112 lines
2.5 KiB
C++
112 lines
2.5 KiB
C++
#include "FastIMU.h"
|
|
#include "Madgwick.h"
|
|
#include <Wire.h>
|
|
|
|
//#define PRINT_ANGLES
|
|
//#define PRINT_QUAT
|
|
// #define PERFORM_CALIBRATION //Comment to disable startup calibration
|
|
|
|
#define IMU_ADDRESS 0x68 //Change to the address of the IMU
|
|
MPU6050 IMU; //Change to the name of any supported IMU!
|
|
|
|
calData calib = {0};
|
|
AccelData IMUAccel; //Sensor data
|
|
GyroData IMUGyro;
|
|
Madgwick filter;
|
|
|
|
void setup_imu(){
|
|
// TODO: write my own kalman filter
|
|
Wire.begin();
|
|
Wire.setClock(400000); //400khz clock
|
|
|
|
int err = IMU.init(calib, IMU_ADDRESS);
|
|
if (err != 0) {
|
|
Serial.print("Error initializing IMU: ");
|
|
Serial.println(err);
|
|
while (true) {
|
|
;
|
|
}
|
|
}
|
|
|
|
if (err != 0) {
|
|
Serial.print("Error Setting range: ");
|
|
Serial.println(err);
|
|
while (true) {
|
|
;
|
|
}
|
|
}
|
|
|
|
#ifdef PERFORM_CALIBRATION
|
|
delay(1500);
|
|
IMU.calibrateAccelGyro(&calib);
|
|
delay(1500);
|
|
IMU.init(calib, IMU_ADDRESS);
|
|
#endif
|
|
filter.begin(0.2f);
|
|
Serial.println("IMU up");
|
|
}
|
|
|
|
|
|
void update_imu(){
|
|
IMU.update();
|
|
IMU.getAccel(&IMUAccel);
|
|
IMU.getGyro(&IMUGyro);
|
|
// MPU6050 has no magnetometer
|
|
filter.updateIMU(IMUGyro.gyroX, IMUGyro.gyroY, IMUGyro.gyroZ, IMUAccel.accelX, IMUAccel.accelY, IMUAccel.accelZ);
|
|
|
|
float qw = filter.getQuatW();
|
|
float qx = filter.getQuatX();
|
|
float qy = filter.getQuatY();
|
|
float qz = filter.getQuatZ();
|
|
|
|
double heading{0}, bank{0}, attitude{0};
|
|
|
|
double sqw = qw*qw;
|
|
double sqx = qx*qx;
|
|
double sqy = qy*qy;
|
|
double sqz = qz*qz;
|
|
double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
|
|
double test = qx*qy + qz*qw;
|
|
if (test > 0.499*unit) { // singularity at north pole
|
|
heading = 2 * atan2(qx,qw);
|
|
attitude = M_PI/2;
|
|
bank = 0;
|
|
return;
|
|
}
|
|
if (test < -0.499*unit) { // singularity at south pole
|
|
heading = -2 * atan2(qx,qw);
|
|
attitude = M_PI/2;
|
|
bank = 0;
|
|
return;
|
|
}
|
|
heading = atan2(2*qy*qw-2*qx*qz , sqx - sqy - sqz + sqw);
|
|
attitude = asin(2*test/unit);
|
|
bank = atan2(2*qx*qw-2*qy*qz , -sqx + sqy - sqz + sqw);
|
|
|
|
pitch = heading;
|
|
roll = bank;
|
|
yaw = attitude;
|
|
|
|
|
|
#ifdef PRINT_ANGLES
|
|
Serial.print("Roll: ");
|
|
Serial.print(roll, 5);
|
|
Serial.print("\tPitch: ");
|
|
Serial.print(pitch, 5);
|
|
Serial.print("\tYaw: ");
|
|
Serial.println(yaw, 5);
|
|
#endif // PRINT_ANGLES
|
|
|
|
#ifdef PRINT_QUAT
|
|
Serial.print("QW: ");
|
|
Serial.print(qw, 5);
|
|
Serial.print("\tQX: ");
|
|
Serial.print(qx, 5);
|
|
Serial.print("\tQY: ");
|
|
Serial.print(qy, 5);
|
|
Serial.print("\tQZ: ");
|
|
Serial.println(qz, 5);
|
|
#endif // PRINT_QUAT
|
|
|
|
}
|