AHRS
Dependencies: Eigen
Diff: AHRS.cpp
- Revision:
- 21:31e01d3e0143
- Parent:
- 20:1182bc29c195
- Child:
- 22:495a419e474c
diff -r 1182bc29c195 -r 31e01d3e0143 AHRS.cpp --- a/AHRS.cpp Wed Oct 09 13:45:36 2019 +0000 +++ b/AHRS.cpp Mon Oct 21 17:14:27 2019 +0000 @@ -1,14 +1,11 @@ #include "AHRS.h" -#include "Mahony.h" -#include "MadgwickAHRS.h" -#include "EKF.h" #define PI 3.141592653589793 using namespace std; //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){ -AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS)//, dout3(PA_10) +AHRS::AHRS(uint8_t filtertype, float TS, bool calib) : imu(PC_9, PA_8, 0xD6, 0x3C), ekf(TS), Mahony_filter(TS), ekf_rp(TS), ekf_rpy(TS)//, dout3(PA_10) { /* setup storage */ this->Ts = TS; @@ -71,17 +68,18 @@ raw_az2az.setup( 1.0, 0.0f); // do not remove gravity! /* magnet */ - /* Caibration on 25.9.2019 QK2 delivers: + /* Caibration on 21.10.2019 QK2 delivers: A=[ 0.9904 0 0; 0.0605 1.0158 0;0.0397 -0.0199 0.9938] - b0= [0.4160 0.1587 -0.0998], see T:\T-IMS-IndNav\01_Technisches\09_PES_Board_IMU\meas_mag_aFMA\calib_mag_QK2.m + 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 */ - raw_mx2mx.setup( 0.9904f,0.4160f); - raw_my2my.setup( 1.0158f, 0.1587f); - raw_mz2mz.setup(-0.9938f, -0.0998f); + raw_mx2mx.setup( 0.9982f,0.2054f); + raw_my2my.setup( 1.0574f,0.1912f); + raw_mz2mz.setup(-0.9444f,-0.1385f); // achtung, bei b0(3) Vorzeichen drehen!!! this->magnet_cal_0[0] = raw_mx2mx(magnet[0]); this->magnet_cal_0[1] = raw_my2my(magnet[1]); this->magnet_cal_0[2] = raw_mz2mz(magnet[2]); - +// set EKF_RPY magnet values now: + ekf_rpy.set_m0(this->magnet_cal_0[0],this->magnet_cal_0[1],this->magnet_cal_0[2]); local_time = 0.0; this->filtertype = filtertype; @@ -94,17 +92,27 @@ void AHRS::update(void) { //dout3.write(1); - if(filtertype !=1) - { - 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); - data.est_RPY[0] = Mahony_filter.getRollRadians(); - data.est_RPY[1] = Mahony_filter.getPitchRadians(); - } - else - { - 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]); - data.est_RPY[0] = ekf.get_est_state(0); - data.est_RPY[1] = ekf.get_est_state(1); + switch(filtertype){ + case 1: + 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]); + data.est_RPY[0] = ekf.get_est_state(0); + data.est_RPY[1] = ekf.get_est_state(1); + break; + case 2: + 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); + data.est_RPY[0] = Mahony_filter.getRollRadians(); + data.est_RPY[1] = Mahony_filter.getPitchRadians(); + break; + case 3: + ekf_rp.update(data.sens_gyr[0],data.sens_gyr[1],data.sens_acc[0],data.sens_acc[1]); + data.est_RPY[0] = ekf_rp.get_est_state(0); + data.est_RPY[1] = ekf_rp.get_est_state(1); + break; + case 4: + 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]); + data.est_RPY[0] = ekf_rpy.get_est_state(0); + data.est_RPY[1] = ekf_rpy.get_est_state(1); + break; } // dout3.write(0); }