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Remove wrong filters and correction

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-21 21:30:16 +02:00
parent 43e37b17dd
commit b20a24bf66
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GPG key ID: D850A5F772E880F9
4 changed files with 11 additions and 100 deletions
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83
interface_lib/src/device3.c
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@ -61,6 +61,8 @@ static void reset_filter_v3(float* filter) {
}
}
device3_type* device3_open(device3_event_callback callback) {
device3_type* device = (device3_type*) malloc(sizeof(device3_type));
@ -196,14 +198,6 @@ device3_type* device3_open(device3_event_callback callback) {
device->calibration = malloc(sizeof(device3_calibration_type));
device3_reset_calibration(device);
reset_filter_v3(device->filters.angular_velocity);
reset_filter_v3(device->filters.acceleration);
reset_filter_v3(device->filters.magnetic);
device->correction = malloc(sizeof(device3_correction_type));
device->correction->inverseDrift = FUSION_IDENTITY_QUATERNION;
device->correction->stable = FUSION_IDENTITY_QUATERNION;
const FusionAhrsSettings settings = {
.convention = FusionConventionNwu,
.gain = 0.5f,
@ -265,12 +259,6 @@ int device3_load_calibration(device3_type* device, const char* path) {
perror("Not fully loaded!\n");
}
count = fread(&(device->filters), 1, sizeof(device3_filters_type), file);
if (sizeof(device3_filters_type) != count) {
perror("Not fully loaded!\n");
}
if (0 != fclose(file)) {
perror("No file closed!\n");
return -4;
@ -303,12 +291,6 @@ int device3_save_calibration(device3_type* device, const char* path) {
perror("Not fully saved!\n");
}
count = fwrite(&(device->filters), 1, sizeof(device3_filters_type), file);
if (sizeof(device3_filters_type) != count) {
perror("Not fully saved!\n");
}
if (0 != fclose(file)) {
perror("No file closed!\n");
return -4;
@ -324,7 +306,7 @@ static void device3_callback(device3_type* device,
return;
}
device->callback(timestamp, event, device->ahrs, device->correction);
device->callback(timestamp, event, device->ahrs);
}
static int32_t pack32bit_signed(const uint8_t* data) {
@ -498,7 +480,7 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
FusionVector cal_accelerometer;
FusionVector cal_magnetometer [2];
const float factor = iterations > 0? 1.0f / iterations : 0.0f;
const float factor = iterations > 0? 1.0f / ((float) iterations) : 0.0f;
while (iterations > 0) {
memset(&packet, 0, sizeof(device3_packet_type));
@ -542,10 +524,6 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
apply_calibration(device, &gyroscope, &accelerometer, &magnetometer);
update_filter_v3(device->filters.angular_velocity, gyroscope);
update_filter_v3(device->filters.acceleration, accelerometer);
update_filter_v3(device->filters.magnetic, magnetometer);
if (initialized) {
cal_magnetometer[0].axis.x = min(cal_magnetometer[0].axis.x, magnetometer.axis.x);
cal_magnetometer[0].axis.y = min(cal_magnetometer[0].axis.y, magnetometer.axis.y);
@ -627,34 +605,6 @@ static void apply_filter_drop_v3(const float* filter, FusionVector* v3) {
}
}
static void update_correction_with_ahrs(device3_correction_type* correction,
const FusionAhrs* ahrs) {
FusionAhrsFlags flags = FusionAhrsGetFlags(ahrs);
if (flags.magneticRejectionTimeout || flags.accelerationRejectionTimeout) {
FusionQuaternion unstable = FusionAhrsGetQuaternion(ahrs);
const float u2 = (
unstable.element.w * unstable.element.w +
unstable.element.x * unstable.element.x +
unstable.element.y * unstable.element.y +
unstable.element.z * unstable.element.z
);
unstable.element.w *= +1.0f / u2;
unstable.element.x *= -1.0f / u2;
unstable.element.y *= -1.0f / u2;
unstable.element.z *= -1.0f / u2;
correction->inverseDrift = FusionQuaternionMultiply(unstable, correction->stable);
} else {
correction->stable = FusionQuaternionMultiply(
FusionAhrsGetQuaternion(ahrs),
correction->inverseDrift
);
}
}
int device3_read(device3_type* device, int timeout) {
if (!device) {
perror("No device!\n");
@ -724,22 +674,8 @@ int device3_read(device3_type* device, int timeout) {
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
update_filter_v3(device->filters.angular_velocity, gyroscope);
update_filter_v3(device->filters.acceleration, accelerometer);
update_filter_v3(device->filters.magnetic, magnetometer);
apply_filter_v3(device->filters.angular_velocity, &gyroscope);
apply_filter_v3(device->filters.acceleration, &accelerometer);
apply_filter_v3(device->filters.magnetic, &magnetometer);
apply_filter_drop_v3(device->filters.angular_velocity, &gyroscope);
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
if (device->correction) {
update_correction_with_ahrs(device->correction, (const FusionAhrs*) device->ahrs);
}
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
return 0;
}
@ -762,17 +698,8 @@ device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs)
return a;
}
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs,
const device3_correction_type* correction) {
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs) {
FusionQuaternion quaternion = FusionAhrsGetQuaternion((const FusionAhrs*) ahrs);
if (correction) {
quaternion = FusionQuaternionMultiply(
quaternion,
correction->inverseDrift
);
}
device3_quat_type q;
q.x = quaternion.element.x;
q.y = quaternion.element.y;