altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.h@11:b010622c0748, 2019-08-19 (annotated)

Committer:
altb2
Date:
Mon Aug 19 14:16:31 2019 +0000
Revision:
11:b010622c0748
Parent:
10:fd4e2436b311
Child:
17:f9eed26536d9
minor changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 3:6811c0ce95f6 1 #include "Mahony.h"
altb 3:6811c0ce95f6 2 #include "MadgwickAHRS.h"
altb 3:6811c0ce95f6 3 #include "LinearCharacteristics.h"
altb2 4:3c21fb0c9e84 4 #include "LSM9DS1_i2c.h"
altb 3:6811c0ce95f6 5 #include "Signal.h"
altb2 4:3c21fb0c9e84 6 #include "ekf.h"
altb2 4:3c21fb0c9e84 7 #include "matrix.h"
altb2 6:5824bd96b6cf 8 #include "data_logger.h"
altb2 4:3c21fb0c9e84 9
altb2 6:5824bd96b6cf 10 extern data_logger my_logger;
altb 3:6811c0ce95f6 11
altb 3:6811c0ce95f6 12 class AHRS{
altb 3:6811c0ce95f6 13 public:
altb2 9:644266463f5f 14 AHRS(uint8_t,float,bool);
altb 3:6811c0ce95f6 15 virtual ~AHRS();
altb 3:6811c0ce95f6 16
altb2 8:51062bb877f0 17 float getRoll(uint8_t ft) {
altb2 8:51062bb877f0 18 if(ft ==1)
altb2 8:51062bb877f0 19 return RPY_filter.get_est_state(0);
altb2 8:51062bb877f0 20 else
altb2 8:51062bb877f0 21 return Mahony_filter.getRollRadians();
altb 3:6811c0ce95f6 22 }
altb2 8:51062bb877f0 23 float getPitch(uint8_t ft) {
altb2 8:51062bb877f0 24 if(ft ==1)
altb2 8:51062bb877f0 25 return RPY_filter.get_est_state(1);
altb2 8:51062bb877f0 26 else
altb2 8:51062bb877f0 27 return Mahony_filter.getPitchRadians();
altb 3:6811c0ce95f6 28 }
altb2 4:3c21fb0c9e84 29 float getYaw() {
altb2 6:5824bd96b6cf 30 return 0.0;
altb 3:6811c0ce95f6 31 }
altb 3:6811c0ce95f6 32 LSM9DS1 imu;
altb2 8:51062bb877f0 33 Mahony Mahony_filter;
altb2 4:3c21fb0c9e84 34 ekf RPY_filter;
altb 3:6811c0ce95f6 35 LinearCharacteristics raw_gx2gx;
altb 3:6811c0ce95f6 36 LinearCharacteristics raw_gy2gy;
altb 3:6811c0ce95f6 37 LinearCharacteristics raw_gz2gz;
altb2 4:3c21fb0c9e84 38 LinearCharacteristics raw_ax2ax;
altb2 4:3c21fb0c9e84 39 LinearCharacteristics raw_ay2ay;
altb2 4:3c21fb0c9e84 40 LinearCharacteristics raw_az2az;
altb2 4:3c21fb0c9e84 41 LinearCharacteristics int2magx;
altb2 4:3c21fb0c9e84 42 LinearCharacteristics int2magy;
altb2 4:3c21fb0c9e84 43 LinearCharacteristics int2magz;
altb2 9:644266463f5f 44 float xyzUS[3];
altb2 10:fd4e2436b311 45 float xyzAS[3];
altb2 9:644266463f5f 46 float rxryrzUS[3];
altb2 10:fd4e2436b311 47 float v_xyzOF[2];
altb2 10:fd4e2436b311 48 float xyzOF[3];
altb2 11:b010622c0748 49 float xyzLIDAR[3];
altb 3:6811c0ce95f6 50 private:
altb 3:6811c0ce95f6 51 Signal signal;
altb 3:6811c0ce95f6 52 Thread thread;
altb 3:6811c0ce95f6 53 Ticker ticker;
altb 3:6811c0ce95f6 54 Mutex mutex; // mutex to lock critical sections
altb 3:6811c0ce95f6 55 void sendSignal();
altb2 7:bfde7bd5fe31 56 float local_time;
altb 3:6811c0ce95f6 57 void update();
altb2 4:3c21fb0c9e84 58 matrix measurement;
altb2 4:3c21fb0c9e84 59 //SPI spi; % old board with spi
altb2 4:3c21fb0c9e84 60
altb2 4:3c21fb0c9e84 61 // PinName csAG; // for spi
altb2 4:3c21fb0c9e84 62 // PinName csM; // "
altb 3:6811c0ce95f6 63 };