AHRS
Dependencies: Eigen
AHRS.h@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 |
---|---|---|---|
altb2 | 20:1182bc29c195 | 1 | #ifndef AHRS_H_ |
altb2 | 20:1182bc29c195 | 2 | #define AHRS_H_ |
altb2 | 20:1182bc29c195 | 3 | |
altb2 | 20:1182bc29c195 | 4 | |
altb | 3:6811c0ce95f6 | 5 | #include "Mahony.h" |
altb | 3:6811c0ce95f6 | 6 | #include "MadgwickAHRS.h" |
altb | 3:6811c0ce95f6 | 7 | #include "LinearCharacteristics.h" |
altb2 | 4:3c21fb0c9e84 | 8 | #include "LSM9DS1_i2c.h" |
altb | 3:6811c0ce95f6 | 9 | #include "Signal.h" |
altb2 | 19:42ea6dd68185 | 10 | #include "EKF.h" |
altb2 | 4:3c21fb0c9e84 | 11 | #include "matrix.h" |
altb2 | 20:1182bc29c195 | 12 | #include "Data_Logger.h" |
altb2 | 20:1182bc29c195 | 13 | #include "Read_Xtern_Sensors.h" |
altb2 | 4:3c21fb0c9e84 | 14 | |
altb2 | 20:1182bc29c195 | 15 | extern DATA_Xchange data; |
altb | 3:6811c0ce95f6 | 16 | |
pmic | 17:f9eed26536d9 | 17 | class AHRS |
pmic | 17:f9eed26536d9 | 18 | { |
altb | 3:6811c0ce95f6 | 19 | public: |
pmic | 17:f9eed26536d9 | 20 | |
altb2 | 9:644266463f5f | 21 | AHRS(uint8_t,float,bool); |
pmic | 17:f9eed26536d9 | 22 | |
altb | 3:6811c0ce95f6 | 23 | virtual ~AHRS(); |
pmic | 17:f9eed26536d9 | 24 | |
pmic | 17:f9eed26536d9 | 25 | float getRoll(uint8_t ft) |
pmic | 17:f9eed26536d9 | 26 | { |
altb2 | 8:51062bb877f0 | 27 | if(ft ==1) |
altb2 | 20:1182bc29c195 | 28 | return ekf.get_est_state(0); |
altb2 | 8:51062bb877f0 | 29 | else |
pmic | 17:f9eed26536d9 | 30 | return Mahony_filter.getRollRadians(); |
altb | 3:6811c0ce95f6 | 31 | } |
pmic | 17:f9eed26536d9 | 32 | |
pmic | 17:f9eed26536d9 | 33 | float getPitch(uint8_t ft) |
pmic | 17:f9eed26536d9 | 34 | { |
altb2 | 8:51062bb877f0 | 35 | if(ft ==1) |
altb2 | 20:1182bc29c195 | 36 | return ekf.get_est_state(1); |
altb2 | 8:51062bb877f0 | 37 | else |
pmic | 17:f9eed26536d9 | 38 | return Mahony_filter.getPitchRadians(); |
altb | 3:6811c0ce95f6 | 39 | } |
pmic | 17:f9eed26536d9 | 40 | |
pmic | 17:f9eed26536d9 | 41 | float getYaw() |
pmic | 17:f9eed26536d9 | 42 | { |
altb2 | 6:5824bd96b6cf | 43 | return 0.0; |
altb | 3:6811c0ce95f6 | 44 | } |
pmic | 17:f9eed26536d9 | 45 | |
altb | 3:6811c0ce95f6 | 46 | LSM9DS1 imu; |
altb2 | 8:51062bb877f0 | 47 | Mahony Mahony_filter; |
altb2 | 20:1182bc29c195 | 48 | EKF ekf; |
altb | 3:6811c0ce95f6 | 49 | LinearCharacteristics raw_gx2gx; |
altb | 3:6811c0ce95f6 | 50 | LinearCharacteristics raw_gy2gy; |
altb | 3:6811c0ce95f6 | 51 | LinearCharacteristics raw_gz2gz; |
altb2 | 4:3c21fb0c9e84 | 52 | LinearCharacteristics raw_ax2ax; |
altb2 | 4:3c21fb0c9e84 | 53 | LinearCharacteristics raw_ay2ay; |
altb2 | 4:3c21fb0c9e84 | 54 | LinearCharacteristics raw_az2az; |
pmic | 17:f9eed26536d9 | 55 | LinearCharacteristics raw_mx2mx; |
pmic | 17:f9eed26536d9 | 56 | LinearCharacteristics raw_my2my; |
pmic | 17:f9eed26536d9 | 57 | LinearCharacteristics raw_mz2mz; |
altb2 | 20:1182bc29c195 | 58 | void read_imu_sensors(void); |
altb2 | 9:644266463f5f | 59 | float xyzUS[3]; |
altb2 | 10:fd4e2436b311 | 60 | float xyzAS[3]; |
altb2 | 9:644266463f5f | 61 | float rxryrzUS[3]; |
altb2 | 10:fd4e2436b311 | 62 | float v_xyzOF[2]; |
altb2 | 10:fd4e2436b311 | 63 | float xyzOF[3]; |
altb2 | 11:b010622c0748 | 64 | float xyzLIDAR[3]; |
pmic | 17:f9eed26536d9 | 65 | float magnet_cal_0[3]; |
altb2 | 20:1182bc29c195 | 66 | void update(); |
altb2 | 20:1182bc29c195 | 67 | void update_as_thread(void); |
altb2 | 20:1182bc29c195 | 68 | void start_loop(void); |
altb | 3:6811c0ce95f6 | 69 | private: |
pmic | 17:f9eed26536d9 | 70 | |
altb2 | 20:1182bc29c195 | 71 | float local_time; |
altb2 | 20:1182bc29c195 | 72 | uint8_t filtertype; |
altb | 3:6811c0ce95f6 | 73 | Signal signal; |
altb | 3:6811c0ce95f6 | 74 | Thread thread; |
altb | 3:6811c0ce95f6 | 75 | Ticker ticker; |
altb | 3:6811c0ce95f6 | 76 | void sendSignal(); |
altb2 | 20:1182bc29c195 | 77 | float Ts; |
altb2 | 20:1182bc29c195 | 78 | //DigitalOut dout3; |
altb2 | 20:1182bc29c195 | 79 | |
altb | 3:6811c0ce95f6 | 80 | }; |
altb2 | 20:1182bc29c195 | 81 | |
altb2 | 20:1182bc29c195 | 82 | #endif |