Screen-Puppet
Dependencies: PCA9547 PowerControl mbed
MPU9250.h
- Committer:
- yenzo
- Date:
- 2015-09-04
- Revision:
- 0:80f939ca1f14
File content as of revision 0:80f939ca1f14:
#include "DefineMPU.h" #include "mbed.h" #include "math.h" #define Kp 3.0f * 5.0f // 2 - 5 these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral #define Ki 1.0f class MPU9250 { public : int numero; private: static float Filter; static float magCalibration[3]; // Factory mag calibration and mag bias static float magbias[3]; // Factory mag calibration and mag bias static float gyroBias[3]; // Bias corrections for gyro and accelerometer static float accelBias[3]; // Bias corrections for gyro and accelerometer int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output int16_t magCount[3]; // Stores the 16-bit signed magnetometer sensor output int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius float temperature; float SelfTest[6]; static float GyroMeasError; // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 static float beta; // compute beta static float GyroMeasDrift; // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) static float zeta; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value float pitch, yaw, roll; static float q[4]; // vector to hold quaternion static float eInt[3]; // vector to hold integral error for Mahony method float aRes, gRes, mRes; // scale resolutions per LSB for the sensors float ax, ay, az, gx, gy, gz, mx, my, mz; // variables to hold latest sensor data values public: //=================================================================================================================== //====== Set of useful function to access acceleratio, gyroscope, and temperature data //=================================================================================================================== MPU9250() {} MPU9250(int n){ numero = n; } int GetPitch (void){ return (int)pitch; } int GetRoll (void){ return (int)roll; } int GetYaw (void){ return (int)yaw; } void writeByte(uint8_t address, uint8_t subAddress, uint8_t data){ char data_write[2]; data_write[0] = subAddress; data_write[1] = data; i2c.write(address, data_write, 2, 0); } char readByte(uint8_t address, uint8_t subAddress){ char data[1]; char data_write[1]; data_write[0] = subAddress; i2c.write(address, data_write, 1, 1); i2c.read(address, data, 1, 0); return data[0]; } void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest){ char data[14]; char data_write[1]; data_write[0] = subAddress; i2c.write(address, data_write, 1, 1); i2c.read(address, data, count, 0); for(int ii = 0; ii < count; ii++) { dest[ii] = data[ii]; } } void getMres() { switch (Mscale){ case MFS_14BITS: mRes = 10.0*4219.0/8190.0; break; case MFS_16BITS: mRes = 10.0*4219.0/32760.0; break; } } void getGres() { switch (Gscale){ case GFS_250DPS: gRes = 250.0/32768.0; break; case GFS_500DPS: gRes = 500.0/32768.0; break; case GFS_1000DPS: gRes = 1000.0/32768.0; break; case GFS_2000DPS: gRes = 2000.0/32768.0; break; } } void getAres() { switch (Ascale){ case AFS_2G: aRes = 2.0/32768.0; break; case AFS_4G: aRes = 4.0/32768.0; break; case AFS_8G: aRes = 8.0/32768.0; break; case AFS_16G: aRes = 16.0/32768.0; break; } } void readAccelData(int16_t * destination){ uint8_t rawData[6]; // x/y/z accel register data stored here readBytes(MPU9250_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; } void readGyroData(int16_t * destination){ uint8_t rawData[6]; // x/y/z gyro register data stored here readBytes(MPU9250_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; } void readMagData(int16_t * destination){ uint8_t rawData[7]; // x/y/z gyro register data, ST2 register stored here, must read ST2 at end of data acquisition if(readByte(AK8963_ADDRESS, AK8963_ST1) & 0x01) { // wait for magnetometer data ready bit to be set readBytes(AK8963_ADDRESS, AK8963_XOUT_L, 7, &rawData[0]); // Read the six raw data and ST2 registers sequentially into data array uint8_t c = rawData[6]; // End data read by reading ST2 register if(!(c & 0x08)) { // Check if magnetic sensor overflow set, if not then report data destination[0] = (int16_t)(((int16_t)rawData[1] << 8) | rawData[0]); // Turn the MSB and LSB into a signed 16-bit value destination[1] = (int16_t)(((int16_t)rawData[3] << 8) | rawData[2]) ; // Data stored as little Endian destination[2] = (int16_t)(((int16_t)rawData[5] << 8) | rawData[4]) ; } } } void resetMPU9250() { // reset device writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device wait(0.1); } void initAK8963(float * destination){ // First extract the factory calibration for each magnetometer axis uint8_t rawData[3]; // x/y/z gyro calibration data stored here writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer wait(0.01); writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x0F); // Enter Fuse ROM access mode wait(0.01); readBytes(AK8963_ADDRESS, AK8963_ASAX, 3, &rawData[0]); // Read the x-, y-, and z-axis calibration values destination[0] = (float)(rawData[0] - 128)/256.0f + 1.0f; // Return x-axis sensitivity adjustment values, etc. destination[1] = (float)(rawData[1] - 128)/256.0f + 1.0f; destination[2] = (float)(rawData[2] - 128)/256.0f + 1.0f; writeByte(AK8963_ADDRESS, AK8963_CNTL, 0x00); // Power down magnetometer wait(0.01); writeByte(AK8963_ADDRESS, AK8963_CNTL, Mscale << 4 | Mmode); // Set magnetometer data resolution and sample ODR wait(0.01); } void initMPU9250(){ writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 writeByte(MPU9250_ADDRESS, CONFIG, 0x03); writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above uint8_t c = readByte(MPU9250_ADDRESS, GYRO_CONFIG); writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] writeByte(MPU9250_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG); writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer c = readByte(MPU9250_ADDRESS, ACCEL_CONFIG2); writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c & ~0x0F); // Clear accel_fchoice_b (bit 3) and A_DLPFG (bits [2:0]) writeByte(MPU9250_ADDRESS, ACCEL_CONFIG2, c | 0x03); // Set accelerometer rate to 1 kHz and bandwidth to 41 Hz writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22); writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt } void calibrateMPU9250(float * dest1, float * dest2){ uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data uint16_t ii, packet_count, fifo_count; int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device wait(0.1); writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x01); writeByte(MPU9250_ADDRESS, PWR_MGMT_2, 0x00); wait(0.2); writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable FIFO writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source writeByte(MPU9250_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master writeByte(MPU9250_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes writeByte(MPU9250_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP wait(0.015); writeByte(MPU9250_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec uint16_t accelsensitivity = 16384; // = 16384 LSB/g writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40); // Enable FIFO writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250) wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes writeByte(MPU9250_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO readBytes(MPU9250_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count fifo_count = ((uint16_t)data[0] << 8) | data[1]; packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging for (ii = 0; ii < packet_count; ii++) { int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; readBytes(MPU9250_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases accel_bias[1] += (int32_t) accel_temp[1]; accel_bias[2] += (int32_t) accel_temp[2]; gyro_bias[0] += (int32_t) gyro_temp[0]; gyro_bias[1] += (int32_t) gyro_temp[1]; gyro_bias[2] += (int32_t) gyro_temp[2]; } accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases accel_bias[1] /= (int32_t) packet_count; accel_bias[2] /= (int32_t) packet_count; gyro_bias[0] /= (int32_t) packet_count; gyro_bias[1] /= (int32_t) packet_count; gyro_bias[2] /= (int32_t) packet_count; if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation else {accel_bias[2] += (int32_t) accelsensitivity;} data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; data[3] = (-gyro_bias[1]/4) & 0xFF; data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; data[5] = (-gyro_bias[2]/4) & 0xFF; dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases readBytes(MPU9250_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; readBytes(MPU9250_ADDRESS, YA_OFFSET_H, 2, &data[0]); accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; readBytes(MPU9250_ADDRESS, ZA_OFFSET_H, 2, &data[0]); accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis for(ii = 0; ii < 3; ii++) { if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit } accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) accel_bias_reg[1] -= (accel_bias[1]/8); accel_bias_reg[2] -= (accel_bias[2]/8); data[0] = (accel_bias_reg[0] >> 8) & 0xFF; data[1] = (accel_bias_reg[0]) & 0xFF; data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers data[2] = (accel_bias_reg[1] >> 8) & 0xFF; data[3] = (accel_bias_reg[1]) & 0xFF; data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers data[4] = (accel_bias_reg[2] >> 8) & 0xFF; data[5] = (accel_bias_reg[2]) & 0xFF; data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; } void MadgwickQuaternionUpdate(void){ //void MadgwickQuaternionUpdate(float deltat){ /*float tmp = mx; mx = my; my = tmp; az = -az;*/ gx = gx*PI/180.0f; gy = gy*PI/180.0f; gz = gz*PI/180.0f; float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability float norm; float hx, hy, _2bx, _2bz; float s1, s2, s3, s4; float qDot1, qDot2, qDot3, qDot4; float _2q1mx; float _2q1my; float _2q1mz; float _2q2mx; float _4bx; float _4bz; float _2q1 = 2.0f * q1; float _2q2 = 2.0f * q2; float _2q3 = 2.0f * q3; float _2q4 = 2.0f * q4; float _2q1q3 = 2.0f * q1 * q3; float _2q3q4 = 2.0f * q3 * q4; float q1q1 = q1 * q1; float q1q2 = q1 * q2; float q1q3 = q1 * q3; float q1q4 = q1 * q4; float q2q2 = q2 * q2; float q2q3 = q2 * q3; float q2q4 = q2 * q4; float q3q3 = q3 * q3; float q3q4 = q3 * q4; float q4q4 = q4 * q4; norm = sqrt(ax * ax + ay * ay + az * az); if (norm == 0.0f) return; norm = 1.0f/norm; ax *= norm; ay *= norm; az *= norm; norm = sqrt(mx * mx + my * my + mz * mz); if (norm == 0.0f) return; norm = 1.0f/norm; mx *= norm; my *= norm; mz *= norm; _2q1mx = 2.0f * q1 * mx; _2q1my = 2.0f * q1 * my; _2q1mz = 2.0f * q1 * mz; _2q2mx = 2.0f * q2 * mx; hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4; hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4; _2bx = sqrt(hx * hx + hy * hy); _2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4; _4bx = 2.0f * _2bx; _4bz = 2.0f * _2bz; s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz); norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); norm = 1.0f/norm; s1 *= norm; s2 *= norm; s3 *= norm; s4 *= norm; qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1; qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2; qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3; qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4; /*q1 += qDot1 * deltat; q2 += qDot2 * deltat; q3 += qDot3 * deltat; q4 += qDot4 * deltat;*/ q1 += qDot1 * Filter; q2 += qDot2 * Filter; q3 += qDot3 * Filter; q4 += qDot4 * Filter; norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); norm = 1.0f/norm; q[0] = q1 * norm; q[1] = q2 * norm; q[2] = q3 * norm; q[3] = q4 * norm; } int Float_to_Int(float numb){ float n = numb -(int)numb; if(n >= 0 && n < 0.5) return (int)numb; if(n >= 0.5 && n <= 1) return (int)numb + 1; if(n <= 0 && n > -0.5) return (int)numb; if(n <= -0.5 && n >= -1) return (int)numb - 1; else return 0; } void CalibIMU(void){ wait(1); resetMPU9250(); calibrateMPU9250(gyroBias, accelBias); wait(2); initMPU9250(); initAK8963(magCalibration); wait(2); } void BiasIMU(void){ getAres(); getGres(); getMres(); magbias[0] = +470.; magbias[1] = +120.; magbias[2] = +125.; } void GetQuaternion(void){ readAccelData(accelCount); ax = (float)accelCount[0]*aRes - accelBias[0]; ay = (float)accelCount[1]*aRes - accelBias[1]; az = (float)accelCount[2]*aRes - accelBias[2]; readGyroData(gyroCount); gx = (float)gyroCount[0]*gRes - gyroBias[0]; gy = (float)gyroCount[1]*gRes - gyroBias[1]; gz = (float)gyroCount[2]*gRes - gyroBias[2]; readMagData(magCount); mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; } void FinalQuaternion(void){ yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); pitch *= 180.0f / PI; yaw *= 180.0f / PI; yaw -= 0.9f; roll *= 180.0f / PI; /*if((q[0]*q[1] + q[2]*q[3]) == 0.5){ //north pole pitch = atan2(2*q[1]*q[3]-2*q[0]*q[2], 1 - 2*(q[1] * q[1]) - 2*(q[2] * q[2])); yaw = atan2(2*q[0]*q[3]-2*q[1]*q[2], 1 - 2*(q[0] * q[0]) - 2*(q[2] * q[2])); } else{ pitch = 2.0 * atan2(q[0],q[4]); yaw = 0; } if((q[0]*q[1] + q[2]*q[3]) == -0.5){ //south pole pitch = atan2(2*q[1]*q[3]-2*q[0]*q[2], 1 - 2*(q[1] * q[1]) - 2*(q[2] * q[2])); yaw = atan2(2*q[0]*q[3]-2*q[1]*q[2], 1 - 2*(q[0] * q[0]) - 2*(q[2] * q[2])); } else { pitch = -2.0 * atan2(q[0],q[4]); yaw = 0; } roll = asin(2*q[0]*q[1] + 2*q[2]*q[3]);*/ //if(roll < 180 & roll > 0) roll -= 180; //else if(roll > -180 & roll < 0) roll += 180; pitch = Float_to_Int(pitch); roll = Float_to_Int(roll); yaw = Float_to_Int(yaw); } }; //Definition des variables dans la Class MPU9250, car la definition ne peut pas être faite à l'intérieur float MPU9250::gyroBias[3] = {0, 0, 0}; float MPU9250::accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer float MPU9250::magCalibration[3] = {0, 0, 0}; float MPU9250::magbias[3] = {0, 0, 0}; float MPU9250::GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 float MPU9250::beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta float MPU9250::GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) float MPU9250::zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value float MPU9250::q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion float MPU9250::eInt[3] = {0.0f, 0.0f, 0.0f}; // vector to hold integral error for Mahony method float MPU9250::Filter = 0.05;