altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

AHRS.cpp@25:fe14dbcef82d, 2020-01-06 (annotated)

Committer:
altb2
Date:
Mon Jan 06 12:49:38 2020 +0000
Revision:
25:fe14dbcef82d
Parent:
23:71996bfe68eb
Child:
26:1da7c6204775
implement BMX055

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 25:fe14dbcef82d 8 AHRS::AHRS(uint8_t filtertype, float TS, bool calib, I2C &i2c) : ekf(TS), Mahony_filter(TS), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS), imu(i2c), dout3(PA_10)
pmic 17:f9eed26536d9 9 {
pmic 17:f9eed26536d9 10 /* setup storage */
altb2 20:1182bc29c195 11 this->Ts = TS;
altb2 25:fe14dbcef82d 12 this->filtertype = filtertype;
altb2 25:fe14dbcef82d 13 #if _LSM9DS
altb2 25:fe14dbcef82d 14 imu_setup_LSM9DS(calib);
altb2 25:fe14dbcef82d 15 #else
altb2 25:fe14dbcef82d 16 imu_setup_BMX055(calib);
altb2 25:fe14dbcef82d 17 #endif
altb2 25:fe14dbcef82d 18 }
altb2 25:fe14dbcef82d 19 void AHRS::imu_setup_LSM9DS(bool calib){
pmic 17:f9eed26536d9 20 float gyro[3], accel[3], magnet[3];
altb2 20:1182bc29c195 21 for(uint8_t i = 0; i < 3; i++)
altb2 20:1182bc29c195 22 {
pmic 17:f9eed26536d9 23 gyro[i] = 0.0f;
pmic 17:f9eed26536d9 24 accel[i] = 0.0f;
pmic 17:f9eed26536d9 25 magnet[i] = 0.0f;
altb2 20:1182bc29c195 26 }
pmic 17:f9eed26536d9 27
pmic 17:f9eed26536d9 28 /* inform user if imu is not responsive */
altb2 20:1182bc29c195 29 while (!imu.begin())
altb2 20:1182bc29c195 30 {
altb2 9:644266463f5f 31 wait(1);
altb2 9:644266463f5f 32 printf("Failed to communicate with LSM9DS1.\r\n");
altb2 20:1182bc29c195 33 }
pmic 17:f9eed26536d9 34
pmic 17:f9eed26536d9 35 /* take mean value of N samples */
pmic 17:f9eed26536d9 36 uint8_t N = 200;
altb2 20:1182bc29c195 37 if(calib)
altb2 20:1182bc29c195 38 {
altb2 9:644266463f5f 39 wait_ms(500);
pmic 17:f9eed26536d9 40 /* read and cumsum data */
pmic 17:f9eed26536d9 41 for(uint16_t i = 0; i < N; i++) {
pmic 17:f9eed26536d9 42 imu.readGyro();
pmic 17:f9eed26536d9 43 imu.readAccel();
pmic 17:f9eed26536d9 44 imu.readMag();
pmic 17:f9eed26536d9 45 gyro[0] += imu.gyroX;
pmic 17:f9eed26536d9 46 gyro[1] += imu.gyroY;
pmic 17:f9eed26536d9 47 gyro[2] += imu.gyroZ;
pmic 17:f9eed26536d9 48 accel[0] += imu.accX;
pmic 17:f9eed26536d9 49 accel[1] += imu.accY;
pmic 17:f9eed26536d9 50 accel[2] += imu.accZ;
pmic 17:f9eed26536d9 51 magnet[0] += imu.magX;
pmic 17:f9eed26536d9 52 magnet[1] += imu.magY;
pmic 17:f9eed26536d9 53 magnet[2] += imu.magZ;
pmic 17:f9eed26536d9 54 wait_ms(10);
pmic 17:f9eed26536d9 55 }
pmic 17:f9eed26536d9 56 /* calculate mean value */
pmic 17:f9eed26536d9 57 for(uint16_t i = 0; i < 3; i++) {
pmic 17:f9eed26536d9 58 gyro[i] /= (float)N;
pmic 17:f9eed26536d9 59 accel[i] /= (float)N;
pmic 17:f9eed26536d9 60 magnet[i] /= (float)N;
altb2 20:1182bc29c195 61 }
pmic 17:f9eed26536d9 62 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 63 }
pmic 17:f9eed26536d9 64
pmic 17:f9eed26536d9 65 /* gyro */
pmic 17:f9eed26536d9 66 raw_gx2gx.setup( 1.0, gyro[0]);
pmic 17:f9eed26536d9 67 raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system)
pmic 17:f9eed26536d9 68 raw_gz2gz.setup( 1.0, gyro[2]);
pmic 17:f9eed26536d9 69
pmic 17:f9eed26536d9 70 // pmic, 23.09.2019
pmic 17:f9eed26536d9 71 // 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 72
pmic 17:f9eed26536d9 73 /* accel */
altb2 19:42ea6dd68185 74 raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here
altb2 19:42ea6dd68185 75 raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0
altb2 19:42ea6dd68185 76 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity!
pmic 17:f9eed26536d9 77
pmic 17:f9eed26536d9 78 /* magnet */
altb2 21:31e01d3e0143 79 /* Caibration on 21.10.2019 QK2 delivers:
altb2 19:42ea6dd68185 80 A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938]
altb2 21:31e01d3e0143 81 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 82 */
altb2 23:71996bfe68eb 83 raw_mx2mx.setup( 0.9837f,0.252f);
altb2 23:71996bfe68eb 84 raw_my2my.setup( 1.0298f,0.1675f);
altb2 23:71996bfe68eb 85 raw_mz2mz.setup(-0.9864f,-0.1392f); // achtung, bei gain(3) Vorzeichen drehen, b0 beibehalten!!!
altb2 23:71996bfe68eb 86 // raw_mx2mx.setup( 1.0f,0.0f);
altb2 23:71996bfe68eb 87 // raw_my2my.setup( 1.0f,0.0f);
altb2 23:71996bfe68eb 88 // raw_mz2mz.setup( 1.0f,0.0f); // achtung, bei b0(3) Vorzeichen drehen!!!
altb2 23:71996bfe68eb 89
pmic 17:f9eed26536d9 90 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
pmic 17:f9eed26536d9 91 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
pmic 17:f9eed26536d9 92 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
altb2 21:31e01d3e0143 93 // set EKF_RPY magnet values now:
altb2 23:71996bfe68eb 94 ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]);
altb2 7:bfde7bd5fe31 95 local_time = 0.0;
altb2 19:42ea6dd68185 96
pmic 17:f9eed26536d9 97 // the thread starts
altb2 9:644266463f5f 98
altb 3:6811c0ce95f6 99 }
altb2 25:fe14dbcef82d 100 //------------------------------------------------------------------------------
altb2 25:fe14dbcef82d 101 void AHRS::imu_setup_BMX055(bool calib){
altb2 25:fe14dbcef82d 102 float gyro[3], accel[3], magnet[3];
altb2 25:fe14dbcef82d 103 for(uint8_t i = 0; i < 3; i++)
altb2 25:fe14dbcef82d 104 {
altb2 25:fe14dbcef82d 105 gyro[i] = 0.0f;
altb2 25:fe14dbcef82d 106 accel[i] = 0.0f;
altb2 25:fe14dbcef82d 107 magnet[i] = 0.0f;
altb2 25:fe14dbcef82d 108 }
altb2 25:fe14dbcef82d 109
altb2 25:fe14dbcef82d 110 /* take mean value of N samples */
altb2 25:fe14dbcef82d 111 uint8_t N = 200;
altb2 25:fe14dbcef82d 112 if(calib)
altb2 25:fe14dbcef82d 113 {
altb2 25:fe14dbcef82d 114 wait_ms(500);
altb2 25:fe14dbcef82d 115 /* read and cumsum data */
altb2 25:fe14dbcef82d 116 for(uint16_t i = 0; i < N; i++) {
altb2 25:fe14dbcef82d 117 imu.readGyro();
altb2 25:fe14dbcef82d 118 imu.readAccel();
altb2 25:fe14dbcef82d 119 imu.readMag();
altb2 25:fe14dbcef82d 120 gyro[0] += imu.gyroX;
altb2 25:fe14dbcef82d 121 gyro[1] += imu.gyroY;
altb2 25:fe14dbcef82d 122 gyro[2] += imu.gyroZ;
altb2 25:fe14dbcef82d 123 accel[0] += imu.accX;
altb2 25:fe14dbcef82d 124 accel[1] += imu.accY;
altb2 25:fe14dbcef82d 125 accel[2] += imu.accZ;
altb2 25:fe14dbcef82d 126 magnet[0] += imu.magX;
altb2 25:fe14dbcef82d 127 magnet[1] += imu.magY;
altb2 25:fe14dbcef82d 128 magnet[2] += imu.magZ;
altb2 25:fe14dbcef82d 129 wait_ms(10);
altb2 25:fe14dbcef82d 130 }
altb2 25:fe14dbcef82d 131 /* calculate mean value */
altb2 25:fe14dbcef82d 132 for(uint16_t i = 0; i < 3; i++) {
altb2 25:fe14dbcef82d 133 gyro[i] /= (float)N;
altb2 25:fe14dbcef82d 134 accel[i] /= (float)N;
altb2 25:fe14dbcef82d 135 magnet[i] /= (float)N;
altb2 25:fe14dbcef82d 136 }
altb2 25:fe14dbcef82d 137 }
altb2 25:fe14dbcef82d 138
altb2 25:fe14dbcef82d 139 /* gyro */
altb2 25:fe14dbcef82d 140 raw_gx2gx.setup( 1.0, gyro[0]);
altb2 25:fe14dbcef82d 141 raw_gy2gy.setup( 1.0, gyro[1]); // y-axis reversed (lefthanded system)
altb2 25:fe14dbcef82d 142 raw_gz2gz.setup( 1.0, gyro[2]);
altb2 25:fe14dbcef82d 143
altb2 25:fe14dbcef82d 144 /* accel */
altb2 25:fe14dbcef82d 145 raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here
altb2 25:fe14dbcef82d 146 raw_ay2ay.setup( 1.0f, accel[1]); // y-axis reversed // was -1,0.0
altb2 25:fe14dbcef82d 147 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity!
altb2 25:fe14dbcef82d 148
altb2 25:fe14dbcef82d 149 /* magnet */
altb2 25:fe14dbcef82d 150 // diag(A0) = 0.8047 0.8447 0.8474
altb2 25:fe14dbcef82d 151 // b0 = -0.1195 0.2009 -0.3133, calibration at desk 19.12.2019
altb2 25:fe14dbcef82d 152 raw_mx2mx.setup( 0.8047f,-0.1195f);
altb2 25:fe14dbcef82d 153 raw_my2my.setup( 0.8447f, 0.2009f);
altb2 25:fe14dbcef82d 154 raw_mz2mz.setup( 0.8474f,-0.3133f); //
altb2 25:fe14dbcef82d 155 /* raw_mx2mx.setup( 1.0f,0.0f);
altb2 25:fe14dbcef82d 156 raw_my2my.setup( 1.0f,0.0f);
altb2 25:fe14dbcef82d 157 raw_mz2mz.setup( 1.0f,0.0f); */
altb2 25:fe14dbcef82d 158 this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
altb2 25:fe14dbcef82d 159 this->magnet_cal_0[1] = raw_my2my(magnet[1]);
altb2 25:fe14dbcef82d 160 this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
altb2 25:fe14dbcef82d 161 // set EKF_RPY magnet values now:
altb2 25:fe14dbcef82d 162 ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]);
altb2 25:fe14dbcef82d 163 local_time = 0.0;
altb2 25:fe14dbcef82d 164
altb2 25:fe14dbcef82d 165 // the thread starts
altb2 25:fe14dbcef82d 166
altb2 25:fe14dbcef82d 167 }
altb2 25:fe14dbcef82d 168
altb 3:6811c0ce95f6 169
altb 3:6811c0ce95f6 170 AHRS::~AHRS() {}
altb 3:6811c0ce95f6 171
altb 3:6811c0ce95f6 172 void AHRS::update(void)
altb2 20:1182bc29c195 173 {
altb2 20:1182bc29c195 174 //dout3.write(1);
altb2 21:31e01d3e0143 175 switch(filtertype){
altb2 21:31e01d3e0143 176 case 1:
altb2 21:31e01d3e0143 177 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 178 cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]);
altb2 21:31e01d3e0143 179 data.est_RPY[0] = ekf.get_est_state(0);
altb2 21:31e01d3e0143 180 data.est_RPY[1] = ekf.get_est_state(1);
altb2 23:71996bfe68eb 181 //data.est_Vxyz[0] = ekf.get_est_state(4);
altb2 23:71996bfe68eb 182 //data.est_Vxyz[1] = ekf.get_est_state(5);
altb2 21:31e01d3e0143 183 break;
altb2 21:31e01d3e0143 184 case 2:
altb2 21:31e01d3e0143 185 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 186 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 21:31e01d3e0143 187 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 21:31e01d3e0143 188 break;
altb2 21:31e01d3e0143 189 case 3:
altb2 21:31e01d3e0143 190 ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]);
altb2 23:71996bfe68eb 191
altb2 23:71996bfe68eb 192 cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]);
altb2 21:31e01d3e0143 193 data.est_RPY[0] = ekf_rp.get_est_state(0);
altb2 21:31e01d3e0143 194 data.est_RPY[1] = ekf_rp.get_est_state(1);
altb2 21:31e01d3e0143 195 break;
altb2 21:31e01d3e0143 196 case 4:
altb2 21:31e01d3e0143 197 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 198 data.est_RPY[0] = ekf_rpy.get_est_state(0);
altb2 21:31e01d3e0143 199 data.est_RPY[1] = ekf_rpy.get_est_state(1);
altb2 23:71996bfe68eb 200 data.est_RPY[2] = ekf_rpy.get_est_state(2);
altb2 23:71996bfe68eb 201 data.est_RPY[3] = ekf_rpy.get_est_state(3);
altb2 23:71996bfe68eb 202 data.est_RPY[4] = ekf_rpy.get_est_state(4);
altb2 23:71996bfe68eb 203 data.est_RPY[5] = ekf_rpy.get_est_state(5);
altb2 23:71996bfe68eb 204 data.est_RPY[6] = ekf_rpy.get_est_state(6);
altb2 23:71996bfe68eb 205 data.est_RPY[7] = ekf_rpy.get_est_state(7);
altb2 21:31e01d3e0143 206 break;
altb2 20:1182bc29c195 207 }
altb2 20:1182bc29c195 208 // dout3.write(0);
altb2 20:1182bc29c195 209 }
altb2 20:1182bc29c195 210 void AHRS::update_as_thread(void)
altb2 20:1182bc29c195 211 {
altb2 20:1182bc29c195 212 while(1)
altb2 20:1182bc29c195 213 {
altb2 20:1182bc29c195 214 thread.signal_wait(signal);
altb2 20:1182bc29c195 215 // dout3.write(1);
altb2 20:1182bc29c195 216 if(filtertype !=1)
altb2 20:1182bc29c195 217 {
altb2 20:1182bc29c195 218 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 219 data.est_RPY[0] = Mahony_filter.getRollRadians();
altb2 20:1182bc29c195 220 data.est_RPY[1] = Mahony_filter.getPitchRadians();
altb2 20:1182bc29c195 221 }
altb2 20:1182bc29c195 222 else
altb2 20:1182bc29c195 223 {
altb2 20:1182bc29c195 224 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 225 data.est_RPY[0] = ekf.get_est_state(0);
altb2 20:1182bc29c195 226 data.est_RPY[1] = ekf.get_est_state(1);
altb2 20:1182bc29c195 227 }
altb2 20:1182bc29c195 228 // dout3.write(0);
altb2 20:1182bc29c195 229 }
altb2 20:1182bc29c195 230 }
altb2 20:1182bc29c195 231 void AHRS::read_imu_sensors(void){
altb2 25:fe14dbcef82d 232 mutex.lock();
altb2 25:fe14dbcef82d 233 dout3.write(1);
altb2 20:1182bc29c195 234 imu.readGyro();
altb2 20:1182bc29c195 235 imu.readAccel();
altb2 20:1182bc29c195 236 imu.readMag();
altb2 25:fe14dbcef82d 237 dout3.write(0);
altb2 25:fe14dbcef82d 238 mutex.unlock();
altb2 20:1182bc29c195 239 data.sens_gyr[0] = raw_gx2gx(imu.gyroX);
altb2 20:1182bc29c195 240 data.sens_gyr[1] = raw_gy2gy(imu.gyroY);
altb2 20:1182bc29c195 241 data.sens_gyr[2] = raw_gz2gz(imu.gyroZ);
altb2 20:1182bc29c195 242 data.sens_acc[0] = raw_ax2ax(imu.accX);
altb2 20:1182bc29c195 243 data.sens_acc[1] = raw_ay2ay(imu.accY);
altb2 20:1182bc29c195 244 data.sens_acc[2] = raw_az2az(imu.accZ);
altb2 20:1182bc29c195 245 data.sens_mag[0] = raw_mx2mx(imu.magX);
altb2 20:1182bc29c195 246 data.sens_mag[1] = raw_my2my(imu.magY);
altb2 20:1182bc29c195 247 data.sens_mag[2] = raw_mz2mz(imu.magZ);
altb2 20:1182bc29c195 248 }
altb2 20:1182bc29c195 249 // ------------------- start controllers ----------------
altb2 20:1182bc29c195 250 void AHRS::start_loop(void){
altb2 20:1182bc29c195 251 thread.start(callback(this, &AHRS::update_as_thread));
altb2 20:1182bc29c195 252 ticker.attach(callback(this, &AHRS::sendSignal), Ts);
altb2 20:1182bc29c195 253 }
pmic 17:f9eed26536d9 254
altb2 20:1182bc29c195 255 // this is for realtime OS
altb2 20:1182bc29c195 256 void AHRS::sendSignal() {
altb2 20:1182bc29c195 257 thread.signal_set(signal);
altb2 20:1182bc29c195 258 }