AHRS Library
AHRS.cpp@3:6811c0ce95f6, 2018-12-04 (annotated)
- Committer:
- altb
- Date:
- Tue Dec 04 15:49:48 2018 +0000
- Revision:
- 3:6811c0ce95f6
AHRS Klasse mit Mahony filter etc
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" |
altb | 3:6811c0ce95f6 | 4 | #define PI 3.141592653589793 |
altb | 3:6811c0ce95f6 | 5 | |
altb | 3:6811c0ce95f6 | 6 | using namespace std; |
altb | 3:6811c0ce95f6 | 7 | |
altb | 3:6811c0ce95f6 | 8 | 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){ |
altb | 3:6811c0ce95f6 | 9 | |
altb | 3:6811c0ce95f6 | 10 | thread.start(callback(this, &AHRS::update)); |
altb | 3:6811c0ce95f6 | 11 | ticker.attach(callback(this, &AHRS::sendSignal), TS); |
altb | 3:6811c0ce95f6 | 12 | LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here |
altb | 3:6811c0ce95f6 | 13 | LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0); // y-axis reversed |
altb | 3:6811c0ce95f6 | 14 | LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0); |
altb | 3:6811c0ce95f6 | 15 | LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0); |
altb | 3:6811c0ce95f6 | 16 | LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0); // y-axis reversed (lefthanded system) |
altb | 3:6811c0ce95f6 | 17 | LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0); |
altb | 3:6811c0ce95f6 | 18 | LinearCharacteristics int2magx( -32767,32768,100.0,-100.0); // x-axis reversed |
altb | 3:6811c0ce95f6 | 19 | LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed |
altb | 3:6811c0ce95f6 | 20 | LinearCharacteristics int2magz( -32767,32768,-100.0,100.0); |
altb | 3:6811c0ce95f6 | 21 | while (!imu.begin()) { |
altb | 3:6811c0ce95f6 | 22 | wait(1); |
altb | 3:6811c0ce95f6 | 23 | printf("Failed to communicate with LSM9DS1.\r\n"); |
altb | 3:6811c0ce95f6 | 24 | } |
altb | 3:6811c0ce95f6 | 25 | |
altb | 3:6811c0ce95f6 | 26 | } |
altb | 3:6811c0ce95f6 | 27 | |
altb | 3:6811c0ce95f6 | 28 | AHRS::~AHRS() {} |
altb | 3:6811c0ce95f6 | 29 | |
altb | 3:6811c0ce95f6 | 30 | void AHRS::update(void) |
altb | 3:6811c0ce95f6 | 31 | { |
altb | 3:6811c0ce95f6 | 32 | while(1){ |
altb | 3:6811c0ce95f6 | 33 | thread.signal_wait(signal); |
altb | 3:6811c0ce95f6 | 34 | imu.readAccel(); |
altb | 3:6811c0ce95f6 | 35 | imu.readMag_calibrated(); |
altb | 3:6811c0ce95f6 | 36 | imu.readGyro(); |
altb | 3:6811c0ce95f6 | 37 | |
altb | 3:6811c0ce95f6 | 38 | //Perform Madgwick-filter update |
altb | 3:6811c0ce95f6 | 39 | RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) , |
altb | 3:6811c0ce95f6 | 40 | raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az), |
altb | 3:6811c0ce95f6 | 41 | int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz)); |
altb | 3:6811c0ce95f6 | 42 | |
altb | 3:6811c0ce95f6 | 43 | |
altb | 3:6811c0ce95f6 | 44 | } // while(1) |
altb | 3:6811c0ce95f6 | 45 | } |
altb | 3:6811c0ce95f6 | 46 | void AHRS::sendSignal() { |
altb | 3:6811c0ce95f6 | 47 | |
altb | 3:6811c0ce95f6 | 48 | thread.signal_set(signal); |
altb | 3:6811c0ce95f6 | 49 | } |