AHRS
Dependencies: Eigen
AHRS.h@5:eee47600b772, 2019-05-03 (annotated)
- Committer:
- altb2
- Date:
- Fri May 03 14:43:47 2019 +0000
- Revision:
- 5:eee47600b772
- Parent:
- 4:3c21fb0c9e84
- Child:
- 6:5824bd96b6cf
EKF running
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 3:6811c0ce95f6 | 1 | #include "Mahony.h" |
altb | 3:6811c0ce95f6 | 2 | #include "MadgwickAHRS.h" |
altb | 3:6811c0ce95f6 | 3 | #include "LinearCharacteristics.h" |
altb2 | 4:3c21fb0c9e84 | 4 | #include "LSM9DS1_i2c.h" |
altb | 3:6811c0ce95f6 | 5 | #include "Signal.h" |
altb2 | 4:3c21fb0c9e84 | 6 | #include "ekf.h" |
altb2 | 4:3c21fb0c9e84 | 7 | #include "matrix.h" |
altb2 | 4:3c21fb0c9e84 | 8 | |
altb | 3:6811c0ce95f6 | 9 | |
altb | 3:6811c0ce95f6 | 10 | class AHRS{ |
altb | 3:6811c0ce95f6 | 11 | public: |
altb | 3:6811c0ce95f6 | 12 | AHRS(uint8_t,float); |
altb | 3:6811c0ce95f6 | 13 | virtual ~AHRS(); |
altb | 3:6811c0ce95f6 | 14 | |
altb2 | 4:3c21fb0c9e84 | 15 | float getRoll() { |
altb2 | 5:eee47600b772 | 16 | return RPY_filter.get_est_state(1); |
altb | 3:6811c0ce95f6 | 17 | } |
altb2 | 4:3c21fb0c9e84 | 18 | float getPitch() { |
altb2 | 5:eee47600b772 | 19 | return RPY_filter.get_est_state(2); |
altb | 3:6811c0ce95f6 | 20 | } |
altb2 | 4:3c21fb0c9e84 | 21 | float getYaw() { |
altb2 | 5:eee47600b772 | 22 | return 0; |
altb | 3:6811c0ce95f6 | 23 | } |
altb | 3:6811c0ce95f6 | 24 | LSM9DS1 imu; |
altb2 | 4:3c21fb0c9e84 | 25 | //Mahony RPY_filter; |
altb2 | 4:3c21fb0c9e84 | 26 | ekf RPY_filter; |
altb | 3:6811c0ce95f6 | 27 | LinearCharacteristics raw_gx2gx; |
altb | 3:6811c0ce95f6 | 28 | LinearCharacteristics raw_gy2gy; |
altb | 3:6811c0ce95f6 | 29 | LinearCharacteristics raw_gz2gz; |
altb2 | 4:3c21fb0c9e84 | 30 | LinearCharacteristics raw_ax2ax; |
altb2 | 4:3c21fb0c9e84 | 31 | LinearCharacteristics raw_ay2ay; |
altb2 | 4:3c21fb0c9e84 | 32 | LinearCharacteristics raw_az2az; |
altb2 | 4:3c21fb0c9e84 | 33 | LinearCharacteristics int2magx; |
altb2 | 4:3c21fb0c9e84 | 34 | LinearCharacteristics int2magy; |
altb2 | 4:3c21fb0c9e84 | 35 | LinearCharacteristics int2magz; |
altb | 3:6811c0ce95f6 | 36 | private: |
altb | 3:6811c0ce95f6 | 37 | Signal signal; |
altb | 3:6811c0ce95f6 | 38 | Thread thread; |
altb | 3:6811c0ce95f6 | 39 | Ticker ticker; |
altb | 3:6811c0ce95f6 | 40 | Mutex mutex; // mutex to lock critical sections |
altb | 3:6811c0ce95f6 | 41 | void sendSignal(); |
altb | 3:6811c0ce95f6 | 42 | void update(); |
altb2 | 4:3c21fb0c9e84 | 43 | matrix measurement; |
altb2 | 4:3c21fb0c9e84 | 44 | //SPI spi; % old board with spi |
altb2 | 4:3c21fb0c9e84 | 45 | |
altb2 | 4:3c21fb0c9e84 | 46 | // PinName csAG; // for spi |
altb2 | 4:3c21fb0c9e84 | 47 | // PinName csM; // " |
altb | 3:6811c0ce95f6 | 48 | }; |