Diff: AHRS.cpp

Revision:

22:495a419e474c

Parent:

21:31e01d3e0143

Child:

23:71996bfe68eb

--- a/AHRS.cpp	Mon Oct 21 17:14:27 2019 +0000
+++ b/AHRS.cpp	Mon Oct 28 07:52:43 2019 +0000
@@ -5,7 +5,7 @@
 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), ekf_rp(TS), ekf_rpy(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), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10)
 {
     /* setup storage */
     this->Ts = TS;
@@ -75,11 +75,14 @@
     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!!!
+    //raw_mx2mx.setup( 1.0f,0.0f);
+    //raw_my2my.setup( 1.0f,0.0f);
+    //raw_mz2mz.setup( 1.0f,0.0f);     // 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]);
+    //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;
@@ -95,8 +98,11 @@
     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]);
+            cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]);
             data.est_RPY[0] = ekf.get_est_state(0);
             data.est_RPY[1] = ekf.get_est_state(1);
+            data.est_Vxyz[0] = ekf.get_est_state(4);
+            data.est_Vxyz[1] = ekf.get_est_state(5);
             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);
@@ -150,6 +156,9 @@
     data.sens_mag[0] = raw_mx2mx(imu.magX);
     data.sens_mag[1] = raw_my2my(imu.magY);
     data.sens_mag[2] = raw_mz2mz(imu.magZ);
+    data.sens_mag_raw[0] = raw_mx2mx(imu.magX);
+    data.sens_mag_raw[1] = raw_my2my(imu.magY);
+    data.sens_mag_raw[2] = raw_mz2mz(imu.magZ);
 }
 // ------------------- start controllers ----------------
 void AHRS::start_loop(void){