File content as of revision 17:f9eed26536d9:

#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), RPY_filter(TS), Mahony_filter(TS), thread(osPriorityBelowNormal, 4096)
{
    /* setup storage */
    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( 1.0032920, accel[0]);  // use gain and offset here
    raw_ay2ay.setup(-0.9854960, accel[1]);  // y-axis reversed // was -1,0.0
    raw_az2az.setup( 1.0113879,     0.0f);  // do not remove gravity!

    /* magnet */
    raw_mx2mx.setup( 0.9708198f, -0.1047768f);
    raw_my2my.setup( 1.0038431f,  0.2345627f);
    raw_mz2mz.setup(-1.0261139f,  0.0650053f);
    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]);

    local_time = 0.0;

    // the thread starts
    thread.start(callback(this, &AHRS::update));
    ticker.attach(callback(this, &AHRS::sendSignal), TS);

}

AHRS::~AHRS() {}

void AHRS::update(void)
{
    while(1) {

        thread.signal_wait(signal);
        imu.readGyro();
        imu.readAccel();
        imu.readMag();
        matrix measurement(6, 1, 0.0f);
        //Perform filter update
        //Mahony_filter.update(raw_gx2gx(imu.gyroX), raw_gy2gy(imu.gyroY),  raw_gz2gz(imu.gyroZ) ,
        //              raw_ax2ax(imu.accX), raw_ay2ay(imu.accY),  raw_az2az(imu.accZ),
        //              int2magx(imu.magX), int2magy(imu.magY),  int2magz(imu.magZ));
        measurement.put_entry(0, 0, raw_gx2gx(imu.gyroX));
        measurement.put_entry(1, 0, raw_gy2gy(imu.gyroY));
        measurement.put_entry(3, 0, raw_ax2ax(imu.accX));
        measurement.put_entry(4, 0, raw_ay2ay(imu.accY));
        RPY_filter.loop(&measurement);

        my_logger.data_vector[0] = raw_gx2gx(imu.gyroX);
        my_logger.data_vector[1] = raw_gy2gy(imu.gyroY);
        my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ);
        my_logger.data_vector[3] = raw_ax2ax(imu.accX);
        my_logger.data_vector[4] = raw_ay2ay(imu.accY);
        my_logger.data_vector[5] = raw_az2az(imu.accZ);
        my_logger.data_vector[6] = RPY_filter.get_est_state(0);
        my_logger.data_vector[7] = RPY_filter.get_est_state(1);
        my_logger.data_vector[8] = RPY_filter.get_est_state(4);
        my_logger.data_vector[9] = RPY_filter.get_est_state(5);

        // pmic, 23.09.2019
        // dono about logger extension, please adapt
        // my_logger.data_vector[10] = raw_mx2mx(imu.magX);
        // my_logger.data_vector[11] = raw_my2my(imu.magY);
        // my_logger.data_vector[12] = raw_mz2mz(imu.magZ);

    }       // while(1) (the thread)

}

void AHRS::sendSignal()
{
    thread.signal_set(signal);
}