AHRS
Dependencies: Eigen
AHRS.h@30:9b0cd3caf0ec, 2020-01-27 (annotated)
- Committer:
- pmic
- Date:
- Mon Jan 27 10:54:13 2020 +0000
- Revision:
- 30:9b0cd3caf0ec
- Parent:
- 28:21dfb161c67c
Correct magnetometer.
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" |
altb2 | 25:fe14dbcef82d | 9 | #include "BMX055.h" |
altb2 | 28:21dfb161c67c | 10 | #include "BMI088.h" |
altb2 | 25:fe14dbcef82d | 11 | |
altb | 3:6811c0ce95f6 | 12 | #include "Signal.h" |
altb2 | 19:42ea6dd68185 | 13 | #include "EKF.h" |
altb2 | 21:31e01d3e0143 | 14 | #include "EKF_RP.h" |
altb2 | 21:31e01d3e0143 | 15 | #include "EKF_RPY.h" |
altb2 | 22:495a419e474c | 16 | #include "CF_Yaw.h" |
altb2 | 4:3c21fb0c9e84 | 17 | #include "matrix.h" |
altb2 | 20:1182bc29c195 | 18 | #include "Data_Logger.h" |
altb2 | 20:1182bc29c195 | 19 | #include "Read_Xtern_Sensors.h" |
altb2 | 4:3c21fb0c9e84 | 20 | |
altb2 | 20:1182bc29c195 | 21 | extern DATA_Xchange data; |
altb | 3:6811c0ce95f6 | 22 | |
pmic | 17:f9eed26536d9 | 23 | class AHRS |
pmic | 17:f9eed26536d9 | 24 | { |
altb | 3:6811c0ce95f6 | 25 | public: |
pmic | 17:f9eed26536d9 | 26 | |
altb2 | 25:fe14dbcef82d | 27 | AHRS(uint8_t,float,bool,I2C &); |
altb2 | 25:fe14dbcef82d | 28 | |
altb | 3:6811c0ce95f6 | 29 | virtual ~AHRS(); |
pmic | 17:f9eed26536d9 | 30 | |
pmic | 17:f9eed26536d9 | 31 | float getRoll(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 32 | { |
altb2 | 21:31e01d3e0143 | 33 | switch(ft){ |
altb2 | 21:31e01d3e0143 | 34 | case 1: |
altb2 | 21:31e01d3e0143 | 35 | return ekf.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 36 | case 2: |
altb2 | 21:31e01d3e0143 | 37 | return Mahony_filter.getRollRadians(); |
altb2 | 21:31e01d3e0143 | 38 | case 3: |
altb2 | 21:31e01d3e0143 | 39 | return ekf_rp.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 40 | case 4: |
altb2 | 21:31e01d3e0143 | 41 | return ekf_rpy.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 42 | default: |
altb2 | 21:31e01d3e0143 | 43 | return 0.0; |
altb2 | 21:31e01d3e0143 | 44 | } |
altb | 3:6811c0ce95f6 | 45 | } |
pmic | 17:f9eed26536d9 | 46 | float getPitch(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 47 | { |
altb2 | 21:31e01d3e0143 | 48 | switch (ft){ |
altb2 | 21:31e01d3e0143 | 49 | case 1: |
altb2 | 21:31e01d3e0143 | 50 | return ekf.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 51 | case 2: |
altb2 | 21:31e01d3e0143 | 52 | return Mahony_filter.getPitchRadians(); |
altb2 | 21:31e01d3e0143 | 53 | case 3: |
altb2 | 21:31e01d3e0143 | 54 | return ekf_rp.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 55 | case 4: |
altb2 | 21:31e01d3e0143 | 56 | return ekf_rpy.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 57 | default: |
altb2 | 21:31e01d3e0143 | 58 | return 0.0; |
altb2 | 21:31e01d3e0143 | 59 | } |
altb | 3:6811c0ce95f6 | 60 | } |
altb2 | 21:31e01d3e0143 | 61 | float getYaw(uint8_t ft) |
altb2 | 21:31e01d3e0143 | 62 | { |
altb2 | 21:31e01d3e0143 | 63 | switch (ft){ |
altb2 | 21:31e01d3e0143 | 64 | case 4: |
altb2 | 21:31e01d3e0143 | 65 | return ekf_rpy.get_est_state(2); |
altb2 | 21:31e01d3e0143 | 66 | default: |
altb2 | 21:31e01d3e0143 | 67 | return 0.0; |
altb2 | 21:31e01d3e0143 | 68 | } |
altb | 3:6811c0ce95f6 | 69 | } |
altb2 | 25:fe14dbcef82d | 70 | #if _LSM9DS |
altb2 | 25:fe14dbcef82d | 71 | LSM9DS1 imu; |
altb2 | 25:fe14dbcef82d | 72 | #else |
altb2 | 25:fe14dbcef82d | 73 | BMX055 imu; |
altb2 | 28:21dfb161c67c | 74 | #if _BMI088 |
altb2 | 28:21dfb161c67c | 75 | BMI088 imu2; |
altb2 | 28:21dfb161c67c | 76 | #endif |
altb2 | 25:fe14dbcef82d | 77 | #endif |
altb2 | 8:51062bb877f0 | 78 | Mahony Mahony_filter; |
altb2 | 20:1182bc29c195 | 79 | EKF ekf; |
altb2 | 21:31e01d3e0143 | 80 | EKF_RP ekf_rp; |
altb2 | 21:31e01d3e0143 | 81 | EKF_RPY ekf_rpy; |
altb2 | 22:495a419e474c | 82 | CF_Yaw cf_yaw; |
altb2 | 22:495a419e474c | 83 | |
altb | 3:6811c0ce95f6 | 84 | LinearCharacteristics raw_gx2gx; |
altb | 3:6811c0ce95f6 | 85 | LinearCharacteristics raw_gy2gy; |
altb | 3:6811c0ce95f6 | 86 | LinearCharacteristics raw_gz2gz; |
altb2 | 4:3c21fb0c9e84 | 87 | LinearCharacteristics raw_ax2ax; |
altb2 | 4:3c21fb0c9e84 | 88 | LinearCharacteristics raw_ay2ay; |
altb2 | 4:3c21fb0c9e84 | 89 | LinearCharacteristics raw_az2az; |
altb2 | 28:21dfb161c67c | 90 | LinearCharacteristics raw_gx2gx88; |
altb2 | 28:21dfb161c67c | 91 | LinearCharacteristics raw_gy2gy88; |
altb2 | 28:21dfb161c67c | 92 | LinearCharacteristics raw_gz2gz88; |
altb2 | 28:21dfb161c67c | 93 | LinearCharacteristics raw_ax2ax88; |
altb2 | 28:21dfb161c67c | 94 | LinearCharacteristics raw_ay2ay88; |
altb2 | 28:21dfb161c67c | 95 | LinearCharacteristics raw_az2az88; |
pmic | 17:f9eed26536d9 | 96 | LinearCharacteristics raw_mx2mx; |
pmic | 17:f9eed26536d9 | 97 | LinearCharacteristics raw_my2my; |
pmic | 17:f9eed26536d9 | 98 | LinearCharacteristics raw_mz2mz; |
altb2 | 20:1182bc29c195 | 99 | void read_imu_sensors(void); |
altb2 | 9:644266463f5f | 100 | float xyzUS[3]; |
altb2 | 10:fd4e2436b311 | 101 | float xyzAS[3]; |
altb2 | 9:644266463f5f | 102 | float rxryrzUS[3]; |
altb2 | 10:fd4e2436b311 | 103 | float v_xyzOF[2]; |
altb2 | 10:fd4e2436b311 | 104 | float xyzOF[3]; |
altb2 | 11:b010622c0748 | 105 | float xyzLIDAR[3]; |
altb2 | 28:21dfb161c67c | 106 | float xyzRS[3]; |
pmic | 17:f9eed26536d9 | 107 | float magnet_cal_0[3]; |
altb2 | 20:1182bc29c195 | 108 | void update(); |
altb2 | 20:1182bc29c195 | 109 | void update_as_thread(void); |
altb2 | 20:1182bc29c195 | 110 | void start_loop(void); |
altb | 3:6811c0ce95f6 | 111 | private: |
altb2 | 20:1182bc29c195 | 112 | float local_time; |
altb2 | 20:1182bc29c195 | 113 | uint8_t filtertype; |
altb | 3:6811c0ce95f6 | 114 | Signal signal; |
altb | 3:6811c0ce95f6 | 115 | Thread thread; |
altb | 3:6811c0ce95f6 | 116 | Ticker ticker; |
altb | 3:6811c0ce95f6 | 117 | void sendSignal(); |
altb2 | 25:fe14dbcef82d | 118 | void imu_setup_LSM9DS(bool calib); |
altb2 | 25:fe14dbcef82d | 119 | void imu_setup_BMX055(bool calib); |
altb2 | 28:21dfb161c67c | 120 | void imu_setup_BMI088(bool calib); |
altb2 | 20:1182bc29c195 | 121 | float Ts; |
altb2 | 28:21dfb161c67c | 122 | DigitalOut dout1; |
altb2 | 25:fe14dbcef82d | 123 | Mutex mutex; |
altb | 3:6811c0ce95f6 | 124 | }; |
altb2 | 20:1182bc29c195 | 125 | |
altb2 | 20:1182bc29c195 | 126 | #endif |