altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@19:42ea6dd68185, 2019-10-02 (annotated)

Committer:
altb2
Date:
Wed Oct 02 15:30:15 2019 +0000
Revision:
19:42ea6dd68185
Parent:
17:f9eed26536d9
Child:
20:1182bc29c195
major changes for 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 4:3c21fb0c9e84 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 19:42ea6dd68185 11 AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS), thread(osPriorityBelowNormal, 4096)
pmic 17:f9eed26536d9 12 {
pmic 17:f9eed26536d9 13 /* setup storage */
pmic 17:f9eed26536d9 14 float gyro[3], accel[3], magnet[3];
pmic 17:f9eed26536d9 15 for(uint8_t i = 0; i < 3; i++) {
pmic 17:f9eed26536d9 16 gyro[i] = 0.0f;
pmic 17:f9eed26536d9 17 accel[i] = 0.0f;
pmic 17:f9eed26536d9 18 magnet[i] = 0.0f;
pmic 17:f9eed26536d9 19 }
pmic 17:f9eed26536d9 20
pmic 17:f9eed26536d9 21 /* inform user if imu is not responsive */
altb2 9:644266463f5f 22 while (!imu.begin()) {
altb2 9:644266463f5f 23 wait(1);
altb2 9:644266463f5f 24 printf("Failed to communicate with LSM9DS1.\r\n");
altb2 9:644266463f5f 25 }
pmic 17:f9eed26536d9 26
pmic 17:f9eed26536d9 27 /* take mean value of N samples */
pmic 17:f9eed26536d9 28 uint8_t N = 200;
pmic 17:f9eed26536d9 29 if(calib) {
altb2 9:644266463f5f 30 wait_ms(500);
pmic 17:f9eed26536d9 31 /* read and cumsum data */
pmic 17:f9eed26536d9 32 for(uint16_t i = 0; i < N; i++) {
pmic 17:f9eed26536d9 33 imu.readGyro();
pmic 17:f9eed26536d9 34 imu.readAccel();
pmic 17:f9eed26536d9 35 imu.readMag();
pmic 17:f9eed26536d9 36 gyro[0] += imu.gyroX;
pmic 17:f9eed26536d9 37 gyro[1] += imu.gyroY;
pmic 17:f9eed26536d9 38 gyro[2] += imu.gyroZ;
pmic 17:f9eed26536d9 39 accel[0] += imu.accX;
pmic 17:f9eed26536d9 40 accel[1] += imu.accY;
pmic 17:f9eed26536d9 41 accel[2] += imu.accZ;
pmic 17:f9eed26536d9 42 magnet[0] += imu.magX;
pmic 17:f9eed26536d9 43 magnet[1] += imu.magY;
pmic 17:f9eed26536d9 44 magnet[2] += imu.magZ;
pmic 17:f9eed26536d9 45 wait_ms(10);
pmic 17:f9eed26536d9 46 }
pmic 17:f9eed26536d9 47 /* calculate mean value */
pmic 17:f9eed26536d9 48 for(uint16_t i = 0; i < 3; i++) {
pmic 17:f9eed26536d9 49 gyro[i] /= (float)N;
pmic 17:f9eed26536d9 50 accel[i] /= (float)N;
pmic 17:f9eed26536d9 51 magnet[i] /= (float)N;
altb2 9:644266463f5f 52 }
pmic 17:f9eed26536d9 53 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 54 }
pmic 17:f9eed26536d9 55
pmic 17:f9eed26536d9 56 /* gyro */
pmic 17:f9eed26536d9 57 raw_gx2gx.setup( 1.0, gyro[0]);
pmic 17:f9eed26536d9 58 raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system)
pmic 17:f9eed26536d9 59 raw_gz2gz.setup( 1.0, gyro[2]);
pmic 17:f9eed26536d9 60
pmic 17:f9eed26536d9 61 // pmic, 23.09.2019
pmic 17:f9eed26536d9 62 // 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 63
pmic 17:f9eed26536d9 64 /* accel */
altb2 19:42ea6dd68185 65 raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here
altb2 19:42ea6dd68185 66 raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0
altb2 19:42ea6dd68185 67 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity!
pmic 17:f9eed26536d9 68
pmic 17:f9eed26536d9 69 /* magnet */
altb2 19:42ea6dd68185 70 /* Caibration on 25.9.2019 QK2 delivers:
altb2 19:42ea6dd68185 71 A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938]
altb2 19:42ea6dd68185 72 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 73 */
altb2 19:42ea6dd68185 74 raw_mx2mx.setup( 0.9904f,0.4160f);
altb2 19:42ea6dd68185 75 raw_my2my.setup( 1.0158f, 0.1587f);
altb2 19:42ea6dd68185 76 raw_mz2mz.setup(-0.9938f, -0.0998f);
pmic 17:f9eed26536d9 77 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
pmic 17:f9eed26536d9 78 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
pmic 17:f9eed26536d9 79 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
pmic 17:f9eed26536d9 80
altb2 7:bfde7bd5fe31 81 local_time = 0.0;
altb2 19:42ea6dd68185 82
altb2 19:42ea6dd68185 83 this->filtertype = filtertype;
pmic 17:f9eed26536d9 84 // the thread starts
altb2 9:644266463f5f 85 thread.start(callback(this, &AHRS::update));
altb2 9:644266463f5f 86 ticker.attach(callback(this, &AHRS::sendSignal), TS);
altb2 9:644266463f5f 87
altb 3:6811c0ce95f6 88 }
altb 3:6811c0ce95f6 89
altb 3:6811c0ce95f6 90 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 91
altb 3:6811c0ce95f6 92 void AHRS::update(void)
altb 3:6811c0ce95f6 93 {
altb2 19:42ea6dd68185 94 if(filtertype !=1)
altb2 19:42ea6dd68185 95 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]);
altb2 19:42ea6dd68185 96 else
altb2 19:42ea6dd68185 97 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]);
pmic 17:f9eed26536d9 98
pmic 17:f9eed26536d9 99 } // while(1) (the thread)
pmic 17:f9eed26536d9 100
altb 3:6811c0ce95f6 101 }