AHRS
Dependencies: Eigen
AHRS.cpp@21:31e01d3e0143, 2019-10-21 (annotated)
- Committer:
- altb2
- Date:
- Mon Oct 21 17:14:27 2019 +0000
- Revision:
- 21:31e01d3e0143
- Parent:
- 20:1182bc29c195
- Child:
- 22:495a419e474c
Added EKF_RP, EKF_RPY from pmic, also EIgen Library
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 | |
pmic | 17:f9eed26536d9 | 7 | //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 | 21:31e01d3e0143 | 8 | AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10) |
pmic | 17:f9eed26536d9 | 9 | { |
pmic | 17:f9eed26536d9 | 10 | /* setup storage */ |
altb2 | 20:1182bc29c195 | 11 | this->Ts = TS; |
pmic | 17:f9eed26536d9 | 12 | float gyro[3], accel[3], magnet[3]; |
altb2 | 20:1182bc29c195 | 13 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 20:1182bc29c195 | 14 | { |
pmic | 17:f9eed26536d9 | 15 | gyro[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 16 | accel[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 17 | magnet[i] = 0.0f; |
altb2 | 20:1182bc29c195 | 18 | } |
pmic | 17:f9eed26536d9 | 19 | |
pmic | 17:f9eed26536d9 | 20 | /* inform user if imu is not responsive */ |
altb2 | 20:1182bc29c195 | 21 | while (!imu.begin()) |
altb2 | 20:1182bc29c195 | 22 | { |
altb2 | 9:644266463f5f | 23 | wait(1); |
altb2 | 9:644266463f5f | 24 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb2 | 20:1182bc29c195 | 25 | } |
pmic | 17:f9eed26536d9 | 26 | |
pmic | 17:f9eed26536d9 | 27 | /* take mean value of N samples */ |
pmic | 17:f9eed26536d9 | 28 | uint8_t N = 200; |
altb2 | 20:1182bc29c195 | 29 | if(calib) |
altb2 | 20:1182bc29c195 | 30 | { |
altb2 | 9:644266463f5f | 31 | wait_ms(500); |
pmic | 17:f9eed26536d9 | 32 | /* read and cumsum data */ |
pmic | 17:f9eed26536d9 | 33 | for(uint16_t i = 0; i < N; i++) { |
pmic | 17:f9eed26536d9 | 34 | imu.readGyro(); |
pmic | 17:f9eed26536d9 | 35 | imu.readAccel(); |
pmic | 17:f9eed26536d9 | 36 | imu.readMag(); |
pmic | 17:f9eed26536d9 | 37 | gyro[0] += imu.gyroX; |
pmic | 17:f9eed26536d9 | 38 | gyro[1] += imu.gyroY; |
pmic | 17:f9eed26536d9 | 39 | gyro[2] += imu.gyroZ; |
pmic | 17:f9eed26536d9 | 40 | accel[0] += imu.accX; |
pmic | 17:f9eed26536d9 | 41 | accel[1] += imu.accY; |
pmic | 17:f9eed26536d9 | 42 | accel[2] += imu.accZ; |
pmic | 17:f9eed26536d9 | 43 | magnet[0] += imu.magX; |
pmic | 17:f9eed26536d9 | 44 | magnet[1] += imu.magY; |
pmic | 17:f9eed26536d9 | 45 | magnet[2] += imu.magZ; |
pmic | 17:f9eed26536d9 | 46 | wait_ms(10); |
pmic | 17:f9eed26536d9 | 47 | } |
pmic | 17:f9eed26536d9 | 48 | /* calculate mean value */ |
pmic | 17:f9eed26536d9 | 49 | for(uint16_t i = 0; i < 3; i++) { |
pmic | 17:f9eed26536d9 | 50 | gyro[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 51 | accel[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 52 | magnet[i] /= (float)N; |
altb2 | 20:1182bc29c195 | 53 | } |
pmic | 17:f9eed26536d9 | 54 | 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 | 55 | } |
pmic | 17:f9eed26536d9 | 56 | |
pmic | 17:f9eed26536d9 | 57 | /* gyro */ |
pmic | 17:f9eed26536d9 | 58 | raw_gx2gx.setup( 1.0, gyro[0]); |
pmic | 17:f9eed26536d9 | 59 | raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system) |
pmic | 17:f9eed26536d9 | 60 | raw_gz2gz.setup( 1.0, gyro[2]); |
pmic | 17:f9eed26536d9 | 61 | |
pmic | 17:f9eed26536d9 | 62 | // pmic, 23.09.2019 |
pmic | 17:f9eed26536d9 | 63 | // 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 | 64 | |
pmic | 17:f9eed26536d9 | 65 | /* accel */ |
altb2 | 19:42ea6dd68185 | 66 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 19:42ea6dd68185 | 67 | raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0 |
altb2 | 19:42ea6dd68185 | 68 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
pmic | 17:f9eed26536d9 | 69 | |
pmic | 17:f9eed26536d9 | 70 | /* magnet */ |
altb2 | 21:31e01d3e0143 | 71 | /* Caibration on 21.10.2019 QK2 delivers: |
altb2 | 19:42ea6dd68185 | 72 | A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938] |
altb2 | 21:31e01d3e0143 | 73 | 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 | 74 | */ |
altb2 | 21:31e01d3e0143 | 75 | raw_mx2mx.setup( 0.9982f,0.2054f); |
altb2 | 21:31e01d3e0143 | 76 | raw_my2my.setup( 1.0574f,0.1912f); |
altb2 | 21:31e01d3e0143 | 77 | raw_mz2mz.setup(-0.9444f,-0.1385f); // achtung, bei b0(3) Vorzeichen drehen!!! |
pmic | 17:f9eed26536d9 | 78 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
pmic | 17:f9eed26536d9 | 79 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
pmic | 17:f9eed26536d9 | 80 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
altb2 | 21:31e01d3e0143 | 81 | // set EKF_RPY magnet values now: |
altb2 | 21:31e01d3e0143 | 82 | ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); |
altb2 | 7:bfde7bd5fe31 | 83 | local_time = 0.0; |
altb2 | 19:42ea6dd68185 | 84 | |
altb2 | 19:42ea6dd68185 | 85 | this->filtertype = filtertype; |
pmic | 17:f9eed26536d9 | 86 | // the thread starts |
altb2 | 9:644266463f5f | 87 | |
altb | 3:6811c0ce95f6 | 88 | } |
altb | 3:6811c0ce95f6 | 89 | |
altb | 3:6811c0ce95f6 | 90 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 91 | |
altb | 3:6811c0ce95f6 | 92 | void AHRS::update(void) |
altb2 | 20:1182bc29c195 | 93 | { |
altb2 | 20:1182bc29c195 | 94 | //dout3.write(1); |
altb2 | 21:31e01d3e0143 | 95 | switch(filtertype){ |
altb2 | 21:31e01d3e0143 | 96 | case 1: |
altb2 | 21:31e01d3e0143 | 97 | 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 | 21:31e01d3e0143 | 98 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 99 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 100 | break; |
altb2 | 21:31e01d3e0143 | 101 | case 2: |
altb2 | 21:31e01d3e0143 | 102 | 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 | 103 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 21:31e01d3e0143 | 104 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 21:31e01d3e0143 | 105 | break; |
altb2 | 21:31e01d3e0143 | 106 | case 3: |
altb2 | 21:31e01d3e0143 | 107 | ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]); |
altb2 | 21:31e01d3e0143 | 108 | data.est_RPY[0] = ekf_rp.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 109 | data.est_RPY[1] = ekf_rp.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 110 | break; |
altb2 | 21:31e01d3e0143 | 111 | case 4: |
altb2 | 21:31e01d3e0143 | 112 | 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 | 113 | data.est_RPY[0] = ekf_rpy.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 114 | data.est_RPY[1] = ekf_rpy.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 115 | break; |
altb2 | 20:1182bc29c195 | 116 | } |
altb2 | 20:1182bc29c195 | 117 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 118 | } |
altb2 | 20:1182bc29c195 | 119 | void AHRS::update_as_thread(void) |
altb2 | 20:1182bc29c195 | 120 | { |
altb2 | 20:1182bc29c195 | 121 | while(1) |
altb2 | 20:1182bc29c195 | 122 | { |
altb2 | 20:1182bc29c195 | 123 | thread.signal_wait(signal); |
altb2 | 20:1182bc29c195 | 124 | // dout3.write(1); |
altb2 | 20:1182bc29c195 | 125 | if(filtertype !=1) |
altb2 | 20:1182bc29c195 | 126 | { |
altb2 | 20:1182bc29c195 | 127 | 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 | 128 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 20:1182bc29c195 | 129 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 20:1182bc29c195 | 130 | } |
altb2 | 20:1182bc29c195 | 131 | else |
altb2 | 20:1182bc29c195 | 132 | { |
altb2 | 20:1182bc29c195 | 133 | 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 | 134 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 20:1182bc29c195 | 135 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 20:1182bc29c195 | 136 | } |
altb2 | 20:1182bc29c195 | 137 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 138 | } |
altb2 | 20:1182bc29c195 | 139 | } |
altb2 | 20:1182bc29c195 | 140 | void AHRS::read_imu_sensors(void){ |
altb2 | 20:1182bc29c195 | 141 | imu.readGyro(); |
altb2 | 20:1182bc29c195 | 142 | imu.readAccel(); |
altb2 | 20:1182bc29c195 | 143 | imu.readMag(); |
altb2 | 20:1182bc29c195 | 144 | data.sens_gyr[0] = raw_gx2gx(imu.gyroX); |
altb2 | 20:1182bc29c195 | 145 | data.sens_gyr[1] = raw_gy2gy(imu.gyroY); |
altb2 | 20:1182bc29c195 | 146 | data.sens_gyr[2] = raw_gz2gz(imu.gyroZ); |
altb2 | 20:1182bc29c195 | 147 | data.sens_acc[0] = raw_ax2ax(imu.accX); |
altb2 | 20:1182bc29c195 | 148 | data.sens_acc[1] = raw_ay2ay(imu.accY); |
altb2 | 20:1182bc29c195 | 149 | data.sens_acc[2] = raw_az2az(imu.accZ); |
altb2 | 20:1182bc29c195 | 150 | data.sens_mag[0] = raw_mx2mx(imu.magX); |
altb2 | 20:1182bc29c195 | 151 | data.sens_mag[1] = raw_my2my(imu.magY); |
altb2 | 20:1182bc29c195 | 152 | data.sens_mag[2] = raw_mz2mz(imu.magZ); |
altb2 | 20:1182bc29c195 | 153 | } |
altb2 | 20:1182bc29c195 | 154 | // ------------------- start controllers ---------------- |
altb2 | 20:1182bc29c195 | 155 | void AHRS::start_loop(void){ |
altb2 | 20:1182bc29c195 | 156 | thread.start(callback(this, &AHRS::update_as_thread)); |
altb2 | 20:1182bc29c195 | 157 | ticker.attach(callback(this, &AHRS::sendSignal), Ts); |
altb2 | 20:1182bc29c195 | 158 | } |
pmic | 17:f9eed26536d9 | 159 | |
altb2 | 20:1182bc29c195 | 160 | // this is for realtime OS |
altb2 | 20:1182bc29c195 | 161 | void AHRS::sendSignal() { |
altb2 | 20:1182bc29c195 | 162 | thread.signal_set(signal); |
altb2 | 20:1182bc29c195 | 163 | } |