library for 9dof using madgwick's algorithm
Dependents: NerfGun_nRF24L01P_TX_9d0f
MadgwickAHRS.cpp@0:756055ce357a, 2015-08-13 (annotated)
- Committer:
- b50559
- Date:
- Thu Aug 13 22:11:38 2015 +0000
- Revision:
- 0:756055ce357a
created library for sensor fusion using madgwick's algorithm
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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b50559 | 0:756055ce357a | 1 | //===================================================================================================== |
b50559 | 0:756055ce357a | 2 | // MadgwickAHRS.c |
b50559 | 0:756055ce357a | 3 | //===================================================================================================== |
b50559 | 0:756055ce357a | 4 | // |
b50559 | 0:756055ce357a | 5 | // Implementation of Madgwick's IMU and AHRS algorithms. |
b50559 | 0:756055ce357a | 6 | // See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms |
b50559 | 0:756055ce357a | 7 | // |
b50559 | 0:756055ce357a | 8 | // Date Author Notes |
b50559 | 0:756055ce357a | 9 | // 29/09/2011 SOH Madgwick Initial release |
b50559 | 0:756055ce357a | 10 | // 02/10/2011 SOH Madgwick Optimised for reduced CPU load |
b50559 | 0:756055ce357a | 11 | // 19/02/2012 SOH Madgwick Magnetometer measurement is normalised |
b50559 | 0:756055ce357a | 12 | // |
b50559 | 0:756055ce357a | 13 | //===================================================================================================== |
b50559 | 0:756055ce357a | 14 | |
b50559 | 0:756055ce357a | 15 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 16 | // Header files |
b50559 | 0:756055ce357a | 17 | |
b50559 | 0:756055ce357a | 18 | #include "mbed.h" |
b50559 | 0:756055ce357a | 19 | #include "MadgwickAHRS.h" |
b50559 | 0:756055ce357a | 20 | #include <math.h> |
b50559 | 0:756055ce357a | 21 | |
b50559 | 0:756055ce357a | 22 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 23 | // Definitions |
b50559 | 0:756055ce357a | 24 | |
b50559 | 0:756055ce357a | 25 | //#define sampleFreq 512.0f // sample frequency in Hz |
b50559 | 0:756055ce357a | 26 | #define betaDef 0.2f //2* proportional gain |
b50559 | 0:756055ce357a | 27 | #define PI 3.14159265359f |
b50559 | 0:756055ce357a | 28 | |
b50559 | 0:756055ce357a | 29 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 30 | |
b50559 | 0:756055ce357a | 31 | MadgwickAHRS::MadgwickAHRS(float Freq){ |
b50559 | 0:756055ce357a | 32 | |
b50559 | 0:756055ce357a | 33 | sampleFreq = Freq; |
b50559 | 0:756055ce357a | 34 | |
b50559 | 0:756055ce357a | 35 | } |
b50559 | 0:756055ce357a | 36 | |
b50559 | 0:756055ce357a | 37 | float beta = betaDef; // 2 * proportional gain (Kp) |
b50559 | 0:756055ce357a | 38 | float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame |
b50559 | 0:756055ce357a | 39 | |
b50559 | 0:756055ce357a | 40 | float invSqrt(float x); |
b50559 | 0:756055ce357a | 41 | |
b50559 | 0:756055ce357a | 42 | //==================================================================================================== |
b50559 | 0:756055ce357a | 43 | // Functions |
b50559 | 0:756055ce357a | 44 | |
b50559 | 0:756055ce357a | 45 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 46 | // AHRS algorithm update |
b50559 | 0:756055ce357a | 47 | |
b50559 | 0:756055ce357a | 48 | void MadgwickAHRS::update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) { |
b50559 | 0:756055ce357a | 49 | float recipNorm; |
b50559 | 0:756055ce357a | 50 | float s0, s1, s2, s3; |
b50559 | 0:756055ce357a | 51 | float qDot1, qDot2, qDot3, qDot4; |
b50559 | 0:756055ce357a | 52 | float hx, hy; |
b50559 | 0:756055ce357a | 53 | float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3; |
b50559 | 0:756055ce357a | 54 | |
b50559 | 0:756055ce357a | 55 | // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation) |
b50559 | 0:756055ce357a | 56 | if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { |
b50559 | 0:756055ce357a | 57 | MadgwickAHRS::updateIMU(gx, gy, gz, ax, ay, az); |
b50559 | 0:756055ce357a | 58 | return; |
b50559 | 0:756055ce357a | 59 | } |
b50559 | 0:756055ce357a | 60 | |
b50559 | 0:756055ce357a | 61 | // Rate of change of quaternion from gyroscope |
b50559 | 0:756055ce357a | 62 | qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); |
b50559 | 0:756055ce357a | 63 | qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); |
b50559 | 0:756055ce357a | 64 | qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); |
b50559 | 0:756055ce357a | 65 | qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); |
b50559 | 0:756055ce357a | 66 | |
b50559 | 0:756055ce357a | 67 | // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) |
b50559 | 0:756055ce357a | 68 | if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { |
b50559 | 0:756055ce357a | 69 | |
b50559 | 0:756055ce357a | 70 | // Normalise accelerometer measurement |
b50559 | 0:756055ce357a | 71 | recipNorm = invSqrt(ax * ax + ay * ay + az * az); |
b50559 | 0:756055ce357a | 72 | ax *= recipNorm; |
b50559 | 0:756055ce357a | 73 | ay *= recipNorm; |
b50559 | 0:756055ce357a | 74 | az *= recipNorm; |
b50559 | 0:756055ce357a | 75 | |
b50559 | 0:756055ce357a | 76 | // Normalise magnetometer measurement |
b50559 | 0:756055ce357a | 77 | recipNorm = invSqrt(mx * mx + my * my + mz * mz); |
b50559 | 0:756055ce357a | 78 | mx *= recipNorm; |
b50559 | 0:756055ce357a | 79 | my *= recipNorm; |
b50559 | 0:756055ce357a | 80 | mz *= recipNorm; |
b50559 | 0:756055ce357a | 81 | |
b50559 | 0:756055ce357a | 82 | // Auxiliary variables to avoid repeated arithmetic |
b50559 | 0:756055ce357a | 83 | _2q0mx = 2.0f * q0 * mx; |
b50559 | 0:756055ce357a | 84 | _2q0my = 2.0f * q0 * my; |
b50559 | 0:756055ce357a | 85 | _2q0mz = 2.0f * q0 * mz; |
b50559 | 0:756055ce357a | 86 | _2q1mx = 2.0f * q1 * mx; |
b50559 | 0:756055ce357a | 87 | _2q0 = 2.0f * q0; |
b50559 | 0:756055ce357a | 88 | _2q1 = 2.0f * q1; |
b50559 | 0:756055ce357a | 89 | _2q2 = 2.0f * q2; |
b50559 | 0:756055ce357a | 90 | _2q3 = 2.0f * q3; |
b50559 | 0:756055ce357a | 91 | _2q0q2 = 2.0f * q0 * q2; |
b50559 | 0:756055ce357a | 92 | _2q2q3 = 2.0f * q2 * q3; |
b50559 | 0:756055ce357a | 93 | q0q0 = q0 * q0; |
b50559 | 0:756055ce357a | 94 | q0q1 = q0 * q1; |
b50559 | 0:756055ce357a | 95 | q0q2 = q0 * q2; |
b50559 | 0:756055ce357a | 96 | q0q3 = q0 * q3; |
b50559 | 0:756055ce357a | 97 | q1q1 = q1 * q1; |
b50559 | 0:756055ce357a | 98 | q1q2 = q1 * q2; |
b50559 | 0:756055ce357a | 99 | q1q3 = q1 * q3; |
b50559 | 0:756055ce357a | 100 | q2q2 = q2 * q2; |
b50559 | 0:756055ce357a | 101 | q2q3 = q2 * q3; |
b50559 | 0:756055ce357a | 102 | q3q3 = q3 * q3; |
b50559 | 0:756055ce357a | 103 | |
b50559 | 0:756055ce357a | 104 | // Reference direction of Earth's magnetic field |
b50559 | 0:756055ce357a | 105 | hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3; |
b50559 | 0:756055ce357a | 106 | hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3; |
b50559 | 0:756055ce357a | 107 | _2bx = sqrt(hx * hx + hy * hy); |
b50559 | 0:756055ce357a | 108 | _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3; |
b50559 | 0:756055ce357a | 109 | _4bx = 2.0f * _2bx; |
b50559 | 0:756055ce357a | 110 | _4bz = 2.0f * _2bz; |
b50559 | 0:756055ce357a | 111 | |
b50559 | 0:756055ce357a | 112 | // Gradient decent algorithm corrective step |
b50559 | 0:756055ce357a | 113 | s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
b50559 | 0:756055ce357a | 114 | s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
b50559 | 0:756055ce357a | 115 | s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
b50559 | 0:756055ce357a | 116 | s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); |
b50559 | 0:756055ce357a | 117 | recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude |
b50559 | 0:756055ce357a | 118 | s0 *= recipNorm; |
b50559 | 0:756055ce357a | 119 | s1 *= recipNorm; |
b50559 | 0:756055ce357a | 120 | s2 *= recipNorm; |
b50559 | 0:756055ce357a | 121 | s3 *= recipNorm; |
b50559 | 0:756055ce357a | 122 | |
b50559 | 0:756055ce357a | 123 | // Apply feedback step |
b50559 | 0:756055ce357a | 124 | qDot1 -= beta * s0; |
b50559 | 0:756055ce357a | 125 | qDot2 -= beta * s1; |
b50559 | 0:756055ce357a | 126 | qDot3 -= beta * s2; |
b50559 | 0:756055ce357a | 127 | qDot4 -= beta * s3; |
b50559 | 0:756055ce357a | 128 | } |
b50559 | 0:756055ce357a | 129 | |
b50559 | 0:756055ce357a | 130 | // Integrate rate of change of quaternion to yield quaternion |
b50559 | 0:756055ce357a | 131 | q0 += qDot1 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 132 | q1 += qDot2 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 133 | q2 += qDot3 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 134 | q3 += qDot4 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 135 | |
b50559 | 0:756055ce357a | 136 | // Normalise quaternion |
b50559 | 0:756055ce357a | 137 | recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); |
b50559 | 0:756055ce357a | 138 | q0 *= recipNorm; |
b50559 | 0:756055ce357a | 139 | q1 *= recipNorm; |
b50559 | 0:756055ce357a | 140 | q2 *= recipNorm; |
b50559 | 0:756055ce357a | 141 | q3 *= recipNorm; |
b50559 | 0:756055ce357a | 142 | } |
b50559 | 0:756055ce357a | 143 | |
b50559 | 0:756055ce357a | 144 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 145 | // IMU algorithm update |
b50559 | 0:756055ce357a | 146 | |
b50559 | 0:756055ce357a | 147 | void MadgwickAHRS::updateIMU(float gx, float gy, float gz, float ax, float ay, float az) { |
b50559 | 0:756055ce357a | 148 | float recipNorm; |
b50559 | 0:756055ce357a | 149 | float s0, s1, s2, s3; |
b50559 | 0:756055ce357a | 150 | float qDot1, qDot2, qDot3, qDot4; |
b50559 | 0:756055ce357a | 151 | float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; |
b50559 | 0:756055ce357a | 152 | |
b50559 | 0:756055ce357a | 153 | // Rate of change of quaternion from gyroscope |
b50559 | 0:756055ce357a | 154 | qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); |
b50559 | 0:756055ce357a | 155 | qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); |
b50559 | 0:756055ce357a | 156 | qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); |
b50559 | 0:756055ce357a | 157 | qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); |
b50559 | 0:756055ce357a | 158 | |
b50559 | 0:756055ce357a | 159 | // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) |
b50559 | 0:756055ce357a | 160 | if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { |
b50559 | 0:756055ce357a | 161 | |
b50559 | 0:756055ce357a | 162 | // Normalise accelerometer measurement |
b50559 | 0:756055ce357a | 163 | recipNorm = invSqrt(ax * ax + ay * ay + az * az); |
b50559 | 0:756055ce357a | 164 | ax *= recipNorm; |
b50559 | 0:756055ce357a | 165 | ay *= recipNorm; |
b50559 | 0:756055ce357a | 166 | az *= recipNorm; |
b50559 | 0:756055ce357a | 167 | |
b50559 | 0:756055ce357a | 168 | // Auxiliary variables to avoid repeated arithmetic |
b50559 | 0:756055ce357a | 169 | _2q0 = 2.0f * q0; |
b50559 | 0:756055ce357a | 170 | _2q1 = 2.0f * q1; |
b50559 | 0:756055ce357a | 171 | _2q2 = 2.0f * q2; |
b50559 | 0:756055ce357a | 172 | _2q3 = 2.0f * q3; |
b50559 | 0:756055ce357a | 173 | _4q0 = 4.0f * q0; |
b50559 | 0:756055ce357a | 174 | _4q1 = 4.0f * q1; |
b50559 | 0:756055ce357a | 175 | _4q2 = 4.0f * q2; |
b50559 | 0:756055ce357a | 176 | _8q1 = 8.0f * q1; |
b50559 | 0:756055ce357a | 177 | _8q2 = 8.0f * q2; |
b50559 | 0:756055ce357a | 178 | q0q0 = q0 * q0; |
b50559 | 0:756055ce357a | 179 | q1q1 = q1 * q1; |
b50559 | 0:756055ce357a | 180 | q2q2 = q2 * q2; |
b50559 | 0:756055ce357a | 181 | q3q3 = q3 * q3; |
b50559 | 0:756055ce357a | 182 | |
b50559 | 0:756055ce357a | 183 | // Gradient decent algorithm corrective step |
b50559 | 0:756055ce357a | 184 | s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; |
b50559 | 0:756055ce357a | 185 | s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; |
b50559 | 0:756055ce357a | 186 | s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; |
b50559 | 0:756055ce357a | 187 | s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; |
b50559 | 0:756055ce357a | 188 | recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude |
b50559 | 0:756055ce357a | 189 | s0 *= recipNorm; |
b50559 | 0:756055ce357a | 190 | s1 *= recipNorm; |
b50559 | 0:756055ce357a | 191 | s2 *= recipNorm; |
b50559 | 0:756055ce357a | 192 | s3 *= recipNorm; |
b50559 | 0:756055ce357a | 193 | |
b50559 | 0:756055ce357a | 194 | // Apply feedback step |
b50559 | 0:756055ce357a | 195 | qDot1 -= beta * s0; |
b50559 | 0:756055ce357a | 196 | qDot2 -= beta * s1; |
b50559 | 0:756055ce357a | 197 | qDot3 -= beta * s2; |
b50559 | 0:756055ce357a | 198 | qDot4 -= beta * s3; |
b50559 | 0:756055ce357a | 199 | } |
b50559 | 0:756055ce357a | 200 | |
b50559 | 0:756055ce357a | 201 | // Integrate rate of change of quaternion to yield quaternion |
b50559 | 0:756055ce357a | 202 | q0 += qDot1 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 203 | q1 += qDot2 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 204 | q2 += qDot3 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 205 | q3 += qDot4 * (1.0f / sampleFreq); |
b50559 | 0:756055ce357a | 206 | |
b50559 | 0:756055ce357a | 207 | // Normalise quaternion |
b50559 | 0:756055ce357a | 208 | recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); |
b50559 | 0:756055ce357a | 209 | q0 *= recipNorm; |
b50559 | 0:756055ce357a | 210 | q1 *= recipNorm; |
b50559 | 0:756055ce357a | 211 | q2 *= recipNorm; |
b50559 | 0:756055ce357a | 212 | q3 *= recipNorm; |
b50559 | 0:756055ce357a | 213 | } |
b50559 | 0:756055ce357a | 214 | |
b50559 | 0:756055ce357a | 215 | //--------------------------------------------------------------------------------------------------- |
b50559 | 0:756055ce357a | 216 | // Fast inverse square-root |
b50559 | 0:756055ce357a | 217 | // See: http://en.wikipedia.org/wiki/Fast_inverse_square_root |
b50559 | 0:756055ce357a | 218 | |
b50559 | 0:756055ce357a | 219 | float invSqrt(float x) { |
b50559 | 0:756055ce357a | 220 | float halfx = 0.5f * x; |
b50559 | 0:756055ce357a | 221 | float y = x; |
b50559 | 0:756055ce357a | 222 | long i = *(long*)&y; |
b50559 | 0:756055ce357a | 223 | i = 0x5f3759df - (i>>1); |
b50559 | 0:756055ce357a | 224 | y = *(float*)&i; |
b50559 | 0:756055ce357a | 225 | y = y * (1.5f - (halfx * y * y)); |
b50559 | 0:756055ce357a | 226 | return y; |
b50559 | 0:756055ce357a | 227 | //return 1.0/sqrt(x); |
b50559 | 0:756055ce357a | 228 | } |
b50559 | 0:756055ce357a | 229 | |
b50559 | 0:756055ce357a | 230 | |
b50559 | 0:756055ce357a | 231 | void MadgwickAHRS::getEuler(){ |
b50559 | 0:756055ce357a | 232 | |
b50559 | 0:756055ce357a | 233 | float gx = 2*(q1*q3 - q0*q2); |
b50559 | 0:756055ce357a | 234 | float gy = 2 * (q0*q1 + q2*q3); |
b50559 | 0:756055ce357a | 235 | float gz = q0*q0 - q1*q1 - q2*q2 + q3*q3; |
b50559 | 0:756055ce357a | 236 | |
b50559 | 0:756055ce357a | 237 | //roll = atan2(2*(q0*q1 + q2*q3), 1 - 2*(q1*q1 + q2*q2)); |
b50559 | 0:756055ce357a | 238 | //pitch = asin(2*(q0*q2 - q3*q1)); |
b50559 | 0:756055ce357a | 239 | //yaw = atan2(2*(q0*q3 + q1*q2), 1 - 2*(q2*q2 + q3*q3));; |
b50559 | 0:756055ce357a | 240 | |
b50559 | 0:756055ce357a | 241 | roll = atan(gy / sqrt(gx*gx + gz*gz)); |
b50559 | 0:756055ce357a | 242 | pitch = atan(gx / sqrt(gy*gy + gz*gz)); |
b50559 | 0:756055ce357a | 243 | yaw = atan2(2 * q1 * q2 - 2 * q0 * q3, 2 * q0*q0 + 2 * q1 * q1 - 1); |
b50559 | 0:756055ce357a | 244 | |
b50559 | 0:756055ce357a | 245 | roll = roll*180/PI; |
b50559 | 0:756055ce357a | 246 | pitch = pitch*180/PI; |
b50559 | 0:756055ce357a | 247 | yaw = yaw*180/PI; |
b50559 | 0:756055ce357a | 248 | |
b50559 | 0:756055ce357a | 249 | /*roll = roll*1000; |
b50559 | 0:756055ce357a | 250 | pitch = pitch*1000; |
b50559 | 0:756055ce357a | 251 | yaw = yaw*1000;*/ |
b50559 | 0:756055ce357a | 252 | |
b50559 | 0:756055ce357a | 253 | if (ceil(roll) - roll <= .5){ |
b50559 | 0:756055ce357a | 254 | roll = ceil(roll); |
b50559 | 0:756055ce357a | 255 | } |
b50559 | 0:756055ce357a | 256 | else{ |
b50559 | 0:756055ce357a | 257 | roll = floor(roll); |
b50559 | 0:756055ce357a | 258 | } |
b50559 | 0:756055ce357a | 259 | |
b50559 | 0:756055ce357a | 260 | if (ceil(pitch) - pitch <= .5){ |
b50559 | 0:756055ce357a | 261 | pitch = ceil(pitch); |
b50559 | 0:756055ce357a | 262 | } |
b50559 | 0:756055ce357a | 263 | else{ |
b50559 | 0:756055ce357a | 264 | pitch = floor(pitch); |
b50559 | 0:756055ce357a | 265 | } |
b50559 | 0:756055ce357a | 266 | |
b50559 | 0:756055ce357a | 267 | if (ceil(yaw) - yaw <= .5){ |
b50559 | 0:756055ce357a | 268 | yaw = ceil(yaw); |
b50559 | 0:756055ce357a | 269 | } |
b50559 | 0:756055ce357a | 270 | else{ |
b50559 | 0:756055ce357a | 271 | yaw = floor(yaw); |
b50559 | 0:756055ce357a | 272 | } |
b50559 | 0:756055ce357a | 273 | |
b50559 | 0:756055ce357a | 274 | //printf("Roll: %6.2f, Pitch: %6.2f, Yaw: %6.2f\r\n", roll, pitch, yaw); |
b50559 | 0:756055ce357a | 275 | } |
b50559 | 0:756055ce357a | 276 | |
b50559 | 0:756055ce357a | 277 | int16_t MadgwickAHRS::getRoll(){ |
b50559 | 0:756055ce357a | 278 | return (int16_t)roll; |
b50559 | 0:756055ce357a | 279 | } |
b50559 | 0:756055ce357a | 280 | |
b50559 | 0:756055ce357a | 281 | int16_t MadgwickAHRS::getPitch(){ |
b50559 | 0:756055ce357a | 282 | return (int16_t)pitch; |
b50559 | 0:756055ce357a | 283 | } |
b50559 | 0:756055ce357a | 284 | |
b50559 | 0:756055ce357a | 285 | int16_t MadgwickAHRS::getYaw(){ |
b50559 | 0:756055ce357a | 286 | return (int16_t)yaw; |
b50559 | 0:756055ce357a | 287 | } |
b50559 | 0:756055ce357a | 288 | |
b50559 | 0:756055ce357a | 289 | //==================================================================================================== |
b50559 | 0:756055ce357a | 290 | // END OF CODE |
b50559 | 0:756055ce357a | 291 | //==================================================================================================== |