AHRS
Dependencies: Eigen
AHRS.cpp
- Committer:
- altb2
- Date:
- 2019-10-28
- Revision:
- 22:495a419e474c
- Parent:
- 21:31e01d3e0143
- Child:
- 23:71996bfe68eb
File content as of revision 22:495a419e474c:
#include "AHRS.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), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10) { /* setup storage */ this->Ts = TS; float gyro[3], accel[3], magnet[3]; for(uint8_t i = 0; i < 3; i++) { gyro[i] = 0.0f; accel[i] = 0.0f; magnet[i] = 0.0f; } /* inform user if imu is not responsive */ while (!imu.begin()) { wait(1); printf("Failed to communicate with LSM9DS1.\r\n"); } /* take mean value of N samples */ uint8_t N = 200; if(calib) { wait_ms(500); /* read and cumsum data */ for(uint16_t i = 0; i < N; i++) { imu.readGyro(); imu.readAccel(); imu.readMag(); gyro[0] += imu.gyroX; gyro[1] += imu.gyroY; gyro[2] += imu.gyroZ; accel[0] += imu.accX; accel[1] += imu.accY; accel[2] += imu.accZ; magnet[0] += imu.magX; magnet[1] += imu.magY; magnet[2] += imu.magZ; wait_ms(10); } /* calculate mean value */ for(uint16_t i = 0; i < 3; i++) { gyro[i] /= (float)N; accel[i] /= (float)N; magnet[i] /= (float)N; } 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]); } /* gyro */ raw_gx2gx.setup( 1.0, gyro[0]); raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system) raw_gz2gz.setup( 1.0, gyro[2]); // pmic, 23.09.2019 // calibration for acc and mag needs to be redone on real copter pes board with power on and spinning motors (no propellers) /* accel */ raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0 raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! /* magnet */ /* 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_magn_Okt19_aFMA.m */ 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]); local_time = 0.0; this->filtertype = filtertype; // the thread starts } AHRS::~AHRS() {} void AHRS::update(void) { //dout3.write(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]); 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); 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); } void AHRS::update_as_thread(void) { while(1) { thread.signal_wait(signal); // 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); } // dout3.write(0); } } void AHRS::read_imu_sensors(void){ imu.readGyro(); imu.readAccel(); imu.readMag(); data.sens_gyr[0] = raw_gx2gx(imu.gyroX); data.sens_gyr[1] = raw_gy2gy(imu.gyroY); data.sens_gyr[2] = raw_gz2gz(imu.gyroZ); data.sens_acc[0] = raw_ax2ax(imu.accX); data.sens_acc[1] = raw_ay2ay(imu.accY); data.sens_acc[2] = raw_az2az(imu.accZ); 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){ thread.start(callback(this, &AHRS::update_as_thread)); ticker.attach(callback(this, &AHRS::sendSignal), Ts); } // this is for realtime OS void AHRS::sendSignal() { thread.signal_set(signal); }