AHRS
Dependencies: Eigen
Diff: AHRS.cpp
- Revision:
- 8:51062bb877f0
- Parent:
- 7:bfde7bd5fe31
- Child:
- 9:644266463f5f
diff -r bfde7bd5fe31 -r 51062bb877f0 AHRS.cpp --- a/AHRS.cpp Wed Jun 26 14:19:01 2019 +0000 +++ b/AHRS.cpp Fri Jul 05 06:56:19 2019 +0000 @@ -8,7 +8,7 @@ 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) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){ +AHRS::AHRS(uint8_t filtertype,float TS) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), Mahony_filter(TS), thread(osPriorityBelowNormal, 4096){ thread.start(callback(this, &AHRS::update)); ticker.attach(callback(this, &AHRS::sendSignal), TS); @@ -20,14 +20,14 @@ 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*/ - raw_ax2ax.setup( 1.0,-.31); // use gain and offset here + raw_ax2ax.setup( 1.0,0.15); // use gain and offset here raw_ay2ay.setup(-1.0,-0.31); // y-axis reversed // was -1,0.0 raw_az2az.setup( 1.0,0.0); raw_gx2gx.setup( 1.0,0.0); raw_gy2gy.setup(-1.0,0.0); // y-axis reversed (lefthanded system) raw_gz2gz.setup( 1.0,0.0); - int2magx.setup( 1.0,0.0); // x-axis reversed - int2magy.setup( 1.0,0.0); // y-axis reversed + int2magx.setup( -1.0,0.0); // x-axis reversed + int2magy.setup( -1.0,0.0); // y-axis reversed int2magz.setup( 1.0,0.0); local_time = 0.0; // @@ -48,21 +48,19 @@ thread.signal_wait(signal); imu.readAccel(); //imu.readMag_calibrated(); - //imu.readMag(); + imu.readMag(); imu.readGyro(); matrix measurement(6,1,0.0); //Perform 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)); + Mahony_filter.update(raw_gx2gx(imu.gyroX), raw_gy2gy(imu.gyroY), raw_gz2gz(imu.gyroZ) , + raw_ax2ax(imu.accX), raw_ay2ay(imu.accY), raw_az2az(imu.accZ), + int2magx(imu.magX), int2magy(imu.magY), int2magz(imu.magZ)); measurement.put_entry(0,0,raw_gx2gx(imu.gyroX)); measurement.put_entry(1,0,raw_gy2gy(imu.gyroY)); measurement.put_entry(3,0,raw_ax2ax(imu.accX)); measurement.put_entry(4,0,raw_ay2ay(imu.accY)); RPY_filter.loop(&measurement); - //measurement.put_entry(0,0,10*sin(local_time)); my_logger.data_vector[8]=10*sin(local_time); measurement.put_entry(1,0,-5*cos(local_time)); my_logger.data_vector[9]=-5*cos(local_time); measurement.put_entry(3,0,sin(2*local_time)); measurement.put_entry(4,0,cos(3*local_time)); - //if(local_time<=2.0) RPY_filter.loop(&measurement); if(local_time==0.0) printf("\r\n"); if(local_time<=0.2){ printf("%1.2f xk: ",local_time); for(int k=0;k<6;k++) printf("%1.5f ",RPY_filter.get_est_state(k)); printf("\r\n");} - //local_time += 0.01; + my_logger.data_vector[0] = raw_gx2gx(imu.gyroX); my_logger.data_vector[1] = raw_gy2gy(imu.gyroY); my_logger.data_vector[2] = raw_gz2gz(imu.gyroZ); @@ -71,8 +69,8 @@ my_logger.data_vector[5] = raw_az2az(imu.accZ); my_logger.data_vector[6] = RPY_filter.get_est_state(0); my_logger.data_vector[7] = RPY_filter.get_est_state(1); - my_logger.data_vector[8] = RPY_filter.get_est_state(4); - my_logger.data_vector[9] = RPY_filter.get_est_state(5); + my_logger.data_vector[8] = Mahony_filter.getRollRadians(); + my_logger.data_vector[9] = Mahony_filter.getPitchRadians(); //printf("R %1.5f P %1.5f gx: %1.5f gy: %1.5f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],my_logger.data_vector[0],my_logger.data_vector[1]); //printf("%1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f %1.6f\r\n",my_logger.data_vector[6],my_logger.data_vector[7],raw_gx2gx(imu.gyroX),raw_gy2gy(imu.gyroY),raw_gz2gz(imu.gyroZ),raw_ax2ax(imu.accX),raw_ay2ay(imu.accY),raw_az2az(imu.accZ));