mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.3 KiB
C++
120 lines
3.3 KiB
C++
#ifndef __AP_AHRS_MPU6000_H__
|
|
#define __AP_AHRS_MPU6000_H__
|
|
/*
|
|
* DCM based AHRS (Attitude Heading Reference System) interface for
|
|
* ArduPilot
|
|
*
|
|
* This library is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU Lesser General Public
|
|
* License as published by the Free Software Foundation; either
|
|
* version 2.1 of the License, or (at your option) any later version.
|
|
*/
|
|
|
|
// Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz
|
|
#define GYRO_BIAS_FROM_GRAVITY_RATE 4
|
|
// Initial value to detect that compass correction is not initialized
|
|
#define HEADING_UNKNOWN -9999
|
|
|
|
// max rate of gyro drift in gyro_LSB_units/s (16.4LSB = 1deg/s)
|
|
// 0.5 corresponds to 0.03 degrees/s/s;
|
|
static const float _MPU6000_gyro_drift_rate = 0.5;
|
|
|
|
class AP_AHRS_MPU6000 : public AP_AHRS
|
|
{
|
|
public:
|
|
// Constructors
|
|
AP_AHRS_MPU6000(AP_InertialSensor_MPU6000 *mpu6000, GPS *&gps) :
|
|
AP_AHRS(mpu6000, gps),
|
|
// ki and ki_yaw are experimentally derived from the simulator
|
|
_ki(0.0087),
|
|
_ki_yaw(0.01),
|
|
_mpu6000(mpu6000),
|
|
// dmp related variable initialisation
|
|
_compass_bias_time(0),
|
|
_gyro_bias_from_gravity_gain(0.008)
|
|
{
|
|
_dcm_matrix.identity();
|
|
}
|
|
|
|
// initialisation routine to start MPU6000's dmp
|
|
void init();
|
|
|
|
// return the smoothed gyro vector corrected for drift
|
|
const Vector3f get_gyro(void) const {
|
|
return _ins->get_gyro();
|
|
}
|
|
|
|
const Matrix3f &get_dcm_matrix(void) const {
|
|
return _dcm_matrix;
|
|
}
|
|
|
|
// return the current drift correction integrator value
|
|
const Vector3f &get_gyro_drift(void) const {
|
|
return _omega_I;
|
|
}
|
|
|
|
// Methods
|
|
void update(void);
|
|
void reset(bool recover_eulers = false);
|
|
|
|
// push offsets down from IMU to INS (required so MPU6000 can perform it's
|
|
// own attitude estimation)
|
|
void push_offsets_to_ins();
|
|
void push_gains_to_dmp();
|
|
|
|
// status reporting
|
|
float get_error_rp(void);
|
|
float get_error_yaw(void);
|
|
|
|
// set_as_secondary - avoid running some steps twice (imu updates) if
|
|
// this is a secondary ahrs
|
|
void set_as_secondary(bool secondary) {
|
|
_secondary_ahrs = secondary;
|
|
}
|
|
|
|
private:
|
|
float _ki;
|
|
float _ki_yaw;
|
|
AP_InertialSensor_MPU6000 *_mpu6000;
|
|
|
|
// Methods
|
|
void drift_correction(float deltat);
|
|
|
|
// Compass correction variables. TO-DO: move or replace?
|
|
// TO-DO: move wrap_PI to standard AP_AHRS methods
|
|
float wrap_PI(float angle_in_radians);
|
|
long _compass_bias_time;
|
|
|
|
void drift_correction_yaw(void);
|
|
float yaw_error_compass();
|
|
void euler_angles(void);
|
|
|
|
Vector3f _accel_filtered;
|
|
int16_t _accel_filtered_samples;
|
|
|
|
// bias_tracking
|
|
float _gyro_bias[3];
|
|
|
|
// bias correction algorithm gain
|
|
float _gyro_bias_from_gravity_gain;
|
|
uint8_t _gyro_bias_from_gravity_counter;
|
|
|
|
// primary representation of attitude
|
|
Matrix3f _dcm_matrix;
|
|
// current accel vector
|
|
Vector3f _accel_vector;
|
|
// Omega Integrator correction
|
|
Vector3f _omega_I;
|
|
Vector3f _omega_I_sum;
|
|
float _omega_I_sum_time;
|
|
|
|
// state to support status reporting
|
|
float _error_yaw_sum;
|
|
uint16_t _error_yaw_count;
|
|
float _error_yaw_last;
|
|
|
|
bool _secondary_ahrs;
|
|
};
|
|
|
|
#endif // __AP_AHRS_MPU6000_H__
|