Diff: AHRS.cpp

Revision:

21:31e01d3e0143

Parent:

20:1182bc29c195

Child:

22:495a419e474c

--- a/AHRS.cpp	Wed Oct 09 13:45:36 2019 +0000
+++ b/AHRS.cpp	Mon Oct 21 17:14:27 2019 +0000
@@ -1,14 +1,11 @@
 #include "AHRS.h"
-#include "Mahony.h"
-#include "MadgwickAHRS.h"
-#include "EKF.h"
 
 #define PI 3.141592653589793
 
 using namespace std;
 
 //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){
-AHRS::AHRS(uint8_t filtertype, float TS, bool calib) :  imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS)//, dout3(PA_10)
+AHRS::AHRS(uint8_t filtertype, float TS, bool calib) :  imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10)
 {
     /* setup storage */
     this->Ts = TS;
@@ -71,17 +68,18 @@
     raw_az2az.setup( 1.0,  0.0f);  // do not remove gravity!
 
     /* magnet */
-    /* Caibration on 25.9.2019 QK2 delivers:
+    /* Caibration on 21.10.2019 QK2 delivers:
     A=[ 0.9904   0   0; 0.0605    1.0158  0;0.0397   -0.0199    0.9938]
-    b0= [0.4160    0.1587   -0.0998], see T:\T-IMS-IndNav\01_Technisches\09_PES_Board_IMU\meas_mag_aFMA\calib_mag_QK2.m
+    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
     */
-    raw_mx2mx.setup( 0.9904f,0.4160f);
-    raw_my2my.setup( 1.0158f, 0.1587f);
-    raw_mz2mz.setup(-0.9938f, -0.0998f);
+    raw_mx2mx.setup( 0.9982f,0.2054f);
+    raw_my2my.setup( 1.0574f,0.1912f);
+    raw_mz2mz.setup(-0.9444f,-0.1385f);     // achtung, bei b0(3) Vorzeichen drehen!!!
     this->magnet_cal_0[0] = raw_mx2mx(magnet[0]);
     this->magnet_cal_0[1] = raw_my2my(magnet[1]);
     this->magnet_cal_0[2] = raw_mz2mz(magnet[2]);
-
+// set EKF_RPY magnet values now:
+    ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]);
     local_time = 0.0;
     
     this->filtertype = filtertype;
@@ -94,17 +92,27 @@
 void AHRS::update(void)
 {   
     //dout3.write(1);
-    if(filtertype !=1)
-        {
-        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);
-        data.est_RPY[0] = Mahony_filter.getRollRadians();
-        data.est_RPY[1] = Mahony_filter.getPitchRadians();
-        }
-    else
-        {
-        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]);
-        data.est_RPY[0] = ekf.get_est_state(0);
-        data.est_RPY[1] = ekf.get_est_state(1);
+    switch(filtertype){
+        case 1:
+            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]);
+            data.est_RPY[0] = ekf.get_est_state(0);
+            data.est_RPY[1] = ekf.get_est_state(1);
+            break;
+        case 2:
+            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);
+            data.est_RPY[0] = Mahony_filter.getRollRadians();
+            data.est_RPY[1] = Mahony_filter.getPitchRadians();
+            break;
+        case 3:
+            ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]);
+            data.est_RPY[0] = ekf_rp.get_est_state(0);
+            data.est_RPY[1] = ekf_rp.get_est_state(1);
+            break;
+        case 4:
+            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]);
+            data.est_RPY[0] = ekf_rpy.get_est_state(0);
+            data.est_RPY[1] = ekf_rpy.get_est_state(1);
+            break;
         }
  //   dout3.write(0);
 }