mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.3 KiB
Matlab
42 lines
1.3 KiB
Matlab
function [sigOut] = demodYawAngle(sigIn)
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% Inverse the modulo of 360° operation used on the yaw angle signals
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%
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% Fabian Bredemeier - IAV GmbH
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% License: GPL v3
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% Output signal
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sigOut = zeros(length(sigIn),1);
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% Calcualte the differences between samples
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sigDiff = diff(sigIn);
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% If difference is larger than 2*pi, safe last sample as offset for
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% following signals
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offset = 0;
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skip = 0; % Var to skip the signal sample directly after abrupt angle change
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for i = 1:length(sigIn)
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sigOut(i) = offset + sigIn(i+skip);
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if i < length(sigDiff) && i > 1
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% Reset prevent Adding
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if abs(sigDiff(i)) < 90
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skip = 0;
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% Add to offset, if switch happened from 2pi to 0
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elseif sigDiff(i) <= -90 && ~skip
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offset = offset + 360;%(sigIn(i-2)+sigIn(i-1))/2; % Smooth signal values since they are oscillating at jumps
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skip = 1;
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% Subtract from offset, if switch happened from 0 tp 2 pi
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elseif sigDiff(i) > 90 && ~skip
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offset = offset - 360;%(sigIn(i+2)+sigIn(i+1))/2; % Smooth signal values since they are oscillating at jumps
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skip = 1;
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end
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end
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end
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% Apply moving average filter to smooth out sample value jumps
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steps = 10;
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coeffFilt = ones(1, steps)/steps;
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% sigOut = filter(coeffFilt, 1, sigOut);
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sigOut = movmean(sigOut, 9);
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end
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