altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@23:71996bfe68eb, 2019-11-13 (annotated)

Committer:
altb2
Date:
Wed Nov 13 11:40:46 2019 +0000
Revision:
23:71996bfe68eb
Parent:
22:495a419e474c
Child:
25:fe14dbcef82d
Commit before fligth experiments Deutweg Nr.2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 3:6811c0ce95f6 1 #include "AHRS.h"
altb2 4:3c21fb0c9e84 2
altb 3:6811c0ce95f6 3 #define PI 3.141592653589793
altb 3:6811c0ce95f6 4
altb 3:6811c0ce95f6 5 using namespace std;
altb 3:6811c0ce95f6 6
pmic 17:f9eed26536d9 7 //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 22:495a419e474c 8 AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10)
pmic 17:f9eed26536d9 9 {
pmic 17:f9eed26536d9 10 /* setup storage */
altb2 20:1182bc29c195 11 this->Ts = TS;
pmic 17:f9eed26536d9 12 float gyro[3], accel[3], magnet[3];
altb2 20:1182bc29c195 13 for(uint8_t i = 0; i < 3; i++)
altb2 20:1182bc29c195 14 {
pmic 17:f9eed26536d9 15 gyro[i] = 0.0f;
pmic 17:f9eed26536d9 16 accel[i] = 0.0f;
pmic 17:f9eed26536d9 17 magnet[i] = 0.0f;
altb2 20:1182bc29c195 18 }
pmic 17:f9eed26536d9 19
pmic 17:f9eed26536d9 20 /* inform user if imu is not responsive */
altb2 20:1182bc29c195 21 while (!imu.begin())
altb2 20:1182bc29c195 22 {
altb2 9:644266463f5f 23 wait(1);
altb2 9:644266463f5f 24 printf("Failed to communicate with LSM9DS1.\r\n");
altb2 20:1182bc29c195 25 }
pmic 17:f9eed26536d9 26
pmic 17:f9eed26536d9 27 /* take mean value of N samples */
pmic 17:f9eed26536d9 28 uint8_t N = 200;
altb2 20:1182bc29c195 29 if(calib)
altb2 20:1182bc29c195 30 {
altb2 9:644266463f5f 31 wait_ms(500);
pmic 17:f9eed26536d9 32 /* read and cumsum data */
pmic 17:f9eed26536d9 33 for(uint16_t i = 0; i < N; i++) {
pmic 17:f9eed26536d9 34 imu.readGyro();
pmic 17:f9eed26536d9 35 imu.readAccel();
pmic 17:f9eed26536d9 36 imu.readMag();
pmic 17:f9eed26536d9 37 gyro[0] += imu.gyroX;
pmic 17:f9eed26536d9 38 gyro[1] += imu.gyroY;
pmic 17:f9eed26536d9 39 gyro[2] += imu.gyroZ;
pmic 17:f9eed26536d9 40 accel[0] += imu.accX;
pmic 17:f9eed26536d9 41 accel[1] += imu.accY;
pmic 17:f9eed26536d9 42 accel[2] += imu.accZ;
pmic 17:f9eed26536d9 43 magnet[0] += imu.magX;
pmic 17:f9eed26536d9 44 magnet[1] += imu.magY;
pmic 17:f9eed26536d9 45 magnet[2] += imu.magZ;
pmic 17:f9eed26536d9 46 wait_ms(10);
pmic 17:f9eed26536d9 47 }
pmic 17:f9eed26536d9 48 /* calculate mean value */
pmic 17:f9eed26536d9 49 for(uint16_t i = 0; i < 3; i++) {
pmic 17:f9eed26536d9 50 gyro[i] /= (float)N;
pmic 17:f9eed26536d9 51 accel[i] /= (float)N;
pmic 17:f9eed26536d9 52 magnet[i] /= (float)N;
altb2 20:1182bc29c195 53 }
pmic 17:f9eed26536d9 54 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 55 }
pmic 17:f9eed26536d9 56
pmic 17:f9eed26536d9 57 /* gyro */
pmic 17:f9eed26536d9 58 raw_gx2gx.setup( 1.0, gyro[0]);
pmic 17:f9eed26536d9 59 raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system)
pmic 17:f9eed26536d9 60 raw_gz2gz.setup( 1.0, gyro[2]);
pmic 17:f9eed26536d9 61
pmic 17:f9eed26536d9 62 // pmic, 23.09.2019
pmic 17:f9eed26536d9 63 // 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 64
pmic 17:f9eed26536d9 65 /* accel */
altb2 19:42ea6dd68185 66 raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here
altb2 19:42ea6dd68185 67 raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0
altb2 19:42ea6dd68185 68 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity!
pmic 17:f9eed26536d9 69
pmic 17:f9eed26536d9 70 /* magnet */
altb2 21:31e01d3e0143 71 /* Caibration on 21.10.2019 QK2 delivers:
altb2 19:42ea6dd68185 72 A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938]
altb2 21:31e01d3e0143 73 b0= [0.4160 0.1587 -0.0998], //see T:\T-IMS-IndNav\01_Technisches\09_PES_Board_IMU\meas_mag_aFMA\calib_magn_Okt19_aFMA.m
altb2 19:42ea6dd68185 74 */
altb2 23:71996bfe68eb 75 raw_mx2mx.setup( 0.9837f,0.252f);
altb2 23:71996bfe68eb 76 raw_my2my.setup( 1.0298f,0.1675f);
altb2 23:71996bfe68eb 77 raw_mz2mz.setup(-0.9864f,-0.1392f); // achtung, bei gain(3) Vorzeichen drehen, b0 beibehalten!!!
altb2 23:71996bfe68eb 78 // raw_mx2mx.setup( 1.0f,0.0f);
altb2 23:71996bfe68eb 79 // raw_my2my.setup( 1.0f,0.0f);
altb2 23:71996bfe68eb 80 // raw_mz2mz.setup( 1.0f,0.0f); // achtung, bei b0(3) Vorzeichen drehen!!!
altb2 23:71996bfe68eb 81
pmic 17:f9eed26536d9 82 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
pmic 17:f9eed26536d9 83 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
pmic 17:f9eed26536d9 84 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
altb2 21:31e01d3e0143 85 // set EKF_RPY magnet values now:
altb2 23:71996bfe68eb 86 ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]);
altb2 7:bfde7bd5fe31 87 local_time = 0.0;
altb2 19:42ea6dd68185 88
altb2 19:42ea6dd68185 89 this->filtertype = filtertype;
pmic 17:f9eed26536d9 90 // the thread starts
altb2 9:644266463f5f 91
altb 3:6811c0ce95f6 92 }
altb 3:6811c0ce95f6 93
altb 3:6811c0ce95f6 94 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 95
altb 3:6811c0ce95f6 96 void AHRS::update(void)
altb2 20:1182bc29c195 97 {
altb2 20:1182bc29c195 98 //dout3.write(1);
altb2 21:31e01d3e0143 99 switch(filtertype){
altb2 21:31e01d3e0143 100 case 1:
altb2 21:31e01d3e0143 101 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 22:495a419e474c 102 cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]);
altb2 21:31e01d3e0143 103 data.est_RPY[0] = ekf.get_est_state(0);
altb2 21:31e01d3e0143 104 data.est_RPY[1] = ekf.get_est_state(1);
altb2 23:71996bfe68eb 105 //data.est_Vxyz[0] = ekf.get_est_state(4);
altb2 23:71996bfe68eb 106 //data.est_Vxyz[1] = ekf.get_est_state(5);
altb2 21:31e01d3e0143 107 break;
altb2 21:31e01d3e0143 108 case 2:
altb2 21:31e01d3e0143 109 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 21:31e01d3e0143 110 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 21:31e01d3e0143 111 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 21:31e01d3e0143 112 break;
altb2 21:31e01d3e0143 113 case 3:
altb2 21:31e01d3e0143 114 ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]);
altb2 23:71996bfe68eb 115
altb2 23:71996bfe68eb 116 cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]);
altb2 21:31e01d3e0143 117 data.est_RPY[0] = ekf_rp.get_est_state(0);
altb2 21:31e01d3e0143 118 data.est_RPY[1] = ekf_rp.get_est_state(1);
altb2 21:31e01d3e0143 119 break;
altb2 21:31e01d3e0143 120 case 4:
altb2 21:31e01d3e0143 121 ekf_rpy.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_gyr[2],data.sens_acc[0],data.sens_acc[1],data.sens_mag[0],data.sens_mag[1]);
altb2 21:31e01d3e0143 122 data.est_RPY[0] = ekf_rpy.get_est_state(0);
altb2 21:31e01d3e0143 123 data.est_RPY[1] = ekf_rpy.get_est_state(1);
altb2 23:71996bfe68eb 124 data.est_RPY[2] = ekf_rpy.get_est_state(2);
altb2 23:71996bfe68eb 125 data.est_RPY[3] = ekf_rpy.get_est_state(3);
altb2 23:71996bfe68eb 126 data.est_RPY[4] = ekf_rpy.get_est_state(4);
altb2 23:71996bfe68eb 127 data.est_RPY[5] = ekf_rpy.get_est_state(5);
altb2 23:71996bfe68eb 128 data.est_RPY[6] = ekf_rpy.get_est_state(6);
altb2 23:71996bfe68eb 129 data.est_RPY[7] = ekf_rpy.get_est_state(7);
altb2 21:31e01d3e0143 130 break;
altb2 20:1182bc29c195 131 }
altb2 20:1182bc29c195 132 // dout3.write(0);
altb2 20:1182bc29c195 133 }
altb2 20:1182bc29c195 134 void AHRS::update_as_thread(void)
altb2 20:1182bc29c195 135 {
altb2 20:1182bc29c195 136 while(1)
altb2 20:1182bc29c195 137 {
altb2 20:1182bc29c195 138 thread.signal_wait(signal);
altb2 20:1182bc29c195 139 // dout3.write(1);
altb2 20:1182bc29c195 140 if(filtertype !=1)
altb2 20:1182bc29c195 141 {
altb2 20:1182bc29c195 142 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 143 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 20:1182bc29c195 144 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 20:1182bc29c195 145 }
altb2 20:1182bc29c195 146 else
altb2 20:1182bc29c195 147 {
altb2 20:1182bc29c195 148 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 149 data.est_RPY[0] = ekf.get_est_state(0);
altb2 20:1182bc29c195 150 data.est_RPY[1] = ekf.get_est_state(1);
altb2 20:1182bc29c195 151 }
altb2 20:1182bc29c195 152 // dout3.write(0);
altb2 20:1182bc29c195 153 }
altb2 20:1182bc29c195 154 }
altb2 20:1182bc29c195 155 void AHRS::read_imu_sensors(void){
altb2 20:1182bc29c195 156 imu.readGyro();
altb2 20:1182bc29c195 157 imu.readAccel();
altb2 20:1182bc29c195 158 imu.readMag();
altb2 20:1182bc29c195 159 data.sens_gyr[0] = raw_gx2gx(imu.gyroX);
altb2 20:1182bc29c195 160 data.sens_gyr[1] = raw_gy2gy(imu.gyroY);
altb2 20:1182bc29c195 161 data.sens_gyr[2] = raw_gz2gz(imu.gyroZ);
altb2 20:1182bc29c195 162 data.sens_acc[0] = raw_ax2ax(imu.accX);
altb2 20:1182bc29c195 163 data.sens_acc[1] = raw_ay2ay(imu.accY);
altb2 20:1182bc29c195 164 data.sens_acc[2] = raw_az2az(imu.accZ);
altb2 20:1182bc29c195 165 data.sens_mag[0] = raw_mx2mx(imu.magX);
altb2 20:1182bc29c195 166 data.sens_mag[1] = raw_my2my(imu.magY);
altb2 20:1182bc29c195 167 data.sens_mag[2] = raw_mz2mz(imu.magZ);
altb2 20:1182bc29c195 168 }
altb2 20:1182bc29c195 169 // ------------------- start controllers ----------------
altb2 20:1182bc29c195 170 void AHRS::start_loop(void){
altb2 20:1182bc29c195 171 thread.start(callback(this, &AHRS::update_as_thread));
altb2 20:1182bc29c195 172 ticker.attach(callback(this, &AHRS::sendSignal), Ts);
altb2 20:1182bc29c195 173 }
pmic 17:f9eed26536d9 174
altb2 20:1182bc29c195 175 // this is for realtime OS
altb2 20:1182bc29c195 176 void AHRS::sendSignal() {
altb2 20:1182bc29c195 177 thread.signal_set(signal);
altb2 20:1182bc29c195 178 }