Yuri De Stefani / CrazyflieController_final

programa final

AttitudeEstimator/AttitudeEstimator.h@1:579511e9f0b8, 2018-10-10 (annotated)

Committer:
yvesyuzo
Date:
Wed Oct 10 11:19:54 2018 +0000
Revision:
1:579511e9f0b8
Fix estimator names;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yvesyuzo 1:579511e9f0b8 1 #ifndef AttitudeEstimator_h
yvesyuzo 1:579511e9f0b8 2 #define AttitudeEstimator_h
yvesyuzo 1:579511e9f0b8 3
yvesyuzo 1:579511e9f0b8 4 #include "mbed.h"
yvesyuzo 1:579511e9f0b8 5 #include "MPU9250.h"
yvesyuzo 1:579511e9f0b8 6 #include "Library.h"
yvesyuzo 1:579511e9f0b8 7
yvesyuzo 1:579511e9f0b8 8 /*
yvesyuzo 1:579511e9f0b8 9 // Estimator constants
yvesyuzo 1:579511e9f0b8 10 float const pi = 3.14159265f;
yvesyuzo 1:579511e9f0b8 11 float const dt = 0.005f;
yvesyuzo 1:579511e9f0b8 12 float const rho = 0.05f;
yvesyuzo 1:579511e9f0b8 13 */
yvesyuzo 1:579511e9f0b8 14
yvesyuzo 1:579511e9f0b8 15
yvesyuzo 1:579511e9f0b8 16 // Attitude estimator class
yvesyuzo 1:579511e9f0b8 17 class AttitudeEstimator
yvesyuzo 1:579511e9f0b8 18 {
yvesyuzo 1:579511e9f0b8 19 public :
yvesyuzo 1:579511e9f0b8 20 // Class constructor
yvesyuzo 1:579511e9f0b8 21 AttitudeEstimator () ;
yvesyuzo 1:579511e9f0b8 22 // Initialize class
yvesyuzo 1:579511e9f0b8 23 void init () ;
yvesyuzo 1:579511e9f0b8 24 // Estimate Euler angles (rad ) and angular velocities ( rad /s)
yvesyuzo 1:579511e9f0b8 25 void estimate () ;
yvesyuzo 1:579511e9f0b8 26 // Euler angles ( rad)
yvesyuzo 1:579511e9f0b8 27 float phi , theta , psi ;
yvesyuzo 1:579511e9f0b8 28 // Angular velocities ( rad /s)
yvesyuzo 1:579511e9f0b8 29 float p, q, r;
yvesyuzo 1:579511e9f0b8 30
yvesyuzo 1:579511e9f0b8 31 private :
yvesyuzo 1:579511e9f0b8 32 // IMU sensor object
yvesyuzo 1:579511e9f0b8 33 MPU9250 imu;
yvesyuzo 1:579511e9f0b8 34 // Calibrates gyroscope by calculating angular velocity bias (rad/s)
yvesyuzo 1:579511e9f0b8 35 void calibrate_gyro () ;
yvesyuzo 1:579511e9f0b8 36 // Estimate Euler angles (rad ) from accelerometer data
yvesyuzo 1:579511e9f0b8 37 void estimate_accel () ;
yvesyuzo 1:579511e9f0b8 38 // Estimate Euler angles (rad ) and angular velocities ( rad /s) from gyroscope data
yvesyuzo 1:579511e9f0b8 39 void estimate_gyro () ;
yvesyuzo 1:579511e9f0b8 40 // Euler angles ( rad) from accelerometer data
yvesyuzo 1:579511e9f0b8 41 float phi_accel , theta_accel ;
yvesyuzo 1:579511e9f0b8 42 // Euler angles ( rad) from gyroscope data
yvesyuzo 1:579511e9f0b8 43 float phi_gyro , theta_gyro , psi_gyro ;
yvesyuzo 1:579511e9f0b8 44 // Angular velocities bias ( rad /s)
yvesyuzo 1:579511e9f0b8 45 float p_bias , q_bias , r_bias ;
yvesyuzo 1:579511e9f0b8 46
yvesyuzo 1:579511e9f0b8 47 };
yvesyuzo 1:579511e9f0b8 48
yvesyuzo 1:579511e9f0b8 49
yvesyuzo 1:579511e9f0b8 50 #endif
yvesyuzo 1:579511e9f0b8 51
yvesyuzo 1:579511e9f0b8 52
yvesyuzo 1:579511e9f0b8 53
yvesyuzo 1:579511e9f0b8 54
yvesyuzo 1:579511e9f0b8 55