spinning motors (no propellers)
pmic 17:f9eed26536d9 67
pmic 17:f9eed26536d9 68 /* accel */
altb2 19:42ea6dd68185 69 raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here
altb2 19:42ea6dd68185 70 raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0
altb2 19:42ea6dd68185 71 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity!
pmic 17:f9eed26536d9 72
pmic 17:f9eed26536d9 73 /* magnet */
altb2 19:42ea6dd68185 74 /* Caibration on 25.9.2019 QK2 delivers:
altb2 19:42ea6dd68185 75 A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938]
altb2 19:42ea6dd68185 76 b0= [0.4160 0.1587 -0.0998], see T:\T-IMS-IndNav\01_Technisches\09_PES_Board_IMU\meas_mag_aFMA\calib_mag_QK2.m
altb2 19:42ea6dd68185 77 */
altb2 19:42ea6dd68185 78 raw_mx2mx.setup( 0.9904f,0.4160f);
altb2 19:42ea6dd68185 79 raw_my2my.setup( 1.0158f, 0.1587f);
altb2 19:42ea6dd68185 80 raw_mz2mz.setup(-0.9938f, -0.0998f);
pmic 17:f9eed26536d9 81 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
pmic 17:f9eed26536d9 82 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
pmic 17:f9eed26536d9 83 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
pmic 17:f9eed26536d9 84
altb2 7:bfde7bd5fe31 85 local_time = 0.0;
altb2 19:42ea6dd68185 86
altb2 19:42ea6dd68185 87 this->filtertype = filtertype;
pmic 17:f9eed26536d9 88 // the thread starts
altb2 9:644266463f5f 89
altb 3:6811c0ce95f6 90 }
altb 3:6811c0ce95f6 91
altb 3:6811c0ce95f6 92 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 93
altb 3:6811c0ce95f6 94 void AHRS::update(void)
altb2 20:1182bc29c195 95 {
altb2 20:1182bc29c195 96 //dout3.write(1);
altb2 19:42ea6dd68185 97 if(filtertype !=1)
altb2 20:1182bc29c195 98 {
altb2 20:1182bc29c195 99 Mahony_filter.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_gyr[2],data.sens_acc[0],data.sens_acc[1],data.sens_acc[2],0.0f,0.0f,0.0f);
altb2 20:1182bc29c195 100 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 20:1182bc29c195 101 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 20:1182bc29c195 102 }
altb2 19:42ea6dd68185 103 else
altb2 20:1182bc29c195 104 {
altb2 19:42ea6dd68185 105 ekf.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_gyr[2],data.sens_acc[0],data.sens_acc[1],data.sens_acc[2]);
altb2 20:1182bc29c195 106 data.est_RPY[0] = ekf.get_est_state(0);
altb2 20:1182bc29c195 107 data.est_RPY[1] = ekf.get_est_state(1);
altb2 20:1182bc29c195 108 }
altb2 20:1182bc29c195 109 // dout3.write(0);
altb2 20:1182bc29c195 110 }
altb2 20:1182bc29c195 111 void AHRS::update_as_thread(void)
altb2 20:1182bc29c195 112 {
altb2 20:1182bc29c195 113 while(1)
altb2 20:1182bc29c195 114 {
altb2 20:1182bc29c195 115 thread.signal_wait(signal);
altb2 20:1182bc29c195 116 // dout3.write(1);
altb2 20:1182bc29c195 117 if(filtertype !=1)
altb2 20:1182bc29c195 118 {
altb2 20:1182bc29c195 119 Mahony_filter.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_gyr[2],data.sens_acc[0],data.sens_acc[1],data.sens_acc[2],0.0f,0.0f,0.0f);
altb2 20:1182bc29c195 120 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 20:1182bc29c195 121 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 20:1182bc29c195 122 }
altb2 20:1182bc29c195 123 else
altb2 20:1182bc29c195 124 {
altb2 20:1182bc29c195 125 ekf.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_gyr[2],data.sens_acc[0],data.sens_acc[1],data.sens_acc[2]);
altb2 20:1182bc29c195 126 data.est_RPY[0] = ekf.get_est_state(0);
altb2 20:1182bc29c195 127 data.est_RPY[1] = ekf.get_est_state(1);
altb2 20:1182bc29c195 128 }
altb2 20:1182bc29c195 129 // dout3.write(0);
altb2 20:1182bc29c195 130 }
altb2 20:1182bc29c195 131 }
altb2 20:1182bc29c195 132 void AHRS::read_imu_sensors(void){
altb2 20:1182bc29c195 133 imu.readGyro();
altb2 20:1182bc29c195 134 imu.readAccel();
altb2 20:1182bc29c195 135 imu.readMag();
altb2 20:1182bc29c195 136 data.sens_gyr[0] = raw_gx2gx(imu.gyroX);
altb2 20:1182bc29c195 137 data.sens_gyr[1] = raw_gy2gy(imu.gyroY);
altb2 20:1182bc29c195 138 data.sens_gyr[2] = raw_gz2gz(imu.gyroZ);
altb2 20:1182bc29c195 139 data.sens_acc[0] = raw_ax2ax(imu.accX);
altb2 20:1182bc29c195 140 data.sens_acc[1] = raw_ay2ay(imu.accY);
altb2 20:1182bc29c195 141 data.sens_acc[2] = raw_az2az(imu.accZ);
altb2 20:1182bc29c195 142 data.sens_mag[0] = raw_mx2mx(imu.magX);
altb2 20:1182bc29c195 143 data.sens_mag[1] = raw_my2my(imu.magY);
altb2 20:1182bc29c195 144 data.sens_mag[2] = raw_mz2mz(imu.magZ);
altb2 20:1182bc29c195 145 }
altb2 20:1182bc29c195 146 // ------------------- start controllers ----------------
altb2 20:1182bc29c195 147 void AHRS::start_loop(void){
altb2 20:1182bc29c195 148 thread.start(callback(this, &AHRS::update_as_thread));
altb2 20:1182bc29c195 149 ticker.attach(callback(this, &AHRS::sendSignal), Ts);
altb2 20:1182bc29c195 150 }
pmic 17:f9eed26536d9 151
altb2 20:1182bc29c195 152 // this is for realtime OS
altb2 20:1182bc29c195 153 void AHRS::sendSignal() {
altb2 20:1182bc29c195 154 thread.signal_set(signal);
altb2 20:1182bc29c195 155 }