AHRS
Dependencies: Eigen
AHRS.cpp@28:21dfb161c67c, 2020-01-20 (annotated)
- Committer:
- altb2
- Date:
- Mon Jan 20 12:41:13 2020 +0000
- Revision:
- 28:21dfb161c67c
- Parent:
- 26:1da7c6204775
read also BMI088, only for datalogging
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 3:6811c0ce95f6 | 1 | #include "AHRS.h" |
altb2 | 4:3c21fb0c9e84 | 2 | |
altb | 3:6811c0ce95f6 | 3 | #define PI 3.141592653589793 |
altb | 3:6811c0ce95f6 | 4 | |
altb | 3:6811c0ce95f6 | 5 | using namespace std; |
altb | 3:6811c0ce95f6 | 6 | |
altb2 | 28:21dfb161c67c | 7 | #if _BMI088 |
altb2 | 28:21dfb161c67c | 8 | AHRS::AHRS(uint8_t filtertype, float TS, bool calib, I2C &i2c) : ekf(TS), Mahony_filter(TS), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS), imu(i2c), imu2(i2c), dout1(PA_10) |
altb2 | 28:21dfb161c67c | 9 | #else |
altb2 | 28:21dfb161c67c | 10 | AHRS::AHRS(uint8_t filtertype, float TS, bool calib, I2C &i2c) : ekf(TS), Mahony_filter(TS), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS), imu(i2c), dout1(PA_10) |
altb2 | 28:21dfb161c67c | 11 | #endif |
pmic | 17:f9eed26536d9 | 12 | { |
pmic | 17:f9eed26536d9 | 13 | /* setup storage */ |
altb2 | 20:1182bc29c195 | 14 | this->Ts = TS; |
altb2 | 25:fe14dbcef82d | 15 | this->filtertype = filtertype; |
altb2 | 25:fe14dbcef82d | 16 | #if _LSM9DS |
altb2 | 25:fe14dbcef82d | 17 | imu_setup_LSM9DS(calib); |
altb2 | 28:21dfb161c67c | 18 | #else |
altb2 | 25:fe14dbcef82d | 19 | imu_setup_BMX055(calib); |
altb2 | 28:21dfb161c67c | 20 | #if _BMI088 |
altb2 | 28:21dfb161c67c | 21 | imu_setup_BMI088(calib); |
altb2 | 28:21dfb161c67c | 22 | #endif |
altb2 | 25:fe14dbcef82d | 23 | #endif |
altb2 | 25:fe14dbcef82d | 24 | } |
altb2 | 26:1da7c6204775 | 25 | // ----------------------------------------------------------------------------- |
altb2 | 25:fe14dbcef82d | 26 | void AHRS::imu_setup_LSM9DS(bool calib){ |
pmic | 17:f9eed26536d9 | 27 | float gyro[3], accel[3], magnet[3]; |
altb2 | 20:1182bc29c195 | 28 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 20:1182bc29c195 | 29 | { |
pmic | 17:f9eed26536d9 | 30 | gyro[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 31 | accel[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 32 | magnet[i] = 0.0f; |
altb2 | 20:1182bc29c195 | 33 | } |
pmic | 17:f9eed26536d9 | 34 | |
pmic | 17:f9eed26536d9 | 35 | /* inform user if imu is not responsive */ |
altb2 | 20:1182bc29c195 | 36 | while (!imu.begin()) |
altb2 | 20:1182bc29c195 | 37 | { |
altb2 | 9:644266463f5f | 38 | wait(1); |
altb2 | 9:644266463f5f | 39 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb2 | 20:1182bc29c195 | 40 | } |
pmic | 17:f9eed26536d9 | 41 | |
pmic | 17:f9eed26536d9 | 42 | /* take mean value of N samples */ |
pmic | 17:f9eed26536d9 | 43 | uint8_t N = 200; |
altb2 | 20:1182bc29c195 | 44 | if(calib) |
altb2 | 20:1182bc29c195 | 45 | { |
altb2 | 9:644266463f5f | 46 | wait_ms(500); |
pmic | 17:f9eed26536d9 | 47 | /* read and cumsum data */ |
pmic | 17:f9eed26536d9 | 48 | for(uint16_t i = 0; i < N; i++) { |
pmic | 17:f9eed26536d9 | 49 | imu.readGyro(); |
pmic | 17:f9eed26536d9 | 50 | imu.readAccel(); |
pmic | 17:f9eed26536d9 | 51 | imu.readMag(); |
pmic | 17:f9eed26536d9 | 52 | gyro[0] += imu.gyroX; |
pmic | 17:f9eed26536d9 | 53 | gyro[1] += imu.gyroY; |
pmic | 17:f9eed26536d9 | 54 | gyro[2] += imu.gyroZ; |
pmic | 17:f9eed26536d9 | 55 | accel[0] += imu.accX; |
pmic | 17:f9eed26536d9 | 56 | accel[1] += imu.accY; |
pmic | 17:f9eed26536d9 | 57 | accel[2] += imu.accZ; |
pmic | 17:f9eed26536d9 | 58 | magnet[0] += imu.magX; |
pmic | 17:f9eed26536d9 | 59 | magnet[1] += imu.magY; |
pmic | 17:f9eed26536d9 | 60 | magnet[2] += imu.magZ; |
pmic | 17:f9eed26536d9 | 61 | wait_ms(10); |
pmic | 17:f9eed26536d9 | 62 | } |
pmic | 17:f9eed26536d9 | 63 | /* calculate mean value */ |
pmic | 17:f9eed26536d9 | 64 | for(uint16_t i = 0; i < 3; i++) { |
pmic | 17:f9eed26536d9 | 65 | gyro[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 66 | accel[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 67 | magnet[i] /= (float)N; |
altb2 | 20:1182bc29c195 | 68 | } |
pmic | 17:f9eed26536d9 | 69 | 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 | 70 | } |
pmic | 17:f9eed26536d9 | 71 | |
pmic | 17:f9eed26536d9 | 72 | /* gyro */ |
altb2 | 26:1da7c6204775 | 73 | // ========== ACHTUNG HIER LSM9DS SENSOR |
pmic | 17:f9eed26536d9 | 74 | raw_gx2gx.setup( 1.0, gyro[0]); |
pmic | 17:f9eed26536d9 | 75 | raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system) |
pmic | 17:f9eed26536d9 | 76 | raw_gz2gz.setup( 1.0, gyro[2]); |
pmic | 17:f9eed26536d9 | 77 | |
pmic | 17:f9eed26536d9 | 78 | // pmic, 23.09.2019 |
pmic | 17:f9eed26536d9 | 79 | // 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 | 80 | /* accel */ |
altb2 | 19:42ea6dd68185 | 81 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 19:42ea6dd68185 | 82 | raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0 |
altb2 | 19:42ea6dd68185 | 83 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
altb2 | 26:1da7c6204775 | 84 | // ========== ACHTUNG HIER LSM9DS SENSOR |
pmic | 17:f9eed26536d9 | 85 | /* magnet */ |
altb2 | 21:31e01d3e0143 | 86 | /* Caibration on 21.10.2019 QK2 delivers: |
altb2 | 19:42ea6dd68185 | 87 | A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938] |
altb2 | 21:31e01d3e0143 | 88 | 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 |
altb2 | 19:42ea6dd68185 | 89 | */ |
altb2 | 23:71996bfe68eb | 90 | raw_mx2mx.setup( 0.9837f,0.252f); |
altb2 | 23:71996bfe68eb | 91 | raw_my2my.setup( 1.0298f,0.1675f); |
altb2 | 23:71996bfe68eb | 92 | raw_mz2mz.setup(-0.9864f,-0.1392f); // achtung, bei gain(3) Vorzeichen drehen, b0 beibehalten!!! |
altb2 | 23:71996bfe68eb | 93 | // raw_mx2mx.setup( 1.0f,0.0f); |
altb2 | 23:71996bfe68eb | 94 | // raw_my2my.setup( 1.0f,0.0f); |
altb2 | 23:71996bfe68eb | 95 | // raw_mz2mz.setup( 1.0f,0.0f); // achtung, bei b0(3) Vorzeichen drehen!!! |
altb2 | 23:71996bfe68eb | 96 | |
pmic | 17:f9eed26536d9 | 97 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
pmic | 17:f9eed26536d9 | 98 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
pmic | 17:f9eed26536d9 | 99 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
altb2 | 21:31e01d3e0143 | 100 | // set EKF_RPY magnet values now: |
altb2 | 23:71996bfe68eb | 101 | ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); |
altb2 | 7:bfde7bd5fe31 | 102 | local_time = 0.0; |
altb2 | 19:42ea6dd68185 | 103 | |
pmic | 17:f9eed26536d9 | 104 | // the thread starts |
altb2 | 9:644266463f5f | 105 | |
altb | 3:6811c0ce95f6 | 106 | } |
altb2 | 25:fe14dbcef82d | 107 | //------------------------------------------------------------------------------ |
altb2 | 25:fe14dbcef82d | 108 | void AHRS::imu_setup_BMX055(bool calib){ |
altb2 | 25:fe14dbcef82d | 109 | float gyro[3], accel[3], magnet[3]; |
altb2 | 25:fe14dbcef82d | 110 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 25:fe14dbcef82d | 111 | { |
altb2 | 25:fe14dbcef82d | 112 | gyro[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 113 | accel[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 114 | magnet[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 115 | } |
altb2 | 25:fe14dbcef82d | 116 | |
altb2 | 25:fe14dbcef82d | 117 | /* take mean value of N samples */ |
altb2 | 25:fe14dbcef82d | 118 | uint8_t N = 200; |
altb2 | 25:fe14dbcef82d | 119 | if(calib) |
altb2 | 25:fe14dbcef82d | 120 | { |
altb2 | 25:fe14dbcef82d | 121 | wait_ms(500); |
altb2 | 25:fe14dbcef82d | 122 | /* read and cumsum data */ |
altb2 | 25:fe14dbcef82d | 123 | for(uint16_t i = 0; i < N; i++) { |
altb2 | 25:fe14dbcef82d | 124 | imu.readGyro(); |
altb2 | 25:fe14dbcef82d | 125 | imu.readAccel(); |
altb2 | 25:fe14dbcef82d | 126 | imu.readMag(); |
altb2 | 25:fe14dbcef82d | 127 | gyro[0] += imu.gyroX; |
altb2 | 25:fe14dbcef82d | 128 | gyro[1] += imu.gyroY; |
altb2 | 25:fe14dbcef82d | 129 | gyro[2] += imu.gyroZ; |
altb2 | 25:fe14dbcef82d | 130 | accel[0] += imu.accX; |
altb2 | 25:fe14dbcef82d | 131 | accel[1] += imu.accY; |
altb2 | 25:fe14dbcef82d | 132 | accel[2] += imu.accZ; |
altb2 | 25:fe14dbcef82d | 133 | magnet[0] += imu.magX; |
altb2 | 25:fe14dbcef82d | 134 | magnet[1] += imu.magY; |
altb2 | 25:fe14dbcef82d | 135 | magnet[2] += imu.magZ; |
altb2 | 28:21dfb161c67c | 136 | wait_ms(5); |
altb2 | 25:fe14dbcef82d | 137 | } |
altb2 | 25:fe14dbcef82d | 138 | /* calculate mean value */ |
altb2 | 25:fe14dbcef82d | 139 | for(uint16_t i = 0; i < 3; i++) { |
altb2 | 25:fe14dbcef82d | 140 | gyro[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 141 | accel[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 142 | magnet[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 143 | } |
altb2 | 25:fe14dbcef82d | 144 | } |
altb2 | 26:1da7c6204775 | 145 | // ========== ACHTUNG HIER BMX055 SENSOR |
altb2 | 25:fe14dbcef82d | 146 | /* gyro */ |
altb2 | 25:fe14dbcef82d | 147 | raw_gx2gx.setup( 1.0, gyro[0]); |
altb2 | 25:fe14dbcef82d | 148 | raw_gy2gy.setup( 1.0, gyro[1]); // y-axis reversed (lefthanded system) |
altb2 | 25:fe14dbcef82d | 149 | raw_gz2gz.setup( 1.0, gyro[2]); |
altb2 | 25:fe14dbcef82d | 150 | |
altb2 | 25:fe14dbcef82d | 151 | /* accel */ |
altb2 | 25:fe14dbcef82d | 152 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 28:21dfb161c67c | 153 | raw_ay2ay.setup( 1.0f, accel[1]); // |
altb2 | 25:fe14dbcef82d | 154 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
altb2 | 25:fe14dbcef82d | 155 | |
altb2 | 26:1da7c6204775 | 156 | // ========== ACHTUNG HIER BMX055 SENSOR |
altb2 | 25:fe14dbcef82d | 157 | /* magnet */ |
altb2 | 25:fe14dbcef82d | 158 | // diag(A0) = 0.8047 0.8447 0.8474 |
altb2 | 26:1da7c6204775 | 159 | // diag(A0) = 0.7485 0.8074 0.8892 //10.1.2020 |
altb2 | 25:fe14dbcef82d | 160 | // b0 = -0.1195 0.2009 -0.3133, calibration at desk 19.12.2019 |
altb2 | 26:1da7c6204775 | 161 | // b0 = 0.2656 0.4564 0.9155 // 10.1.20 |
altb2 | 26:1da7c6204775 | 162 | // 1.0150 1.0843 1.1814, 0.2826 0.4353 0.9392 aFMA 10.1.2020 |
altb2 | 26:1da7c6204775 | 163 | raw_mx2mx.setup(1.0150f,0.2826f); |
altb2 | 26:1da7c6204775 | 164 | raw_my2my.setup(1.0843f,0.4353f); |
altb2 | 26:1da7c6204775 | 165 | raw_mz2mz.setup(1.1814f,0.9392f); // */ |
altb2 | 25:fe14dbcef82d | 166 | /* raw_mx2mx.setup( 1.0f,0.0f); |
altb2 | 25:fe14dbcef82d | 167 | raw_my2my.setup( 1.0f,0.0f); |
altb2 | 26:1da7c6204775 | 168 | raw_mz2mz.setup( 1.0f,0.0f); // */ |
altb2 | 25:fe14dbcef82d | 169 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
altb2 | 25:fe14dbcef82d | 170 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
altb2 | 25:fe14dbcef82d | 171 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
altb2 | 25:fe14dbcef82d | 172 | // set EKF_RPY magnet values now: |
altb2 | 25:fe14dbcef82d | 173 | ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); |
altb2 | 25:fe14dbcef82d | 174 | local_time = 0.0; |
altb2 | 28:21dfb161c67c | 175 | printf("initialized BMX055\r\n"); |
altb2 | 25:fe14dbcef82d | 176 | |
altb2 | 25:fe14dbcef82d | 177 | // the thread starts |
altb2 | 25:fe14dbcef82d | 178 | |
altb2 | 25:fe14dbcef82d | 179 | } |
altb2 | 28:21dfb161c67c | 180 | //------------------------------------------------------------------------------ |
altb2 | 28:21dfb161c67c | 181 | #if _BMI088 |
altb2 | 28:21dfb161c67c | 182 | void AHRS::imu_setup_BMI088(bool calib){ |
altb2 | 28:21dfb161c67c | 183 | float gyro[3], accel[3]; |
altb2 | 28:21dfb161c67c | 184 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 28:21dfb161c67c | 185 | { |
altb2 | 28:21dfb161c67c | 186 | gyro[i] = 0.0f; |
altb2 | 28:21dfb161c67c | 187 | accel[i] = 0.0f; |
altb2 | 28:21dfb161c67c | 188 | } |
altb2 | 25:fe14dbcef82d | 189 | |
altb2 | 28:21dfb161c67c | 190 | /* take mean value of N samples */ |
altb2 | 28:21dfb161c67c | 191 | uint8_t N = 200; |
altb2 | 28:21dfb161c67c | 192 | if(calib) |
altb2 | 28:21dfb161c67c | 193 | { |
altb2 | 28:21dfb161c67c | 194 | wait_ms(500); |
altb2 | 28:21dfb161c67c | 195 | /* read and cumsum data */ |
altb2 | 28:21dfb161c67c | 196 | for(uint16_t i = 0; i < N; i++) { |
altb2 | 28:21dfb161c67c | 197 | imu2.readGyro(); |
altb2 | 28:21dfb161c67c | 198 | imu2.readAccel(); |
altb2 | 28:21dfb161c67c | 199 | gyro[0] += imu2.gyroX; |
altb2 | 28:21dfb161c67c | 200 | gyro[1] += imu2.gyroY; |
altb2 | 28:21dfb161c67c | 201 | gyro[2] += imu2.gyroZ; |
altb2 | 28:21dfb161c67c | 202 | accel[0] += imu2.accX; |
altb2 | 28:21dfb161c67c | 203 | accel[1] += imu2.accY; |
altb2 | 28:21dfb161c67c | 204 | accel[2] += imu2.accZ; |
altb2 | 28:21dfb161c67c | 205 | wait_ms(5); |
altb2 | 28:21dfb161c67c | 206 | } |
altb2 | 28:21dfb161c67c | 207 | /* calculate mean value */ |
altb2 | 28:21dfb161c67c | 208 | for(uint16_t i = 0; i < 3; i++) { |
altb2 | 28:21dfb161c67c | 209 | gyro[i] /= (float)N; |
altb2 | 28:21dfb161c67c | 210 | accel[i] /= (float)N; |
altb2 | 28:21dfb161c67c | 211 | } |
altb2 | 28:21dfb161c67c | 212 | } |
altb2 | 28:21dfb161c67c | 213 | // ========== ACHTUNG HIER BMI088 SENSOR |
altb2 | 28:21dfb161c67c | 214 | /* gyro */ |
altb2 | 28:21dfb161c67c | 215 | raw_gx2gx88.setup( 1.0, gyro[0]); |
altb2 | 28:21dfb161c67c | 216 | raw_gy2gy88.setup( 1.0, gyro[1]); // |
altb2 | 28:21dfb161c67c | 217 | raw_gz2gz88.setup( 1.0, gyro[2]); |
altb2 | 28:21dfb161c67c | 218 | |
altb2 | 28:21dfb161c67c | 219 | /* accel */ |
altb2 | 28:21dfb161c67c | 220 | raw_ax2ax88.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 28:21dfb161c67c | 221 | raw_ay2ay88.setup( 1.0f, accel[1]); // |
altb2 | 28:21dfb161c67c | 222 | raw_az2az88.setup( 1.0, 0.0f); // do not remove gravity! |
altb2 | 28:21dfb161c67c | 223 | printf("initialized BMI088\r\n"); |
altb2 | 28:21dfb161c67c | 224 | } |
altb2 | 28:21dfb161c67c | 225 | #endif |
altb | 3:6811c0ce95f6 | 226 | |
altb | 3:6811c0ce95f6 | 227 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 228 | |
altb | 3:6811c0ce95f6 | 229 | void AHRS::update(void) |
altb2 | 20:1182bc29c195 | 230 | { |
altb2 | 28:21dfb161c67c | 231 | // |
altb2 | 21:31e01d3e0143 | 232 | switch(filtertype){ |
altb2 | 21:31e01d3e0143 | 233 | case 1: |
altb2 | 21:31e01d3e0143 | 234 | 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 | 22:495a419e474c | 235 | cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]); |
altb2 | 21:31e01d3e0143 | 236 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 237 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 23:71996bfe68eb | 238 | //data.est_Vxyz[0] = ekf.get_est_state(4); |
altb2 | 23:71996bfe68eb | 239 | //data.est_Vxyz[1] = ekf.get_est_state(5); |
altb2 | 21:31e01d3e0143 | 240 | break; |
altb2 | 21:31e01d3e0143 | 241 | case 2: |
altb2 | 21:31e01d3e0143 | 242 | 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 | 21:31e01d3e0143 | 243 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 21:31e01d3e0143 | 244 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 21:31e01d3e0143 | 245 | break; |
altb2 | 21:31e01d3e0143 | 246 | case 3: |
altb2 | 21:31e01d3e0143 | 247 | ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]); |
altb2 | 23:71996bfe68eb | 248 | |
altb2 | 23:71996bfe68eb | 249 | cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]); |
altb2 | 21:31e01d3e0143 | 250 | data.est_RPY[0] = ekf_rp.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 251 | data.est_RPY[1] = ekf_rp.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 252 | break; |
altb2 | 21:31e01d3e0143 | 253 | case 4: |
altb2 | 21:31e01d3e0143 | 254 | 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]); |
altb2 | 21:31e01d3e0143 | 255 | data.est_RPY[0] = ekf_rpy.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 256 | data.est_RPY[1] = ekf_rpy.get_est_state(1); |
altb2 | 23:71996bfe68eb | 257 | data.est_RPY[2] = ekf_rpy.get_est_state(2); |
altb2 | 23:71996bfe68eb | 258 | data.est_RPY[3] = ekf_rpy.get_est_state(3); |
altb2 | 23:71996bfe68eb | 259 | data.est_RPY[4] = ekf_rpy.get_est_state(4); |
altb2 | 23:71996bfe68eb | 260 | data.est_RPY[5] = ekf_rpy.get_est_state(5); |
altb2 | 23:71996bfe68eb | 261 | data.est_RPY[6] = ekf_rpy.get_est_state(6); |
altb2 | 23:71996bfe68eb | 262 | data.est_RPY[7] = ekf_rpy.get_est_state(7); |
altb2 | 21:31e01d3e0143 | 263 | break; |
altb2 | 20:1182bc29c195 | 264 | } |
altb2 | 20:1182bc29c195 | 265 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 266 | } |
altb2 | 20:1182bc29c195 | 267 | void AHRS::update_as_thread(void) |
altb2 | 20:1182bc29c195 | 268 | { |
altb2 | 20:1182bc29c195 | 269 | while(1) |
altb2 | 20:1182bc29c195 | 270 | { |
altb2 | 20:1182bc29c195 | 271 | thread.signal_wait(signal); |
altb2 | 20:1182bc29c195 | 272 | // dout3.write(1); |
altb2 | 20:1182bc29c195 | 273 | if(filtertype !=1) |
altb2 | 20:1182bc29c195 | 274 | { |
altb2 | 20:1182bc29c195 | 275 | 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 | 276 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 20:1182bc29c195 | 277 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 20:1182bc29c195 | 278 | } |
altb2 | 20:1182bc29c195 | 279 | else |
altb2 | 20:1182bc29c195 | 280 | { |
altb2 | 20:1182bc29c195 | 281 | 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 | 282 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 20:1182bc29c195 | 283 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 20:1182bc29c195 | 284 | } |
altb2 | 20:1182bc29c195 | 285 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 286 | } |
altb2 | 20:1182bc29c195 | 287 | } |
altb2 | 20:1182bc29c195 | 288 | void AHRS::read_imu_sensors(void){ |
altb2 | 28:21dfb161c67c | 289 | // mutex.lock(); |
altb2 | 28:21dfb161c67c | 290 | dout1.write(1); |
altb2 | 20:1182bc29c195 | 291 | imu.readGyro(); |
altb2 | 20:1182bc29c195 | 292 | imu.readAccel(); |
altb2 | 20:1182bc29c195 | 293 | imu.readMag(); |
altb2 | 28:21dfb161c67c | 294 | dout1.write(0); |
altb2 | 20:1182bc29c195 | 295 | data.sens_gyr[0] = raw_gx2gx(imu.gyroX); |
altb2 | 20:1182bc29c195 | 296 | data.sens_gyr[1] = raw_gy2gy(imu.gyroY); |
altb2 | 20:1182bc29c195 | 297 | data.sens_gyr[2] = raw_gz2gz(imu.gyroZ); |
altb2 | 20:1182bc29c195 | 298 | data.sens_acc[0] = raw_ax2ax(imu.accX); |
altb2 | 20:1182bc29c195 | 299 | data.sens_acc[1] = raw_ay2ay(imu.accY); |
altb2 | 20:1182bc29c195 | 300 | data.sens_acc[2] = raw_az2az(imu.accZ); |
altb2 | 20:1182bc29c195 | 301 | data.sens_mag[0] = raw_mx2mx(imu.magX); |
altb2 | 20:1182bc29c195 | 302 | data.sens_mag[1] = raw_my2my(imu.magY); |
altb2 | 20:1182bc29c195 | 303 | data.sens_mag[2] = raw_mz2mz(imu.magZ); |
altb2 | 28:21dfb161c67c | 304 | // mutex.unlock(); |
altb2 | 28:21dfb161c67c | 305 | #if _BMI088 |
altb2 | 28:21dfb161c67c | 306 | imu2.readGyro(); |
altb2 | 28:21dfb161c67c | 307 | imu2.readAccel(); |
altb2 | 28:21dfb161c67c | 308 | data.sens_gyr[3] = raw_gx2gx88(imu2.gyroX); |
altb2 | 28:21dfb161c67c | 309 | data.sens_gyr[4] = raw_gy2gy88(imu2.gyroY); |
altb2 | 28:21dfb161c67c | 310 | data.sens_gyr[5] = raw_gz2gz88(imu2.gyroZ); |
altb2 | 28:21dfb161c67c | 311 | data.sens_acc[3] = raw_ax2ax88(imu2.accX); |
altb2 | 28:21dfb161c67c | 312 | data.sens_acc[4] = raw_ay2ay88(imu2.accY); |
altb2 | 28:21dfb161c67c | 313 | data.sens_acc[5] = raw_az2az88(imu2.accZ); |
altb2 | 28:21dfb161c67c | 314 | #endif |
altb2 | 20:1182bc29c195 | 315 | } |
altb2 | 20:1182bc29c195 | 316 | // ------------------- start controllers ---------------- |
altb2 | 20:1182bc29c195 | 317 | void AHRS::start_loop(void){ |
altb2 | 20:1182bc29c195 | 318 | thread.start(callback(this, &AHRS::update_as_thread)); |
altb2 | 20:1182bc29c195 | 319 | ticker.attach(callback(this, &AHRS::sendSignal), Ts); |
altb2 | 20:1182bc29c195 | 320 | } |
pmic | 17:f9eed26536d9 | 321 | |
altb2 | 20:1182bc29c195 | 322 | // this is for realtime OS |
altb2 | 20:1182bc29c195 | 323 | void AHRS::sendSignal() { |
altb2 | 20:1182bc29c195 | 324 | thread.signal_set(signal); |
altb2 | 20:1182bc29c195 | 325 | } |