AHRS
Dependencies: Eigen
AHRS.h@17:f9eed26536d9, 2019-09-23 (annotated)
- Committer:
- pmic
- Date:
- Mon Sep 23 14:19:23 2019 +0000
- Revision:
- 17:f9eed26536d9
- Parent:
- 11:b010622c0748
- Child:
- 19:42ea6dd68185
Include magnetometer and calibration in AHRS. Over all clean up from AHRS.
Who changed what in which revision?
User | Revision | Line number | New 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 | |
pmic | 17:f9eed26536d9 | 12 | class AHRS |
pmic | 17:f9eed26536d9 | 13 | { |
altb | 3:6811c0ce95f6 | 14 | public: |
pmic | 17:f9eed26536d9 | 15 | |
altb2 | 9:644266463f5f | 16 | AHRS(uint8_t,float,bool); |
pmic | 17:f9eed26536d9 | 17 | |
altb | 3:6811c0ce95f6 | 18 | virtual ~AHRS(); |
pmic | 17:f9eed26536d9 | 19 | |
pmic | 17:f9eed26536d9 | 20 | float getRoll(uint8_t ft) |
pmic | 17:f9eed26536d9 | 21 | { |
altb2 | 8:51062bb877f0 | 22 | if(ft ==1) |
pmic | 17:f9eed26536d9 | 23 | return RPY_filter.get_est_state(0); |
altb2 | 8:51062bb877f0 | 24 | else |
pmic | 17:f9eed26536d9 | 25 | return Mahony_filter.getRollRadians(); |
altb | 3:6811c0ce95f6 | 26 | } |
pmic | 17:f9eed26536d9 | 27 | |
pmic | 17:f9eed26536d9 | 28 | float getPitch(uint8_t ft) |
pmic | 17:f9eed26536d9 | 29 | { |
altb2 | 8:51062bb877f0 | 30 | if(ft ==1) |
pmic | 17:f9eed26536d9 | 31 | return RPY_filter.get_est_state(1); |
altb2 | 8:51062bb877f0 | 32 | else |
pmic | 17:f9eed26536d9 | 33 | return Mahony_filter.getPitchRadians(); |
altb | 3:6811c0ce95f6 | 34 | } |
pmic | 17:f9eed26536d9 | 35 | |
pmic | 17:f9eed26536d9 | 36 | float getYaw() |
pmic | 17:f9eed26536d9 | 37 | { |
altb2 | 6:5824bd96b6cf | 38 | return 0.0; |
altb | 3:6811c0ce95f6 | 39 | } |
pmic | 17:f9eed26536d9 | 40 | |
altb | 3:6811c0ce95f6 | 41 | LSM9DS1 imu; |
altb2 | 8:51062bb877f0 | 42 | Mahony Mahony_filter; |
altb2 | 4:3c21fb0c9e84 | 43 | ekf RPY_filter; |
altb | 3:6811c0ce95f6 | 44 | LinearCharacteristics raw_gx2gx; |
altb | 3:6811c0ce95f6 | 45 | LinearCharacteristics raw_gy2gy; |
altb | 3:6811c0ce95f6 | 46 | LinearCharacteristics raw_gz2gz; |
altb2 | 4:3c21fb0c9e84 | 47 | LinearCharacteristics raw_ax2ax; |
altb2 | 4:3c21fb0c9e84 | 48 | LinearCharacteristics raw_ay2ay; |
altb2 | 4:3c21fb0c9e84 | 49 | LinearCharacteristics raw_az2az; |
pmic | 17:f9eed26536d9 | 50 | LinearCharacteristics raw_mx2mx; |
pmic | 17:f9eed26536d9 | 51 | LinearCharacteristics raw_my2my; |
pmic | 17:f9eed26536d9 | 52 | LinearCharacteristics raw_mz2mz; |
altb2 | 9:644266463f5f | 53 | float xyzUS[3]; |
altb2 | 10:fd4e2436b311 | 54 | float xyzAS[3]; |
altb2 | 9:644266463f5f | 55 | float rxryrzUS[3]; |
altb2 | 10:fd4e2436b311 | 56 | float v_xyzOF[2]; |
altb2 | 10:fd4e2436b311 | 57 | float xyzOF[3]; |
altb2 | 11:b010622c0748 | 58 | float xyzLIDAR[3]; |
pmic | 17:f9eed26536d9 | 59 | float magnet_cal_0[3]; |
pmic | 17:f9eed26536d9 | 60 | |
altb | 3:6811c0ce95f6 | 61 | private: |
pmic | 17:f9eed26536d9 | 62 | |
altb | 3:6811c0ce95f6 | 63 | Signal signal; |
altb | 3:6811c0ce95f6 | 64 | Thread thread; |
altb | 3:6811c0ce95f6 | 65 | Ticker ticker; |
pmic | 17:f9eed26536d9 | 66 | Mutex mutex; // mutex to lock critical sections |
altb | 3:6811c0ce95f6 | 67 | void sendSignal(); |
altb2 | 7:bfde7bd5fe31 | 68 | float local_time; |
altb | 3:6811c0ce95f6 | 69 | void update(); |
altb2 | 4:3c21fb0c9e84 | 70 | matrix measurement; |
pmic | 17:f9eed26536d9 | 71 | |
altb | 3:6811c0ce95f6 | 72 | }; |