capacitor-motioncal 0.0.1

package/common/mahony.c

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+//==============================================================================================
+// MahonyAHRS.c
+//==============================================================================================
+//
+// Madgwick's implementation of Mayhony's AHRS algorithm.
+// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
+//
+// From the x-io website "Open-source resources available on this website are
+// provided under the GNU General Public Licence unless an alternative licence
+// is provided in source."
+//
+// Date			Author			Notes
+// 29/09/2011	SOH Madgwick    Initial release
+// 02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+//
+// Algorithm paper:
+// http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4608934&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D4608934
+//
+//==============================================================================================
+
+//----------------------------------------------------------------------------------------------
+
+#include "imuread.h"
+
+#ifdef USE_MAHONY_FUSION
+
+//----------------------------------------------------------------------------------------------
+// Definitions
+
+#define twoKpDef	(2.0f * 0.02f)	// 2 * proportional gain
+#define twoKiDef	(2.0f * 0.0f)	// 2 * integral gain
+
+#define INV_SAMPLE_RATE  (1.0f / SENSORFS)
+
+//----------------------------------------------------------------------------------------------
+// Variable definitions
+
+static float twoKp = twoKpDef;		// 2 * proportional gain (Kp)
+static float twoKi = twoKiDef;		// 2 * integral gain (Ki)
+static float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
+static float integralFBx = 0.0f,  integralFBy = 0.0f, integralFBz = 0.0f; // integral error terms scaled by Ki
+
+
+//==============================================================================================
+// Functions
+
+static float invSqrt(float x);
+static void mahony_init();
+static void mahony_update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+void mahony_updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
+
+static int reset_next_update=0;
+
+
+void fusion_init(void)
+{
+	mahony_init();
+}
+
+void fusion_update(const AccelSensor_t *Accel, const MagSensor_t *Mag, const GyroSensor_t *Gyro,
+    const MagCalibration_t *MagCal)
+{
+	int i;
+	float ax, ay, az, gx, gy, gz, mx, my, mz;
+	float factor = M_PI / 180.0;
+
+	ax = Accel->Gp[0];
+	ay = Accel->Gp[1];
+	az = Accel->Gp[2];
+	mx = Mag->Bc[0];
+	my = Mag->Bc[1];
+	mz = Mag->Bc[2];
+	for (i=0; i < OVERSAMPLE_RATIO; i++) {
+		gx = Gyro->YpFast[i][0];
+		gy = Gyro->YpFast[i][1];
+		gz = Gyro->YpFast[i][2];
+		gx *= factor;
+		gy *= factor;
+		gz *= factor;
+		mahony_update(gx, gy, gz, ax, ay, az, mx, my, mz);
+	}
+}
+
+void fusion_read(Quaternion_t *q)
+{
+	q->q0 = q0;
+	q->q1 = q1;
+	q->q2 = q2;
+	q->q3 = q3;
+}
+
+
+//----------------------------------------------------------------------------------------------
+// AHRS algorithm update
+
+static void mahony_init()
+{
+	static int first=1;
+
+	twoKp = twoKpDef;	// 2 * proportional gain (Kp)
+	twoKi = twoKiDef;	// 2 * integral gain (Ki)
+	if (first) {
+		q0 = 1.0f;
+		q1 = 0.0f;	// TODO: set a flag to immediately capture
+		q2 = 0.0f;	// magnetic orientation on next update
+		q3 = 0.0f;
+		first = 0;
+	}
+	reset_next_update = 1;
+	integralFBx = 0.0f;
+	integralFBy = 0.0f;
+	integralFBz = 0.0f;
+}
+
+static void mahony_update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
+{
+	float recipNorm;
+	float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
+	float hx, hy, bx, bz;
+	float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Use IMU algorithm if magnetometer measurement invalid
+	// (avoids NaN in magnetometer normalisation)
+	if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
+		mahony_updateIMU(gx, gy, gz, ax, ay, az);
+		return;
+	}
+
+	// Compute feedback only if accelerometer measurement valid
+	// (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;
+
+		// Normalise magnetometer measurement
+		recipNorm = invSqrt(mx * mx + my * my + mz * mz);
+		mx *= recipNorm;
+		my *= recipNorm;
+		mz *= recipNorm;
+#if 0
+		// crazy experiement - no filter, just use magnetometer...
+		q0 = 0;
+		q1 = mx;
+		q2 = my;
+		q3 = mz;
+		return;
+#endif
+		// Auxiliary variables to avoid repeated arithmetic
+		q0q0 = q0 * q0;
+		q0q1 = q0 * q1;
+		q0q2 = q0 * q2;
+		q0q3 = q0 * q3;
+		q1q1 = q1 * q1;
+		q1q2 = q1 * q2;
+		q1q3 = q1 * q3;
+		q2q2 = q2 * q2;
+		q2q3 = q2 * q3;
+		q3q3 = q3 * q3;
+
+		// Reference direction of Earth's magnetic field
+		hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
+		hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
+		bx = sqrtf(hx * hx + hy * hy);
+		bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
+
+		// Estimated direction of gravity and magnetic field
+		halfvx = q1q3 - q0q2;
+		halfvy = q0q1 + q2q3;
+		halfvz = q0q0 - 0.5f + q3q3;
+		halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
+		halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
+		halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
+
+		// Error is sum of cross product between estimated direction
+		// and measured direction of field vectors
+		halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
+		halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
+		halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			// integral error scaled by Ki
+			integralFBx += twoKi * halfex * INV_SAMPLE_RATE;
+			integralFBy += twoKi * halfey * INV_SAMPLE_RATE;
+			integralFBz += twoKi * halfez * INV_SAMPLE_RATE;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		} else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		//printf("err =  %.3f, %.3f, %.3f\n", halfex, halfey, halfez);
+
+		// Apply proportional feedback
+		if (reset_next_update) {
+			gx += 2.0f * halfex;
+			gy += 2.0f * halfey;
+			gz += 2.0f * halfez;
+			reset_next_update = 0;
+		} else {
+			gx += twoKp * halfex;
+			gy += twoKp * halfey;
+			gz += twoKp * halfez;
+		}
+	}
+
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * INV_SAMPLE_RATE);		// pre-multiply common factors
+	gy *= (0.5f * INV_SAMPLE_RATE);
+	gz *= (0.5f * INV_SAMPLE_RATE);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx);
+
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+}
+
+//---------------------------------------------------------------------------------------------
+// IMU algorithm update
+
+void mahony_updateIMU(float gx, float gy, float gz, float ax, float ay, float az)
+{
+	float recipNorm;
+	float halfvx, halfvy, halfvz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Compute feedback only if accelerometer measurement valid
+	// (avoids NaN in accelerometer normalisation)
+	if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;
+
+		// Estimated direction of gravity and vector perpendicular to magnetic flux
+		halfvx = q1 * q3 - q0 * q2;
+		halfvy = q0 * q1 + q2 * q3;
+		halfvz = q0 * q0 - 0.5f + q3 * q3;
+
+		// Error is sum of cross product between estimated and measured direction of gravity
+		halfex = (ay * halfvz - az * halfvy);
+		halfey = (az * halfvx - ax * halfvz);
+		halfez = (ax * halfvy - ay * halfvx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			// integral error scaled by Ki
+			integralFBx += twoKi * halfex * INV_SAMPLE_RATE;
+			integralFBy += twoKi * halfey * INV_SAMPLE_RATE;
+			integralFBz += twoKi * halfez * INV_SAMPLE_RATE;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		} else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		// Apply proportional feedback
+		gx += twoKp * halfex;
+		gy += twoKp * halfey;
+		gz += twoKp * halfez;
+	}
+
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * INV_SAMPLE_RATE);		// pre-multiply common factors
+	gy *= (0.5f * INV_SAMPLE_RATE);
+	gz *= (0.5f * INV_SAMPLE_RATE);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx);
+
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+}
+
+//---------------------------------------------------------------------------------------------
+// Fast inverse square-root
+// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
+
+static float invSqrt(float x) {
+	union {
+		float f;
+		int32_t i;
+	} y;
+	float halfx = 0.5f * x;
+
+	y.f = x;
+	y.i = 0x5f375a86 - (y.i >> 1);
+	y.f = y.f * (1.5f - (halfx * y.f * y.f));
+	y.f = y.f * (1.5f - (halfx * y.f * y.f));
+	y.f = y.f * (1.5f - (halfx * y.f * y.f));
+	return y.f;
+}
+
+//==============================================================================================
+// END OF CODE
+//==============================================================================================
+
+#endif // USE_MAHONY_FUSION