AHRS
Dependencies: Eigen
AHRS.cpp@20:1182bc29c195, 2019-10-09 (annotated)
- Committer:
- altb2
- Date:
- Wed Oct 09 13:45:36 2019 +0000
- Revision:
- 20:1182bc29c195
- Parent:
- 19:42ea6dd68185
- Child:
- 21:31e01d3e0143
Major changes for new structure of IndNav_QK3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 3:6811c0ce95f6 | 1 | #include "AHRS.h" |
altb | 3:6811c0ce95f6 | 2 | #include "Mahony.h" |
altb | 3:6811c0ce95f6 | 3 | #include "MadgwickAHRS.h" |
altb2 | 20:1182bc29c195 | 4 | #include "EKF.h" |
altb2 | 4:3c21fb0c9e84 | 5 | |
altb | 3:6811c0ce95f6 | 6 | #define PI 3.141592653589793 |
altb | 3:6811c0ce95f6 | 7 | |
altb | 3:6811c0ce95f6 | 8 | using namespace std; |
altb | 3:6811c0ce95f6 | 9 | |
pmic | 17:f9eed26536d9 | 10 | //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){ |
altb2 | 20:1182bc29c195 | 11 | AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS)//, dout3(PA_10) |
pmic | 17:f9eed26536d9 | 12 | { |
pmic | 17:f9eed26536d9 | 13 | /* setup storage */ |
altb2 | 20:1182bc29c195 | 14 | this->Ts = TS; |
pmic | 17:f9eed26536d9 | 15 | float gyro[3], accel[3], magnet[3]; |
altb2 | 20:1182bc29c195 | 16 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 20:1182bc29c195 | 17 | { |
pmic | 17:f9eed26536d9 | 18 | gyro[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 19 | accel[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 20 | magnet[i] = 0.0f; |
altb2 | 20:1182bc29c195 | 21 | } |
pmic | 17:f9eed26536d9 | 22 | |
pmic | 17:f9eed26536d9 | 23 | /* inform user if imu is not responsive */ |
altb2 | 20:1182bc29c195 | 24 | while (!imu.begin()) |
altb2 | 20:1182bc29c195 | 25 | { |
altb2 | 9:644266463f5f | 26 | wait(1); |
altb2 | 9:644266463f5f | 27 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb2 | 20:1182bc29c195 | 28 | } |
pmic | 17:f9eed26536d9 | 29 | |
pmic | 17:f9eed26536d9 | 30 | /* take mean value of N samples */ |
pmic | 17:f9eed26536d9 | 31 | uint8_t N = 200; |
altb2 | 20:1182bc29c195 | 32 | if(calib) |
altb2 | 20:1182bc29c195 | 33 | { |
altb2 | 9:644266463f5f | 34 | wait_ms(500); |
pmic | 17:f9eed26536d9 | 35 | /* read and cumsum data */ |
pmic | 17:f9eed26536d9 | 36 | for(uint16_t i = 0; i < N; i++) { |
pmic | 17:f9eed26536d9 | 37 | imu.readGyro(); |
pmic | 17:f9eed26536d9 | 38 | imu.readAccel(); |
pmic | 17:f9eed26536d9 | 39 | imu.readMag(); |
pmic | 17:f9eed26536d9 | 40 | gyro[0] += imu.gyroX; |
pmic | 17:f9eed26536d9 | 41 | gyro[1] += imu.gyroY; |
pmic | 17:f9eed26536d9 | 42 | gyro[2] += imu.gyroZ; |
pmic | 17:f9eed26536d9 | 43 | accel[0] += imu.accX; |
pmic | 17:f9eed26536d9 | 44 | accel[1] += imu.accY; |
pmic | 17:f9eed26536d9 | 45 | accel[2] += imu.accZ; |
pmic | 17:f9eed26536d9 | 46 | magnet[0] += imu.magX; |
pmic | 17:f9eed26536d9 | 47 | magnet[1] += imu.magY; |
pmic | 17:f9eed26536d9 | 48 | magnet[2] += imu.magZ; |
pmic | 17:f9eed26536d9 | 49 | wait_ms(10); |
pmic | 17:f9eed26536d9 | 50 | } |
pmic | 17:f9eed26536d9 | 51 | /* calculate mean value */ |
pmic | 17:f9eed26536d9 | 52 | for(uint16_t i = 0; i < 3; i++) { |
pmic | 17:f9eed26536d9 | 53 | gyro[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 54 | accel[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 55 | magnet[i] /= (float)N; |
altb2 | 20:1182bc29c195 | 56 | } |
pmic | 17:f9eed26536d9 | 57 | 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]); |
pmic | 17:f9eed26536d9 | 58 | } |
pmic | 17:f9eed26536d9 | 59 | |
pmic | 17:f9eed26536d9 | 60 | /* gyro */ |
pmic | 17:f9eed26536d9 | 61 | raw_gx2gx.setup( 1.0, gyro[0]); |
pmic | 17:f9eed26536d9 | 62 | raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system) |
pmic | 17:f9eed26536d9 | 63 | raw_gz2gz.setup( 1.0, gyro[2]); |
pmic | 17:f9eed26536d9 | 64 | |
pmic | 17:f9eed26536d9 | 65 | // pmic, 23.09.2019 |
pmic | 17:f9eed26536d9 | 66 | // calibration for acc and mag needs to be redone on real copter pes board with power on and spinning motors (no propellers) |
pmic | 17:f9eed26536d9 | 67 | |
pmic | 17:f9eed26536d9 | 68 | /* accel */ |
altb2 | 19:42ea6dd68185 | 69 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 19:42ea6dd68185 | 70 | raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0 |
altb2 | 19:42ea6dd68185 | 71 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
pmic | 17:f9eed26536d9 | 72 | |
pmic | 17:f9eed26536d9 | 73 | /* magnet */ |
altb2 | 19:42ea6dd68185 | 74 | /* Caibration on 25.9.2019 QK2 delivers: |
altb2 | 19:42ea6dd68185 | 75 | A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938] |
altb2 | 19:42ea6dd68185 | 76 | 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 |
altb2 | 19:42ea6dd68185 | 77 | */ |
altb2 | 19:42ea6dd68185 | 78 | raw_mx2mx.setup( 0.9904f,0.4160f); |
altb2 | 19:42ea6dd68185 | 79 | raw_my2my.setup( 1.0158f, 0.1587f); |
altb2 | 19:42ea6dd68185 | 80 | raw_mz2mz.setup(-0.9938f, -0.0998f); |
pmic | 17:f9eed26536d9 | 81 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
pmic | 17:f9eed26536d9 | 82 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
pmic | 17:f9eed26536d9 | 83 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
pmic | 17:f9eed26536d9 | 84 | |
altb2 | 7:bfde7bd5fe31 | 85 | local_time = 0.0; |
altb2 | 19:42ea6dd68185 | 86 | |
altb2 | 19:42ea6dd68185 | 87 | this->filtertype = filtertype; |
pmic | 17:f9eed26536d9 | 88 | // the thread starts |
altb2 | 9:644266463f5f | 89 | |
altb | 3:6811c0ce95f6 | 90 | } |
altb | 3:6811c0ce95f6 | 91 | |
altb | 3:6811c0ce95f6 | 92 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 93 | |
altb | 3:6811c0ce95f6 | 94 | void AHRS::update(void) |
altb2 | 20:1182bc29c195 | 95 | { |
altb2 | 20:1182bc29c195 | 96 | //dout3.write(1); |
altb2 | 19:42ea6dd68185 | 97 | if(filtertype !=1) |
altb2 | 20:1182bc29c195 | 98 | { |
altb2 | 20:1182bc29c195 | 99 | 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); |
altb2 | 20:1182bc29c195 | 100 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 20:1182bc29c195 | 101 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 20:1182bc29c195 | 102 | } |
altb2 | 19:42ea6dd68185 | 103 | else |
altb2 | 20:1182bc29c195 | 104 | { |
altb2 | 19:42ea6dd68185 | 105 | 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]); |
altb2 | 20:1182bc29c195 | 106 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 20:1182bc29c195 | 107 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 20:1182bc29c195 | 108 | } |
altb2 | 20:1182bc29c195 | 109 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 110 | } |
altb2 | 20:1182bc29c195 | 111 | void AHRS::update_as_thread(void) |
altb2 | 20:1182bc29c195 | 112 | { |
altb2 | 20:1182bc29c195 | 113 | while(1) |
altb2 | 20:1182bc29c195 | 114 | { |
altb2 | 20:1182bc29c195 | 115 | thread.signal_wait(signal); |
altb2 | 20:1182bc29c195 | 116 | // dout3.write(1); |
altb2 | 20:1182bc29c195 | 117 | if(filtertype !=1) |
altb2 | 20:1182bc29c195 | 118 | { |
altb2 | 20:1182bc29c195 | 119 | 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); |
altb2 | 20:1182bc29c195 | 120 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 20:1182bc29c195 | 121 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 20:1182bc29c195 | 122 | } |
altb2 | 20:1182bc29c195 | 123 | else |
altb2 | 20:1182bc29c195 | 124 | { |
altb2 | 20:1182bc29c195 | 125 | 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]); |
altb2 | 20:1182bc29c195 | 126 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 20:1182bc29c195 | 127 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 20:1182bc29c195 | 128 | } |
altb2 | 20:1182bc29c195 | 129 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 130 | } |
altb2 | 20:1182bc29c195 | 131 | } |
altb2 | 20:1182bc29c195 | 132 | void AHRS::read_imu_sensors(void){ |
altb2 | 20:1182bc29c195 | 133 | imu.readGyro(); |
altb2 | 20:1182bc29c195 | 134 | imu.readAccel(); |
altb2 | 20:1182bc29c195 | 135 | imu.readMag(); |
altb2 | 20:1182bc29c195 | 136 | data.sens_gyr[0] = raw_gx2gx(imu.gyroX); |
altb2 | 20:1182bc29c195 | 137 | data.sens_gyr[1] = raw_gy2gy(imu.gyroY); |
altb2 | 20:1182bc29c195 | 138 | data.sens_gyr[2] = raw_gz2gz(imu.gyroZ); |
altb2 | 20:1182bc29c195 | 139 | data.sens_acc[0] = raw_ax2ax(imu.accX); |
altb2 | 20:1182bc29c195 | 140 | data.sens_acc[1] = raw_ay2ay(imu.accY); |
altb2 | 20:1182bc29c195 | 141 | data.sens_acc[2] = raw_az2az(imu.accZ); |
altb2 | 20:1182bc29c195 | 142 | data.sens_mag[0] = raw_mx2mx(imu.magX); |
altb2 | 20:1182bc29c195 | 143 | data.sens_mag[1] = raw_my2my(imu.magY); |
altb2 | 20:1182bc29c195 | 144 | data.sens_mag[2] = raw_mz2mz(imu.magZ); |
altb2 | 20:1182bc29c195 | 145 | } |
altb2 | 20:1182bc29c195 | 146 | // ------------------- start controllers ---------------- |
altb2 | 20:1182bc29c195 | 147 | void AHRS::start_loop(void){ |
altb2 | 20:1182bc29c195 | 148 | thread.start(callback(this, &AHRS::update_as_thread)); |
altb2 | 20:1182bc29c195 | 149 | ticker.attach(callback(this, &AHRS::sendSignal), Ts); |
altb2 | 20:1182bc29c195 | 150 | } |
pmic | 17:f9eed26536d9 | 151 | |
altb2 | 20:1182bc29c195 | 152 | // this is for realtime OS |
altb2 | 20:1182bc29c195 | 153 | void AHRS::sendSignal() { |
altb2 | 20:1182bc29c195 | 154 | thread.signal_set(signal); |
altb2 | 20:1182bc29c195 | 155 | } |