Diff: AHRS.cpp

Revision:

4:3c21fb0c9e84

Parent:

3:6811c0ce95f6

Child:

5:eee47600b772

diff -r 6811c0ce95f6 -r 3c21fb0c9e84 AHRS.cpp
--- a/AHRS.cpp	Tue Dec 04 15:49:48 2018 +0000
+++ b/AHRS.cpp	Fri May 03 13:46:40 2019 +0000
@@ -1,23 +1,35 @@
 #include "AHRS.h"
 #include "Mahony.h"
 #include "MadgwickAHRS.h"
+#include "ekf.h"
+
 #define PI 3.141592653589793
 
 using namespace std;
 
-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){  
-    
+//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) :  imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){  
+       
     thread.start(callback(this, &AHRS::update));
     ticker.attach(callback(this, &AHRS::sendSignal), TS);
-    LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0);       // use gain and offset here
+/*    LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0);       // use gain and offset here
     LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0);      // y-axis reversed
     LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
     LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
     LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0);  // y-axis reversed (lefthanded system)
     LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
     LinearCharacteristics int2magx( -32767,32768,100.0,-100.0);     // x-axis reversed
-    LinearCharacteristics int2magy( -32767,32768,100.0,-100.0);     // y-axis reversed
-    LinearCharacteristics int2magz( -32767,32768,-100.0,100.0);
+    LinearCharacteristics int2magy( -32767,32768,100.0,-100.0);     // y-axis reversed*/
+    LinearCharacteristics raw_ax2ax( 1.0,0.0);       // use gain and offset here
+    LinearCharacteristics raw_ay2ay(-1.0,0.0);      // y-axis reversed
+    LinearCharacteristics raw_az2az( 1.0,0.0);
+    LinearCharacteristics raw_gx2gx( 1.0,0.0);
+    LinearCharacteristics raw_gy2gy(-1.0,0.0);  // y-axis reversed (lefthanded system)
+    LinearCharacteristics raw_gz2gz( 1.0,0.0);
+    LinearCharacteristics int2magx( -1.0,0.0);     // x-axis reversed
+    LinearCharacteristics int2magy( -1.0,0.0);     // y-axis reversed
+    LinearCharacteristics int2magz(  1.0,0.0);
+    matrix measurement(6,1,0.0);
     while (!imu.begin()) {
         wait(1);
         printf("Failed to communicate with LSM9DS1.\r\n");
@@ -32,14 +44,19 @@
     while(1){
         thread.signal_wait(signal);
         imu.readAccel();
-        imu.readMag_calibrated();
+        //imu.readMag_calibrated();
+        imu.readMag();
         imu.readGyro();
-
+        
         //Perform Madgwick-filter update
-        RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy),  raw_gz2gz(imu.gz) ,
-                      raw_ax2ax(imu.ax), raw_ay2ay(imu.ay),  raw_az2az(imu.az),
-                      int2magx(imu.mx), int2magy(imu.my),  int2magz(imu.mz)); 
-       
+        //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy),  raw_gz2gz(imu.gz) ,
+        //              raw_ax2ax(imu.ax), raw_ay2ay(imu.ay),  raw_az2az(imu.az),
+        //              int2magx(imu.mx), int2magy(imu.my),  int2magz(imu.mz)); 
+        measurement.put_entry(1,1,raw_gx2gx(imu.gyroX));
+        measurement.put_entry(2,1,raw_gy2gy(imu.gyroY));
+        measurement.put_entry(3,1,raw_ax2ax(imu.accX));
+        measurement.put_entry(4,1,raw_ay2ay(imu.accY));
+        //RPY_filter.loop(&measurement);
  
         }       // while(1)
 }