AHRS
Dependencies: Eigen
AHRS.cpp@25:fe14dbcef82d, 2020-01-06 (annotated)
- Committer:
- altb2
- Date:
- Mon Jan 06 12:49:38 2020 +0000
- Revision:
- 25:fe14dbcef82d
- Parent:
- 23:71996bfe68eb
- Child:
- 26:1da7c6204775
implement BMX055
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 | 25:fe14dbcef82d | 8 | AHRS::AHRS(uint8_t filtertype, float TS, bool calib, I2C &i2c) : ekf(TS), Mahony_filter(TS), cf_yaw(1.0f,TS), ekf_rp(TS), ekf_rpy(TS), imu(i2c), dout3(PA_10) |
pmic | 17:f9eed26536d9 | 9 | { |
pmic | 17:f9eed26536d9 | 10 | /* setup storage */ |
altb2 | 20:1182bc29c195 | 11 | this->Ts = TS; |
altb2 | 25:fe14dbcef82d | 12 | this->filtertype = filtertype; |
altb2 | 25:fe14dbcef82d | 13 | #if _LSM9DS |
altb2 | 25:fe14dbcef82d | 14 | imu_setup_LSM9DS(calib); |
altb2 | 25:fe14dbcef82d | 15 | #else |
altb2 | 25:fe14dbcef82d | 16 | imu_setup_BMX055(calib); |
altb2 | 25:fe14dbcef82d | 17 | #endif |
altb2 | 25:fe14dbcef82d | 18 | } |
altb2 | 25:fe14dbcef82d | 19 | void AHRS::imu_setup_LSM9DS(bool calib){ |
pmic | 17:f9eed26536d9 | 20 | float gyro[3], accel[3], magnet[3]; |
altb2 | 20:1182bc29c195 | 21 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 20:1182bc29c195 | 22 | { |
pmic | 17:f9eed26536d9 | 23 | gyro[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 24 | accel[i] = 0.0f; |
pmic | 17:f9eed26536d9 | 25 | magnet[i] = 0.0f; |
altb2 | 20:1182bc29c195 | 26 | } |
pmic | 17:f9eed26536d9 | 27 | |
pmic | 17:f9eed26536d9 | 28 | /* inform user if imu is not responsive */ |
altb2 | 20:1182bc29c195 | 29 | while (!imu.begin()) |
altb2 | 20:1182bc29c195 | 30 | { |
altb2 | 9:644266463f5f | 31 | wait(1); |
altb2 | 9:644266463f5f | 32 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb2 | 20:1182bc29c195 | 33 | } |
pmic | 17:f9eed26536d9 | 34 | |
pmic | 17:f9eed26536d9 | 35 | /* take mean value of N samples */ |
pmic | 17:f9eed26536d9 | 36 | uint8_t N = 200; |
altb2 | 20:1182bc29c195 | 37 | if(calib) |
altb2 | 20:1182bc29c195 | 38 | { |
altb2 | 9:644266463f5f | 39 | wait_ms(500); |
pmic | 17:f9eed26536d9 | 40 | /* read and cumsum data */ |
pmic | 17:f9eed26536d9 | 41 | for(uint16_t i = 0; i < N; i++) { |
pmic | 17:f9eed26536d9 | 42 | imu.readGyro(); |
pmic | 17:f9eed26536d9 | 43 | imu.readAccel(); |
pmic | 17:f9eed26536d9 | 44 | imu.readMag(); |
pmic | 17:f9eed26536d9 | 45 | gyro[0] += imu.gyroX; |
pmic | 17:f9eed26536d9 | 46 | gyro[1] += imu.gyroY; |
pmic | 17:f9eed26536d9 | 47 | gyro[2] += imu.gyroZ; |
pmic | 17:f9eed26536d9 | 48 | accel[0] += imu.accX; |
pmic | 17:f9eed26536d9 | 49 | accel[1] += imu.accY; |
pmic | 17:f9eed26536d9 | 50 | accel[2] += imu.accZ; |
pmic | 17:f9eed26536d9 | 51 | magnet[0] += imu.magX; |
pmic | 17:f9eed26536d9 | 52 | magnet[1] += imu.magY; |
pmic | 17:f9eed26536d9 | 53 | magnet[2] += imu.magZ; |
pmic | 17:f9eed26536d9 | 54 | wait_ms(10); |
pmic | 17:f9eed26536d9 | 55 | } |
pmic | 17:f9eed26536d9 | 56 | /* calculate mean value */ |
pmic | 17:f9eed26536d9 | 57 | for(uint16_t i = 0; i < 3; i++) { |
pmic | 17:f9eed26536d9 | 58 | gyro[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 59 | accel[i] /= (float)N; |
pmic | 17:f9eed26536d9 | 60 | magnet[i] /= (float)N; |
altb2 | 20:1182bc29c195 | 61 | } |
pmic | 17:f9eed26536d9 | 62 | 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 | 63 | } |
pmic | 17:f9eed26536d9 | 64 | |
pmic | 17:f9eed26536d9 | 65 | /* gyro */ |
pmic | 17:f9eed26536d9 | 66 | raw_gx2gx.setup( 1.0, gyro[0]); |
pmic | 17:f9eed26536d9 | 67 | raw_gy2gy.setup(-1.0, gyro[1]); // y-axis reversed (lefthanded system) |
pmic | 17:f9eed26536d9 | 68 | raw_gz2gz.setup( 1.0, gyro[2]); |
pmic | 17:f9eed26536d9 | 69 | |
pmic | 17:f9eed26536d9 | 70 | // pmic, 23.09.2019 |
pmic | 17:f9eed26536d9 | 71 | // 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 | 72 | |
pmic | 17:f9eed26536d9 | 73 | /* accel */ |
altb2 | 19:42ea6dd68185 | 74 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 19:42ea6dd68185 | 75 | raw_ay2ay.setup(-1.0f, accel[1]); // y-axis reversed // was -1,0.0 |
altb2 | 19:42ea6dd68185 | 76 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
pmic | 17:f9eed26536d9 | 77 | |
pmic | 17:f9eed26536d9 | 78 | /* magnet */ |
altb2 | 21:31e01d3e0143 | 79 | /* Caibration on 21.10.2019 QK2 delivers: |
altb2 | 19:42ea6dd68185 | 80 | A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938] |
altb2 | 21:31e01d3e0143 | 81 | 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 | 82 | */ |
altb2 | 23:71996bfe68eb | 83 | raw_mx2mx.setup( 0.9837f,0.252f); |
altb2 | 23:71996bfe68eb | 84 | raw_my2my.setup( 1.0298f,0.1675f); |
altb2 | 23:71996bfe68eb | 85 | raw_mz2mz.setup(-0.9864f,-0.1392f); // achtung, bei gain(3) Vorzeichen drehen, b0 beibehalten!!! |
altb2 | 23:71996bfe68eb | 86 | // raw_mx2mx.setup( 1.0f,0.0f); |
altb2 | 23:71996bfe68eb | 87 | // raw_my2my.setup( 1.0f,0.0f); |
altb2 | 23:71996bfe68eb | 88 | // raw_mz2mz.setup( 1.0f,0.0f); // achtung, bei b0(3) Vorzeichen drehen!!! |
altb2 | 23:71996bfe68eb | 89 | |
pmic | 17:f9eed26536d9 | 90 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
pmic | 17:f9eed26536d9 | 91 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
pmic | 17:f9eed26536d9 | 92 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
altb2 | 21:31e01d3e0143 | 93 | // set EKF_RPY magnet values now: |
altb2 | 23:71996bfe68eb | 94 | ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); |
altb2 | 7:bfde7bd5fe31 | 95 | local_time = 0.0; |
altb2 | 19:42ea6dd68185 | 96 | |
pmic | 17:f9eed26536d9 | 97 | // the thread starts |
altb2 | 9:644266463f5f | 98 | |
altb | 3:6811c0ce95f6 | 99 | } |
altb2 | 25:fe14dbcef82d | 100 | //------------------------------------------------------------------------------ |
altb2 | 25:fe14dbcef82d | 101 | void AHRS::imu_setup_BMX055(bool calib){ |
altb2 | 25:fe14dbcef82d | 102 | float gyro[3], accel[3], magnet[3]; |
altb2 | 25:fe14dbcef82d | 103 | for(uint8_t i = 0; i < 3; i++) |
altb2 | 25:fe14dbcef82d | 104 | { |
altb2 | 25:fe14dbcef82d | 105 | gyro[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 106 | accel[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 107 | magnet[i] = 0.0f; |
altb2 | 25:fe14dbcef82d | 108 | } |
altb2 | 25:fe14dbcef82d | 109 | |
altb2 | 25:fe14dbcef82d | 110 | /* take mean value of N samples */ |
altb2 | 25:fe14dbcef82d | 111 | uint8_t N = 200; |
altb2 | 25:fe14dbcef82d | 112 | if(calib) |
altb2 | 25:fe14dbcef82d | 113 | { |
altb2 | 25:fe14dbcef82d | 114 | wait_ms(500); |
altb2 | 25:fe14dbcef82d | 115 | /* read and cumsum data */ |
altb2 | 25:fe14dbcef82d | 116 | for(uint16_t i = 0; i < N; i++) { |
altb2 | 25:fe14dbcef82d | 117 | imu.readGyro(); |
altb2 | 25:fe14dbcef82d | 118 | imu.readAccel(); |
altb2 | 25:fe14dbcef82d | 119 | imu.readMag(); |
altb2 | 25:fe14dbcef82d | 120 | gyro[0] += imu.gyroX; |
altb2 | 25:fe14dbcef82d | 121 | gyro[1] += imu.gyroY; |
altb2 | 25:fe14dbcef82d | 122 | gyro[2] += imu.gyroZ; |
altb2 | 25:fe14dbcef82d | 123 | accel[0] += imu.accX; |
altb2 | 25:fe14dbcef82d | 124 | accel[1] += imu.accY; |
altb2 | 25:fe14dbcef82d | 125 | accel[2] += imu.accZ; |
altb2 | 25:fe14dbcef82d | 126 | magnet[0] += imu.magX; |
altb2 | 25:fe14dbcef82d | 127 | magnet[1] += imu.magY; |
altb2 | 25:fe14dbcef82d | 128 | magnet[2] += imu.magZ; |
altb2 | 25:fe14dbcef82d | 129 | wait_ms(10); |
altb2 | 25:fe14dbcef82d | 130 | } |
altb2 | 25:fe14dbcef82d | 131 | /* calculate mean value */ |
altb2 | 25:fe14dbcef82d | 132 | for(uint16_t i = 0; i < 3; i++) { |
altb2 | 25:fe14dbcef82d | 133 | gyro[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 134 | accel[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 135 | magnet[i] /= (float)N; |
altb2 | 25:fe14dbcef82d | 136 | } |
altb2 | 25:fe14dbcef82d | 137 | } |
altb2 | 25:fe14dbcef82d | 138 | |
altb2 | 25:fe14dbcef82d | 139 | /* gyro */ |
altb2 | 25:fe14dbcef82d | 140 | raw_gx2gx.setup( 1.0, gyro[0]); |
altb2 | 25:fe14dbcef82d | 141 | raw_gy2gy.setup( 1.0, gyro[1]); // y-axis reversed (lefthanded system) |
altb2 | 25:fe14dbcef82d | 142 | raw_gz2gz.setup( 1.0, gyro[2]); |
altb2 | 25:fe14dbcef82d | 143 | |
altb2 | 25:fe14dbcef82d | 144 | /* accel */ |
altb2 | 25:fe14dbcef82d | 145 | raw_ax2ax.setup( 1.0f, accel[0]); // use gain and offset here |
altb2 | 25:fe14dbcef82d | 146 | raw_ay2ay.setup( 1.0f, accel[1]); // y-axis reversed // was -1,0.0 |
altb2 | 25:fe14dbcef82d | 147 | raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! |
altb2 | 25:fe14dbcef82d | 148 | |
altb2 | 25:fe14dbcef82d | 149 | /* magnet */ |
altb2 | 25:fe14dbcef82d | 150 | // diag(A0) = 0.8047 0.8447 0.8474 |
altb2 | 25:fe14dbcef82d | 151 | // b0 = -0.1195 0.2009 -0.3133, calibration at desk 19.12.2019 |
altb2 | 25:fe14dbcef82d | 152 | raw_mx2mx.setup( 0.8047f,-0.1195f); |
altb2 | 25:fe14dbcef82d | 153 | raw_my2my.setup( 0.8447f, 0.2009f); |
altb2 | 25:fe14dbcef82d | 154 | raw_mz2mz.setup( 0.8474f,-0.3133f); // |
altb2 | 25:fe14dbcef82d | 155 | /* raw_mx2mx.setup( 1.0f,0.0f); |
altb2 | 25:fe14dbcef82d | 156 | raw_my2my.setup( 1.0f,0.0f); |
altb2 | 25:fe14dbcef82d | 157 | raw_mz2mz.setup( 1.0f,0.0f); */ |
altb2 | 25:fe14dbcef82d | 158 | this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); |
altb2 | 25:fe14dbcef82d | 159 | this->magnet_cal_0[1] = raw_my2my(magnet[1]); |
altb2 | 25:fe14dbcef82d | 160 | this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); |
altb2 | 25:fe14dbcef82d | 161 | // set EKF_RPY magnet values now: |
altb2 | 25:fe14dbcef82d | 162 | ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); |
altb2 | 25:fe14dbcef82d | 163 | local_time = 0.0; |
altb2 | 25:fe14dbcef82d | 164 | |
altb2 | 25:fe14dbcef82d | 165 | // the thread starts |
altb2 | 25:fe14dbcef82d | 166 | |
altb2 | 25:fe14dbcef82d | 167 | } |
altb2 | 25:fe14dbcef82d | 168 | |
altb | 3:6811c0ce95f6 | 169 | |
altb | 3:6811c0ce95f6 | 170 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 171 | |
altb | 3:6811c0ce95f6 | 172 | void AHRS::update(void) |
altb2 | 20:1182bc29c195 | 173 | { |
altb2 | 20:1182bc29c195 | 174 | //dout3.write(1); |
altb2 | 21:31e01d3e0143 | 175 | switch(filtertype){ |
altb2 | 21:31e01d3e0143 | 176 | case 1: |
altb2 | 21:31e01d3e0143 | 177 | 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 | 22:495a419e474c | 178 | cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]); |
altb2 | 21:31e01d3e0143 | 179 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 180 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 23:71996bfe68eb | 181 | //data.est_Vxyz[0] = ekf.get_est_state(4); |
altb2 | 23:71996bfe68eb | 182 | //data.est_Vxyz[1] = ekf.get_est_state(5); |
altb2 | 21:31e01d3e0143 | 183 | break; |
altb2 | 21:31e01d3e0143 | 184 | case 2: |
altb2 | 21:31e01d3e0143 | 185 | 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 | 186 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 21:31e01d3e0143 | 187 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 21:31e01d3e0143 | 188 | break; |
altb2 | 21:31e01d3e0143 | 189 | case 3: |
altb2 | 21:31e01d3e0143 | 190 | ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]); |
altb2 | 23:71996bfe68eb | 191 | |
altb2 | 23:71996bfe68eb | 192 | cf_yaw.update(data.sens_gyr[2],data.sens_mag[0],data.sens_mag[1],data.sens_mag[2]); |
altb2 | 21:31e01d3e0143 | 193 | data.est_RPY[0] = ekf_rp.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 194 | data.est_RPY[1] = ekf_rp.get_est_state(1); |
altb2 | 21:31e01d3e0143 | 195 | break; |
altb2 | 21:31e01d3e0143 | 196 | case 4: |
altb2 | 21:31e01d3e0143 | 197 | 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 | 198 | data.est_RPY[0] = ekf_rpy.get_est_state(0); |
altb2 | 21:31e01d3e0143 | 199 | data.est_RPY[1] = ekf_rpy.get_est_state(1); |
altb2 | 23:71996bfe68eb | 200 | data.est_RPY[2] = ekf_rpy.get_est_state(2); |
altb2 | 23:71996bfe68eb | 201 | data.est_RPY[3] = ekf_rpy.get_est_state(3); |
altb2 | 23:71996bfe68eb | 202 | data.est_RPY[4] = ekf_rpy.get_est_state(4); |
altb2 | 23:71996bfe68eb | 203 | data.est_RPY[5] = ekf_rpy.get_est_state(5); |
altb2 | 23:71996bfe68eb | 204 | data.est_RPY[6] = ekf_rpy.get_est_state(6); |
altb2 | 23:71996bfe68eb | 205 | data.est_RPY[7] = ekf_rpy.get_est_state(7); |
altb2 | 21:31e01d3e0143 | 206 | break; |
altb2 | 20:1182bc29c195 | 207 | } |
altb2 | 20:1182bc29c195 | 208 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 209 | } |
altb2 | 20:1182bc29c195 | 210 | void AHRS::update_as_thread(void) |
altb2 | 20:1182bc29c195 | 211 | { |
altb2 | 20:1182bc29c195 | 212 | while(1) |
altb2 | 20:1182bc29c195 | 213 | { |
altb2 | 20:1182bc29c195 | 214 | thread.signal_wait(signal); |
altb2 | 20:1182bc29c195 | 215 | // dout3.write(1); |
altb2 | 20:1182bc29c195 | 216 | if(filtertype !=1) |
altb2 | 20:1182bc29c195 | 217 | { |
altb2 | 20:1182bc29c195 | 218 | 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 | 219 | data.est_RPY[0] = Mahony_filter.getRollRadians(); |
altb2 | 20:1182bc29c195 | 220 | data.est_RPY[1] = Mahony_filter.getPitchRadians(); |
altb2 | 20:1182bc29c195 | 221 | } |
altb2 | 20:1182bc29c195 | 222 | else |
altb2 | 20:1182bc29c195 | 223 | { |
altb2 | 20:1182bc29c195 | 224 | 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 | 225 | data.est_RPY[0] = ekf.get_est_state(0); |
altb2 | 20:1182bc29c195 | 226 | data.est_RPY[1] = ekf.get_est_state(1); |
altb2 | 20:1182bc29c195 | 227 | } |
altb2 | 20:1182bc29c195 | 228 | // dout3.write(0); |
altb2 | 20:1182bc29c195 | 229 | } |
altb2 | 20:1182bc29c195 | 230 | } |
altb2 | 20:1182bc29c195 | 231 | void AHRS::read_imu_sensors(void){ |
altb2 | 25:fe14dbcef82d | 232 | mutex.lock(); |
altb2 | 25:fe14dbcef82d | 233 | dout3.write(1); |
altb2 | 20:1182bc29c195 | 234 | imu.readGyro(); |
altb2 | 20:1182bc29c195 | 235 | imu.readAccel(); |
altb2 | 20:1182bc29c195 | 236 | imu.readMag(); |
altb2 | 25:fe14dbcef82d | 237 | dout3.write(0); |
altb2 | 25:fe14dbcef82d | 238 | mutex.unlock(); |
altb2 | 20:1182bc29c195 | 239 | data.sens_gyr[0] = raw_gx2gx(imu.gyroX); |
altb2 | 20:1182bc29c195 | 240 | data.sens_gyr[1] = raw_gy2gy(imu.gyroY); |
altb2 | 20:1182bc29c195 | 241 | data.sens_gyr[2] = raw_gz2gz(imu.gyroZ); |
altb2 | 20:1182bc29c195 | 242 | data.sens_acc[0] = raw_ax2ax(imu.accX); |
altb2 | 20:1182bc29c195 | 243 | data.sens_acc[1] = raw_ay2ay(imu.accY); |
altb2 | 20:1182bc29c195 | 244 | data.sens_acc[2] = raw_az2az(imu.accZ); |
altb2 | 20:1182bc29c195 | 245 | data.sens_mag[0] = raw_mx2mx(imu.magX); |
altb2 | 20:1182bc29c195 | 246 | data.sens_mag[1] = raw_my2my(imu.magY); |
altb2 | 20:1182bc29c195 | 247 | data.sens_mag[2] = raw_mz2mz(imu.magZ); |
altb2 | 20:1182bc29c195 | 248 | } |
altb2 | 20:1182bc29c195 | 249 | // ------------------- start controllers ---------------- |
altb2 | 20:1182bc29c195 | 250 | void AHRS::start_loop(void){ |
altb2 | 20:1182bc29c195 | 251 | thread.start(callback(this, &AHRS::update_as_thread)); |
altb2 | 20:1182bc29c195 | 252 | ticker.attach(callback(this, &AHRS::sendSignal), Ts); |
altb2 | 20:1182bc29c195 | 253 | } |
pmic | 17:f9eed26536d9 | 254 | |
altb2 | 20:1182bc29c195 | 255 | // this is for realtime OS |
altb2 | 20:1182bc29c195 | 256 | void AHRS::sendSignal() { |
altb2 | 20:1182bc29c195 | 257 | thread.signal_set(signal); |
altb2 | 20:1182bc29c195 | 258 | } |