AHRS
Dependencies: Eigen
AHRS.h@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 |
---|---|---|---|
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 | 21:31e01d3e0143 | 11 | #include "EKF_RP.h" |
altb2 | 21:31e01d3e0143 | 12 | #include "EKF_RPY.h" |
altb2 | 4:3c21fb0c9e84 | 13 | #include "matrix.h" |
altb2 | 20:1182bc29c195 | 14 | #include "Data_Logger.h" |
altb2 | 20:1182bc29c195 | 15 | #include "Read_Xtern_Sensors.h" |
altb2 | 4:3c21fb0c9e84 | 16 | |
altb2 | 20:1182bc29c195 | 17 | extern DATA_Xchange data; |
altb | 3:6811c0ce95f6 | 18 | |
pmic | 17:f9eed26536d9 | 19 | class AHRS |
pmic | 17:f9eed26536d9 | 20 | { |
altb | 3:6811c0ce95f6 | 21 | public: |
pmic | 17:f9eed26536d9 | 22 | |
altb2 | 9:644266463f5f | 23 | AHRS(uint8_t,float,bool); |
pmic | 17:f9eed26536d9 | 24 | |
altb | 3:6811c0ce95f6 | 25 | virtual ~AHRS(); |
pmic | 17:f9eed26536d9 | 26 | |
pmic | 17:f9eed26536d9 | 27 | float getRoll(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 28 | { |
altb2 | 21:31e01d3e0143 | 29 | switch(ft){ |
altb2 | 21:31e01d3e0143 | 30 | case 1: |
altb2 | 21:31e01d3e0143 | 31 | return ekf.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 32 | case 2: |
altb2 | 21:31e01d3e0143 | 33 | return Mahony_filter.getRollRadians(); |
altb2 | 21:31e01d3e0143 | 34 | case 3: |
altb2 | 21:31e01d3e0143 | 35 | return ekf_rp.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 36 | case 4: |
altb2 | 21:31e01d3e0143 | 37 | return ekf_rpy.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 38 | default: |
altb2 | 21:31e01d3e0143 | 39 | return 0.0; |
altb2 | 21:31e01d3e0143 | 40 | } |
altb | 3:6811c0ce95f6 | 41 | } |
pmic | 17:f9eed26536d9 | 42 | float getPitch(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 43 | { |
altb2 | 21:31e01d3e0143 | 44 | switch (ft){ |
altb2 | 21:31e01d3e0143 | 45 | case 1: |
altb2 | 21:31e01d3e0143 | 46 | return ekf.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 47 | case 2: |
altb2 | 21:31e01d3e0143 | 48 | return Mahony_filter.getPitchRadians(); |
altb2 | 21:31e01d3e0143 | 49 | case 3: |
altb2 | 21:31e01d3e0143 | 50 | return ekf_rp.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 51 | case 4: |
altb2 | 21:31e01d3e0143 | 52 | return ekf_rpy.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 53 | default: |
altb2 | 21:31e01d3e0143 | 54 | return 0.0; |
altb2 | 21:31e01d3e0143 | 55 | } |
altb | 3:6811c0ce95f6 | 56 | } |
altb2 | 21:31e01d3e0143 | 57 | float getYaw(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 58 | { |
altb2 | 21:31e01d3e0143 | 59 | switch (ft){ |
altb2 | 21:31e01d3e0143 | 60 | case 4: |
altb2 | 21:31e01d3e0143 | 61 | return ekf_rpy.get_est_state(2); |
altb2 | 21:31e01d3e0143 | 62 | default: |
altb2 | 21:31e01d3e0143 | 63 | return 0.0; |
altb2 | 21:31e01d3e0143 | 64 | } |
altb | 3:6811c0ce95f6 | 65 | } |
pmic | 17:f9eed26536d9 | 66 | |
altb | 3:6811c0ce95f6 | 67 | LSM9DS1 imu; |
altb2 | 8:51062bb877f0 | 68 | Mahony Mahony_filter; |
altb2 | 20:1182bc29c195 | 69 | EKF ekf; |
altb2 | 21:31e01d3e0143 | 70 | EKF_RP ekf_rp; |
altb2 | 21:31e01d3e0143 | 71 | EKF_RPY ekf_rpy; |
altb | 3:6811c0ce95f6 | 72 | LinearCharacteristics raw_gx2gx; |
altb | 3:6811c0ce95f6 | 73 | LinearCharacteristics raw_gy2gy; |
altb | 3:6811c0ce95f6 | 74 | LinearCharacteristics raw_gz2gz; |
altb2 | 4:3c21fb0c9e84 | 75 | LinearCharacteristics raw_ax2ax; |
altb2 | 4:3c21fb0c9e84 | 76 | LinearCharacteristics raw_ay2ay; |
altb2 | 4:3c21fb0c9e84 | 77 | LinearCharacteristics raw_az2az; |
pmic | 17:f9eed26536d9 | 78 | LinearCharacteristics raw_mx2mx; |
pmic | 17:f9eed26536d9 | 79 | LinearCharacteristics raw_my2my; |
pmic | 17:f9eed26536d9 | 80 | LinearCharacteristics raw_mz2mz; |
altb2 | 20:1182bc29c195 | 81 | void read_imu_sensors(void); |
altb2 | 9:644266463f5f | 82 | float xyzUS[3]; |
altb2 | 10:fd4e2436b311 | 83 | float xyzAS[3]; |
altb2 | 9:644266463f5f | 84 | float rxryrzUS[3]; |
altb2 | 10:fd4e2436b311 | 85 | float v_xyzOF[2]; |
altb2 | 10:fd4e2436b311 | 86 | float xyzOF[3]; |
altb2 | 11:b010622c0748 | 87 | float xyzLIDAR[3]; |
pmic | 17:f9eed26536d9 | 88 | float magnet_cal_0[3]; |
altb2 | 20:1182bc29c195 | 89 | void update(); |
altb2 | 20:1182bc29c195 | 90 | void update_as_thread(void); |
altb2 | 20:1182bc29c195 | 91 | void start_loop(void); |
altb | 3:6811c0ce95f6 | 92 | private: |
pmic | 17:f9eed26536d9 | 93 | |
altb2 | 20:1182bc29c195 | 94 | float local_time; |
altb2 | 20:1182bc29c195 | 95 | uint8_t filtertype; |
altb | 3:6811c0ce95f6 | 96 | Signal signal; |
altb | 3:6811c0ce95f6 | 97 | Thread thread; |
altb | 3:6811c0ce95f6 | 98 | Ticker ticker; |
altb | 3:6811c0ce95f6 | 99 | void sendSignal(); |
altb2 | 20:1182bc29c195 | 100 | float Ts; |
altb2 | 20:1182bc29c195 | 101 | //DigitalOut dout3; |
altb2 | 20:1182bc29c195 | 102 | |
altb | 3:6811c0ce95f6 | 103 | }; |
altb2 | 20:1182bc29c195 | 104 | |
altb2 | 20:1182bc29c195 | 105 | #endif |