AHRS
Dependencies: Eigen
AHRS.cpp
- Committer:
- altb2
- Date:
- 2019-08-15
- Revision:
- 10:fd4e2436b311
- Parent:
- 9:644266463f5f
- Child:
- 14:c357be9a3fc8
File content as of revision 10:fd4e2436b311:
#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){ float g[3]; g[0]=0.0;g[1]=0.0;g[2]=0.0; float a[3]; a[0]=0.0;a[1]=0.0;a[2]=0.0; uint8_t N = 100; while (!imu.begin()) { wait(1); printf("Failed to communicate with LSM9DS1.\r\n"); } if(calib){ wait_ms(500); for(int k=0;k < N;k++) { imu.readGyro(); imu.readAccel(); g[0]+= imu.gyroX; g[1]+= imu.gyroY; g[2]+= imu.gyroZ; a[0]+= imu.accX; a[1]+= imu.accY; a[2]+= imu.accZ; wait_ms(10); } for(int k = 0;k<3;k++){ g[k] /= (float)N; a[k] /= (float)N; } printf("Correct g: %1.5f %1.5f %1.5f a: %1.5f %1.5f %1.5f\r\n",g[0],g[1],g[2],a[0],a[1],a[2]); } raw_gx2gx.setup( 1.0,g[0]); raw_gy2gy.setup(-1.0,g[1]); // y-axis reversed (lefthanded system) raw_gz2gz.setup( 1.0,g[2]); raw_ax2ax.setup( 1.0,a[0]); // use gain and offset here raw_ay2ay.setup(-1.0,a[1]); // y-axis reversed // was -1,0.0 raw_az2az.setup( 1.0,0.0); int2magx.setup( -1.0,0.0); // x-axis reversed int2magy.setup( -1.0,0.0); // y-axis reversed int2magz.setup( 1.0,0.0); 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.readAccel(); //imu.readMag_calibrated(); imu.readMag(); imu.readGyro(); matrix measurement(6,1,0.0); //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[3] = RPY_filter.get_est_state(0); my_logger.data_vector[4] = RPY_filter.get_est_state(1); my_logger.data_vector[5] = RPY_filter.get_est_state(4); my_logger.data_vector[6] = RPY_filter.get_est_state(5); } // while(1) (the thread) } void AHRS::sendSignal() { thread.signal_set(signal); }