altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@17:f9eed26536d9, 2019-09-23 (annotated)

Committer:
pmic
Date:
Mon Sep 23 14:19:23 2019 +0000
Revision:
17:f9eed26536d9
Parent:
14:c357be9a3fc8
Child:
19:42ea6dd68185
Include magnetometer and calibration in AHRS. Over all clean up from AHRS.

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){
pmic 17:f9eed26536d9 11 AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(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 */
pmic 17:f9eed26536d9 65 raw_ax2ax.setup( 1.0032920, accel[0]); // use gain and offset here
pmic 17:f9eed26536d9 66 raw_ay2ay.setup(-0.9854960, accel[1]); // y-axis reversed // was -1,0.0
pmic 17:f9eed26536d9 67 raw_az2az.setup( 1.0113879, 0.0f); // do not remove gravity!
pmic 17:f9eed26536d9 68
pmic 17:f9eed26536d9 69 /* magnet */
pmic 17:f9eed26536d9 70 raw_mx2mx.setup( 0.9708198f, -0.1047768f);
pmic 17:f9eed26536d9 71 raw_my2my.setup( 1.0038431f, 0.2345627f);
pmic 17:f9eed26536d9 72 raw_mz2mz.setup(-1.0261139f, 0.0650053f);
pmic 17:f9eed26536d9 73 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
pmic 17:f9eed26536d9 74 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
pmic 17:f9eed26536d9 75 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
pmic 17:f9eed26536d9 76
altb2 7:bfde7bd5fe31 77 local_time = 0.0;
pmic 17:f9eed26536d9 78
pmic 17:f9eed26536d9 79 // the thread starts
altb2 9:644266463f5f 80 thread.start(callback(this, &AHRS::update));
altb2 9:644266463f5f 81 ticker.attach(callback(this, &AHRS::sendSignal), TS);
altb2 9:644266463f5f 82
altb 3:6811c0ce95f6 83 }
altb 3:6811c0ce95f6 84
altb 3:6811c0ce95f6 85 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 86
altb 3:6811c0ce95f6 87 void AHRS::update(void)
altb 3:6811c0ce95f6 88 {
pmic 17:f9eed26536d9 89 while(1) {
pmic 17:f9eed26536d9 90
altb 3:6811c0ce95f6 91 thread.signal_wait(signal);
pmic 17:f9eed26536d9 92 imu.readGyro();
altb 3:6811c0ce95f6 93 imu.readAccel();
altb2 8:51062bb877f0 94 imu.readMag();
pmic 17:f9eed26536d9 95 matrix measurement(6, 1, 0.0f);
altb2 6:5824bd96b6cf 96 //Perform filter update
altb2 9:644266463f5f 97 //Mahony_filter.update(raw_gx2gx(imu.gyroX), raw_gy2gy(imu.gyroY), raw_gz2gz(imu.gyroZ) ,
altb2 9:644266463f5f 98 // raw_ax2ax(imu.accX), raw_ay2ay(imu.accY), raw_az2az(imu.accZ),
altb2 9:644266463f5f 99 // int2magx(imu.magX), int2magy(imu.magY), int2magz(imu.magZ));
pmic 17:f9eed26536d9 100 measurement.put_entry(0, 0, raw_gx2gx(imu.gyroX));
pmic 17:f9eed26536d9 101 measurement.put_entry(1, 0, raw_gy2gy(imu.gyroY));
pmic 17:f9eed26536d9 102 measurement.put_entry(3, 0, raw_ax2ax(imu.accX));
pmic 17:f9eed26536d9 103 measurement.put_entry(4, 0, raw_ay2ay(imu.accY));
altb2 5:eee47600b772 104 RPY_filter.loop(&measurement);
altb2 8:51062bb877f0 105
altb2 6:5824bd96b6cf 106 my_logger.data_vector[0] = raw_gx2gx(imu.gyroX);
altb2 6:5824bd96b6cf 107 my_logger.data_vector[1] = raw_gy2gy(imu.gyroY);
altb2 6:5824bd96b6cf 108 my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ);
altb2 14:c357be9a3fc8 109 my_logger.data_vector[3] = raw_ax2ax(imu.accX);
altb2 6:5824bd96b6cf 110 my_logger.data_vector[4] = raw_ay2ay(imu.accY);
altb2 14:c357be9a3fc8 111 my_logger.data_vector[5] = raw_az2az(imu.accZ);
altb2 14:c357be9a3fc8 112 my_logger.data_vector[6] = RPY_filter.get_est_state(0);
altb2 14:c357be9a3fc8 113 my_logger.data_vector[7] = RPY_filter.get_est_state(1);
altb2 14:c357be9a3fc8 114 my_logger.data_vector[8] = RPY_filter.get_est_state(4);
altb2 14:c357be9a3fc8 115 my_logger.data_vector[9] = RPY_filter.get_est_state(5);
pmic 17:f9eed26536d9 116
pmic 17:f9eed26536d9 117 // pmic, 23.09.2019
pmic 17:f9eed26536d9 118 // dono about logger extension, please adapt
pmic 17:f9eed26536d9 119 // my_logger.data_vector[10] = raw_mx2mx(imu.magX);
pmic 17:f9eed26536d9 120 // my_logger.data_vector[11] = raw_my2my(imu.magY);
pmic 17:f9eed26536d9 121 // my_logger.data_vector[12] = raw_mz2mz(imu.magZ);
pmic 17:f9eed26536d9 122
pmic 17:f9eed26536d9 123 } // while(1) (the thread)
pmic 17:f9eed26536d9 124
altb 3:6811c0ce95f6 125 }
pmic 17:f9eed26536d9 126
pmic 17:f9eed26536d9 127 void AHRS::sendSignal()
pmic 17:f9eed26536d9 128 {
altb 3:6811c0ce95f6 129 thread.signal_set(signal);
altb 3:6811c0ce95f6 130 }