NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
IMU_Filter/IMU_Filter.cpp
- Committer:
- maetugr
- Date:
- 2013-02-10
- Revision:
- 30:021e13b62575
- Child:
- 31:872d8b8c7812
File content as of revision 30:021e13b62575:
#include "IMU_Filter.h" IMU_Filter::IMU_Filter() { for(int i=0; i<3; i++) angle[i]=0; } void IMU_Filter::compute(unsigned long dt, const float * Gyro_data, const int * Acc_data) { // calculate angles for each sensor for(int i = 0; i < 3; i++) d_Gyro_angle[i] = Gyro_data[i] *dt/15000000.0; get_Acc_angle(Acc_data); // Complementary Filter #if 1 // (formula from http://diydrones.com/m/discussion?id=705844%3ATopic%3A669858) angle[0] = (0.999*(angle[0] + d_Gyro_angle[0]))+(0.001*(Acc_angle[0])); angle[1] = (0.999*(angle[1] + d_Gyro_angle[1]))+(0.001*(Acc_angle[1] + 3)); // TODO Offset accelerometer einstellen angle[2] += d_Gyro_angle[2]; // gyro only here TODO: Compass + 3D #endif #if 0 // alte berechnung, vielleicht Accelerometer zu stark gewichtet angle[0] += (Acc.angle[0] - angle[0])/50 + d_Gyro_angle[0]; angle[1] += (Acc.angle[1] - angle[1])/50 + d_Gyro_angle[1];// TODO Offset accelerometer einstellen //tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt/15000000.0; angle[2] = Gyro_angle[2]; // gyro only here #endif #if 0 // neuer Test 2 (funktioniert wahrscheinlich nicht, denkfehler) angle[0] += Gyro_angle[0] * 0.98 + Acc.angle[0] * 0.02; angle[1] += Gyro_angle[1] * 0.98 + (Acc.angle[1] + 3) * 0.02; // TODO: Calibrierung Acc angle[2] = Gyro_angle[2]; // gyro only here #endif #if 0 // all gyro only for(int i = 0; i < 3; i++) angle[i] += d_Gyro_angle[i]; #endif } void IMU_Filter::get_Acc_angle(const int * Acc_data) { // calculate the angles for roll and pitch (0,1) float R = sqrt(pow((float)Acc_data[0],2) + pow((float)Acc_data[1],2) + pow((float)Acc_data[2],2)); float temp[3]; temp[0] = -(Rad2Deg * acos((float)Acc_data[1] / R)-90); temp[1] = Rad2Deg * acos((float)Acc_data[0] / R)-90; temp[2] = Rad2Deg * acos((float)Acc_data[2] / R); for(int i = 0;i < 3; i++) if (temp[i] > -360 && temp[i] < 360) Acc_angle[i] = temp[i]; }