altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@7:bfde7bd5fe31, 2019-06-26 (annotated)

Committer:
altb2
Date:
Wed Jun 26 14:19:01 2019 +0000
Revision:
7:bfde7bd5fe31
Parent:
6:5824bd96b6cf
Child:
8:51062bb877f0
Rev2 EKF

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
altb2 4:3c21fb0c9e84 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 4:3c21fb0c9e84 11 AHRS::AHRS(uint8_t filtertype,float TS) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){
altb2 4:3c21fb0c9e84 12
altb 3:6811c0ce95f6 13 thread.start(callback(this, &AHRS::update));
altb 3:6811c0ce95f6 14 ticker.attach(callback(this, &AHRS::sendSignal), TS);
altb2 4:3c21fb0c9e84 15 /* LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here
altb 3:6811c0ce95f6 16 LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0); // y-axis reversed
altb 3:6811c0ce95f6 17 LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
altb 3:6811c0ce95f6 18 LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
altb 3:6811c0ce95f6 19 LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0); // y-axis reversed (lefthanded system)
altb 3:6811c0ce95f6 20 LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
altb 3:6811c0ce95f6 21 LinearCharacteristics int2magx( -32767,32768,100.0,-100.0); // x-axis reversed
altb2 4:3c21fb0c9e84 22 LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed*/
altb2 7:bfde7bd5fe31 23 raw_ax2ax.setup( 1.0,-.31); // use gain and offset here
altb2 7:bfde7bd5fe31 24 raw_ay2ay.setup(-1.0,-0.31); // y-axis reversed // was -1,0.0
altb2 7:bfde7bd5fe31 25 raw_az2az.setup( 1.0,0.0);
altb2 7:bfde7bd5fe31 26 raw_gx2gx.setup( 1.0,0.0);
altb2 7:bfde7bd5fe31 27 raw_gy2gy.setup(-1.0,0.0); // y-axis reversed (lefthanded system)
altb2 7:bfde7bd5fe31 28 raw_gz2gz.setup( 1.0,0.0);
altb2 7:bfde7bd5fe31 29 int2magx.setup( 1.0,0.0); // x-axis reversed
altb2 7:bfde7bd5fe31 30 int2magy.setup( 1.0,0.0); // y-axis reversed
altb2 7:bfde7bd5fe31 31 int2magz.setup( 1.0,0.0);
altb2 7:bfde7bd5fe31 32 local_time = 0.0;
altb2 7:bfde7bd5fe31 33 //
altb2 7:bfde7bd5fe31 34
altb2 5:eee47600b772 35 //matrix measurement(6,1,0.0);
altb 3:6811c0ce95f6 36 while (!imu.begin()) {
altb 3:6811c0ce95f6 37 wait(1);
altb 3:6811c0ce95f6 38 printf("Failed to communicate with LSM9DS1.\r\n");
altb 3:6811c0ce95f6 39 }
altb 3:6811c0ce95f6 40
altb 3:6811c0ce95f6 41 }
altb 3:6811c0ce95f6 42
altb 3:6811c0ce95f6 43 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 44
altb 3:6811c0ce95f6 45 void AHRS::update(void)
altb 3:6811c0ce95f6 46 {
altb2 7:bfde7bd5fe31 47 while(1){
altb 3:6811c0ce95f6 48 thread.signal_wait(signal);
altb 3:6811c0ce95f6 49 imu.readAccel();
altb2 4:3c21fb0c9e84 50 //imu.readMag_calibrated();
altb2 7:bfde7bd5fe31 51 //imu.readMag();
altb 3:6811c0ce95f6 52 imu.readGyro();
altb2 5:eee47600b772 53 matrix measurement(6,1,0.0);
altb2 6:5824bd96b6cf 54 //Perform filter update
altb2 4:3c21fb0c9e84 55 //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) ,
altb2 4:3c21fb0c9e84 56 // raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az),
altb2 5:eee47600b772 57 // int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz));
altb2 6:5824bd96b6cf 58 measurement.put_entry(0,0,raw_gx2gx(imu.gyroX));
altb2 6:5824bd96b6cf 59 measurement.put_entry(1,0,raw_gy2gy(imu.gyroY));
altb2 6:5824bd96b6cf 60 measurement.put_entry(3,0,raw_ax2ax(imu.accX));
altb2 6:5824bd96b6cf 61 measurement.put_entry(4,0,raw_ay2ay(imu.accY));
altb2 5:eee47600b772 62 RPY_filter.loop(&measurement);
altb2 7:bfde7bd5fe31 63 //measurement.put_entry(0,0,10*sin(local_time)); my_logger.data_vector[8]=10*sin(local_time); measurement.put_entry(1,0,-5*cos(local_time)); my_logger.data_vector[9]=-5*cos(local_time); measurement.put_entry(3,0,sin(2*local_time)); measurement.put_entry(4,0,cos(3*local_time));
altb2 7:bfde7bd5fe31 64 //if(local_time<=2.0) RPY_filter.loop(&measurement); if(local_time==0.0) printf("\r\n"); if(local_time<=0.2){ printf("%1.2f xk: ",local_time); for(int k=0;k<6;k++) printf("%1.5f ",RPY_filter.get_est_state(k)); printf("\r\n");}
altb2 7:bfde7bd5fe31 65 //local_time += 0.01;
altb2 6:5824bd96b6cf 66 my_logger.data_vector[0] = raw_gx2gx(imu.gyroX);
altb2 6:5824bd96b6cf 67 my_logger.data_vector[1] = raw_gy2gy(imu.gyroY);
altb2 6:5824bd96b6cf 68 my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ);
altb2 6:5824bd96b6cf 69 my_logger.data_vector[3] = raw_ax2ax(imu.accX);
altb2 6:5824bd96b6cf 70 my_logger.data_vector[4] = raw_ay2ay(imu.accY);
altb2 6:5824bd96b6cf 71 my_logger.data_vector[5] = raw_az2az(imu.accZ);
altb2 7:bfde7bd5fe31 72 my_logger.data_vector[6] = RPY_filter.get_est_state(0);
altb2 7:bfde7bd5fe31 73 my_logger.data_vector[7] = RPY_filter.get_est_state(1);
altb2 7:bfde7bd5fe31 74 my_logger.data_vector[8] = RPY_filter.get_est_state(4);
altb2 7:bfde7bd5fe31 75 my_logger.data_vector[9] = RPY_filter.get_est_state(5);
altb2 7:bfde7bd5fe31 76
altb2 7:bfde7bd5fe31 77 //printf("R %1.5f P %1.5f gx: %1.5f gy: %1.5f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],my_logger.data_vector[0],my_logger.data_vector[1]);
altb2 7:bfde7bd5fe31 78 //printf("%1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],raw_gx2gx(imu.gyroX),raw_gy2gy(imu.gyroY),raw_gz2gz(imu.gyroZ),raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ));
altb2 7:bfde7bd5fe31 79 //printf("ax: %1.4f ay: %1.4f az: %1.4f\r\n",raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ));
altb2 7:bfde7bd5fe31 80 //printf("gx: %1.4f gy: %1.4f gz: %1.4f\r\n",raw_gx2gx(imu.gyroX),raw_gy2gy(imu.gyroY),raw_gz2gz(imu.gyroZ));
altb2 7:bfde7bd5fe31 81 //printf("ax: %1.4f ay: %1.4f az: %1.4f\r\n",raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ));
altb2 6:5824bd96b6cf 82 } // while(1) (the thread)
altb2 7:bfde7bd5fe31 83
altb 3:6811c0ce95f6 84 }
altb 3:6811c0ce95f6 85 void AHRS::sendSignal() {
altb 3:6811c0ce95f6 86
altb 3:6811c0ce95f6 87 thread.signal_set(signal);
altb 3:6811c0ce95f6 88 }