AHRS
Dependencies: Eigen
AHRS.cpp@10:fd4e2436b311, 2019-08-15 (annotated)
- Committer:
- altb2
- Date:
- Thu Aug 15 11:45:54 2019 +0000
- Revision:
- 10:fd4e2436b311
- Parent:
- 9:644266463f5f
- Child:
- 14:c357be9a3fc8
minor changes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb | 3:6811c0ce95f6 | 1 | #include "AHRS.h" |
altb | 3:6811c0ce95f6 | 2 | #include "Mahony.h" |
altb | 3:6811c0ce95f6 | 3 | #include "MadgwickAHRS.h" |
altb2 | 4:3c21fb0c9e84 | 4 | #include "ekf.h" |
altb2 | 4:3c21fb0c9e84 | 5 | |
altb | 3:6811c0ce95f6 | 6 | #define PI 3.141592653589793 |
altb | 3:6811c0ce95f6 | 7 | |
altb | 3:6811c0ce95f6 | 8 | using namespace std; |
altb | 3:6811c0ce95f6 | 9 | |
altb2 | 4:3c21fb0c9e84 | 10 | //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 | 9:644266463f5f | 11 | AHRS::AHRS(uint8_t filtertype,float TS,bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), Mahony_filter(TS), thread(osPriorityBelowNormal, 4096){ |
altb2 | 9:644266463f5f | 12 | float g[3]; |
altb2 | 9:644266463f5f | 13 | g[0]=0.0;g[1]=0.0;g[2]=0.0; |
altb2 | 9:644266463f5f | 14 | float a[3]; |
altb2 | 9:644266463f5f | 15 | a[0]=0.0;a[1]=0.0;a[2]=0.0; |
altb2 | 9:644266463f5f | 16 | uint8_t N = 100; |
altb2 | 9:644266463f5f | 17 | while (!imu.begin()) { |
altb2 | 9:644266463f5f | 18 | wait(1); |
altb2 | 9:644266463f5f | 19 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb2 | 9:644266463f5f | 20 | } |
altb2 | 9:644266463f5f | 21 | if(calib){ |
altb2 | 9:644266463f5f | 22 | wait_ms(500); |
altb2 | 9:644266463f5f | 23 | for(int k=0;k < N;k++) |
altb2 | 9:644266463f5f | 24 | { |
altb2 | 9:644266463f5f | 25 | imu.readGyro(); |
altb2 | 9:644266463f5f | 26 | imu.readAccel(); |
altb2 | 9:644266463f5f | 27 | g[0]+= imu.gyroX; |
altb2 | 9:644266463f5f | 28 | g[1]+= imu.gyroY; |
altb2 | 9:644266463f5f | 29 | g[2]+= imu.gyroZ; |
altb2 | 9:644266463f5f | 30 | a[0]+= imu.accX; |
altb2 | 9:644266463f5f | 31 | a[1]+= imu.accY; |
altb2 | 9:644266463f5f | 32 | a[2]+= imu.accZ; |
altb2 | 9:644266463f5f | 33 | wait_ms(10); |
altb2 | 9:644266463f5f | 34 | } |
altb2 | 9:644266463f5f | 35 | for(int k = 0;k<3;k++){ |
altb2 | 9:644266463f5f | 36 | g[k] /= (float)N; |
altb2 | 9:644266463f5f | 37 | a[k] /= (float)N; |
altb2 | 9:644266463f5f | 38 | } |
altb2 | 9:644266463f5f | 39 | printf("Correct g: %1.5f %1.5f %1.5f a: %1.5f %1.5f %1.5f\r\n",g[0],g[1],g[2],a[0],a[1],a[2]); |
altb2 | 9:644266463f5f | 40 | } |
altb2 | 9:644266463f5f | 41 | raw_gx2gx.setup( 1.0,g[0]); |
altb2 | 9:644266463f5f | 42 | raw_gy2gy.setup(-1.0,g[1]); // y-axis reversed (lefthanded system) |
altb2 | 9:644266463f5f | 43 | raw_gz2gz.setup( 1.0,g[2]); |
altb2 | 9:644266463f5f | 44 | raw_ax2ax.setup( 1.0,a[0]); // use gain and offset here |
altb2 | 9:644266463f5f | 45 | raw_ay2ay.setup(-1.0,a[1]); // y-axis reversed // was -1,0.0 |
altb2 | 7:bfde7bd5fe31 | 46 | raw_az2az.setup( 1.0,0.0); |
altb2 | 8:51062bb877f0 | 47 | int2magx.setup( -1.0,0.0); // x-axis reversed |
altb2 | 8:51062bb877f0 | 48 | int2magy.setup( -1.0,0.0); // y-axis reversed |
altb2 | 7:bfde7bd5fe31 | 49 | int2magz.setup( 1.0,0.0); |
altb2 | 7:bfde7bd5fe31 | 50 | local_time = 0.0; |
altb2 | 9:644266463f5f | 51 | // The Thread starts |
altb2 | 9:644266463f5f | 52 | thread.start(callback(this, &AHRS::update)); |
altb2 | 9:644266463f5f | 53 | ticker.attach(callback(this, &AHRS::sendSignal), TS); |
altb2 | 9:644266463f5f | 54 | |
altb2 | 7:bfde7bd5fe31 | 55 | |
altb | 3:6811c0ce95f6 | 56 | |
altb | 3:6811c0ce95f6 | 57 | } |
altb | 3:6811c0ce95f6 | 58 | |
altb | 3:6811c0ce95f6 | 59 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 60 | |
altb2 | 9:644266463f5f | 61 | |
altb | 3:6811c0ce95f6 | 62 | void AHRS::update(void) |
altb | 3:6811c0ce95f6 | 63 | { |
altb2 | 7:bfde7bd5fe31 | 64 | while(1){ |
altb | 3:6811c0ce95f6 | 65 | thread.signal_wait(signal); |
altb | 3:6811c0ce95f6 | 66 | imu.readAccel(); |
altb2 | 4:3c21fb0c9e84 | 67 | //imu.readMag_calibrated(); |
altb2 | 8:51062bb877f0 | 68 | imu.readMag(); |
altb | 3:6811c0ce95f6 | 69 | imu.readGyro(); |
altb2 | 5:eee47600b772 | 70 | matrix measurement(6,1,0.0); |
altb2 | 6:5824bd96b6cf | 71 | //Perform filter update |
altb2 | 9:644266463f5f | 72 | //Mahony_filter.update(raw_gx2gx(imu.gyroX), raw_gy2gy(imu.gyroY), raw_gz2gz(imu.gyroZ) , |
altb2 | 9:644266463f5f | 73 | // raw_ax2ax(imu.accX), raw_ay2ay(imu.accY), raw_az2az(imu.accZ), |
altb2 | 9:644266463f5f | 74 | // int2magx(imu.magX), int2magy(imu.magY), int2magz(imu.magZ)); |
altb2 | 6:5824bd96b6cf | 75 | measurement.put_entry(0,0,raw_gx2gx(imu.gyroX)); |
altb2 | 6:5824bd96b6cf | 76 | measurement.put_entry(1,0,raw_gy2gy(imu.gyroY)); |
altb2 | 6:5824bd96b6cf | 77 | measurement.put_entry(3,0,raw_ax2ax(imu.accX)); |
altb2 | 6:5824bd96b6cf | 78 | measurement.put_entry(4,0,raw_ay2ay(imu.accY)); |
altb2 | 5:eee47600b772 | 79 | RPY_filter.loop(&measurement); |
altb2 | 8:51062bb877f0 | 80 | |
altb2 | 6:5824bd96b6cf | 81 | my_logger.data_vector[0] = raw_gx2gx(imu.gyroX); |
altb2 | 6:5824bd96b6cf | 82 | my_logger.data_vector[1] = raw_gy2gy(imu.gyroY); |
altb2 | 6:5824bd96b6cf | 83 | my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ); |
altb2 | 10:fd4e2436b311 | 84 | /*my_logger.data_vector[3] = raw_ax2ax(imu.accX); |
altb2 | 6:5824bd96b6cf | 85 | my_logger.data_vector[4] = raw_ay2ay(imu.accY); |
altb2 | 10:fd4e2436b311 | 86 | my_logger.data_vector[5] = raw_az2az(imu.accZ);*/ |
altb2 | 10:fd4e2436b311 | 87 | my_logger.data_vector[3] = RPY_filter.get_est_state(0); |
altb2 | 10:fd4e2436b311 | 88 | my_logger.data_vector[4] = RPY_filter.get_est_state(1); |
altb2 | 10:fd4e2436b311 | 89 | my_logger.data_vector[5] = RPY_filter.get_est_state(4); |
altb2 | 10:fd4e2436b311 | 90 | my_logger.data_vector[6] = RPY_filter.get_est_state(5); |
altb2 | 6:5824bd96b6cf | 91 | } // while(1) (the thread) |
altb2 | 7:bfde7bd5fe31 | 92 | |
altb | 3:6811c0ce95f6 | 93 | } |
altb | 3:6811c0ce95f6 | 94 | void AHRS::sendSignal() { |
altb | 3:6811c0ce95f6 | 95 | |
altb | 3:6811c0ce95f6 | 96 | thread.signal_set(signal); |
altb | 3:6811c0ce95f6 | 97 | } |