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Add correction to workaround rejection

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-06 01:39:35 +02:00
parent 3f91741cfa
commit e2523135a9
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GPG key ID: D850A5F772E880F9
5 changed files with 123 additions and 32 deletions
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5
examples/debug_d3/src/debug.c
View file

@ -28,7 +28,8 @@
void test3(uint64_t timestamp,
device3_event_type event,
const device3_ahrs_type* ahrs) {
const device3_ahrs_type* ahrs,
const device3_correction_type* correction) {
device3_quat_type orientation;
device3_vec3_type euler;
@ -37,7 +38,7 @@ void test3(uint64_t timestamp,
printf("Initialized\n");
break;
case DEVICE3_EVENT_UPDATE:
orientation = device3_get_orientation(ahrs);
orientation = device3_get_orientation(ahrs, correction);
euler = device3_get_euler(orientation);
printf("Pitch: %.2f; Roll: %.2f; Yaw: %.2f\n", euler.x, euler.y, euler.z);
break;

10
interface_lib/include/device3.h
View file

@ -72,6 +72,8 @@ struct device3_filters_t {
float magnetic [3 * 4];
};
struct device3_correction_t;
struct device3_vec3_t {
float x;
float y;
@ -91,6 +93,7 @@ typedef enum device3_event_t device3_event_type;
typedef struct device3_ahrs_t device3_ahrs_type;
typedef struct device3_calibration_t device3_calibration_type;
typedef struct device3_filters_t device3_filters_type;
typedef struct device3_correction_t device3_correction_type;
typedef struct device3_vec3_t device3_vec3_type;
typedef struct device3_quat_t device3_quat_type;
@ -98,7 +101,8 @@ typedef struct device3_quat_t device3_quat_type;
typedef void (*device3_event_callback)(
uint64_t timestamp,
device3_event_type event,
const device3_ahrs_type* ahrs
const device3_ahrs_type* ahrs,
const device3_correction_type* correction
);
struct device3_t {
@ -127,6 +131,7 @@ struct device3_t {
device3_event_callback callback;
device3_calibration_type* calibration;
device3_filters_type filters;
device3_correction_type* correction;
};
typedef struct device3_t device3_type;
@ -147,7 +152,8 @@ device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs);
device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs);
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs);
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs,
const device3_correction_type* correction);
device3_vec3_type device3_get_euler(device3_quat_type quat);

133
interface_lib/src/device3.c
View file

@ -45,6 +45,11 @@ struct device3_calibration_t {
FusionVector hardIronOffset;
};
struct device3_correction_t {
FusionQuaternion inverseDrift;
FusionQuaternion stable;
};
static void reset_filter_v3(float* filter) {
for (uint8_t i = 0; i < 3; i++) {
const uint8_t i4 = i * 4;
@ -195,6 +200,10 @@ device3_type* device3_open(device3_event_callback callback) {
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,
@ -249,11 +258,19 @@ int device3_load_calibration(device3_type* device, const char* path) {
return -3;
}
size_t count = fread(device->calibration, 1, sizeof(device3_calibration_type), file);
size_t count;
count = fread(device->calibration, 1, sizeof(device3_calibration_type), file);
if (sizeof(device3_calibration_type) != count) {
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;
@ -279,12 +296,19 @@ int device3_save_calibration(device3_type* device, const char* path) {
return -3;
}
size_t count = fwrite(device->calibration, 1, sizeof(device3_calibration_type), file);
size_t count;
count = fwrite(device->calibration, 1, sizeof(device3_calibration_type), file);
if (sizeof(device3_calibration_type) != count) {
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;
@ -295,13 +319,12 @@ int device3_save_calibration(device3_type* device, const char* path) {
static void device3_callback(device3_type* device,
uint64_t timestamp,
device3_event_type event,
const device3_ahrs_type* ahrs) {
device3_event_type event) {
if (!device->callback) {
return;
}
device->callback(timestamp, event, ahrs);
device->callback(timestamp, event, device->ahrs, device->correction);
}
static int32_t pack24bit_signed(const uint8_t* data) {
@ -418,6 +441,23 @@ static void apply_calibration(const device3_type* device,
);
}
static void update_filter_v3(float* filter, FusionVector v3) {
for (uint8_t i = 0; i < 3; i++) {
const float v = v3.array[i];
const uint8_t i4 = i * 4;
if (v <= -0.0f) {
filter[i4 + 0] = max(v, filter[i4 + 0]);
filter[i4 + 1] = min(v, filter[i4 + 1]);
}
if (v >= +0.0f) {
filter[i4 + 2] = min(v, filter[i4 + 2]);
filter[i4 + 3] = max(v, filter[i4 + 3]);
}
}
}
int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
if (!device) {
perror("No device!\n");
@ -487,6 +527,10 @@ 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);
@ -538,23 +582,6 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
return 0;
}
static void update_filter_v3(float* filter, FusionVector v3) {
for (uint8_t i = 0; i < 3; i++) {
const float v = v3.array[i];
const uint8_t i4 = i * 4;
if (v <= -0.0f) {
filter[i4 + 0] = max(v, filter[i4 + 0]);
filter[i4 + 1] = min(v, filter[i4 + 1]);
}
if (v >= +0.0f) {
filter[i4 + 2] = min(v, filter[i4 + 2]);
filter[i4 + 3] = max(v, filter[i4 + 3]);
}
}
}
static void apply_filter_v3(const float* filter, FusionVector* v3) {
for (uint8_t i = 0; i < 3; i++) {
float v = v3->array[i];
@ -572,6 +599,47 @@ static void apply_filter_v3(const float* filter, FusionVector* v3) {
}
}
static void apply_filter_drop_v3(const float* filter, FusionVector* v3) {
for (uint8_t i = 0; i < 3; i++) {
const float v = v3->array[i] * 1e-5f;
const uint8_t i4 = i * 4;
if ((v >= filter[i4 + 0]) && (v <= filter[i4 + 2])) {
v3->array[i] = 0.0f;
} else {
v3->array[i] -= (filter[i4 + 0] + filter[i4 + 2]) * 0.5f;
}
}
}
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");
@ -613,7 +681,7 @@ int device3_read(device3_type* device, int timeout) {
const uint64_t timestamp = packet.timestamp;
if ((packet.signature[0] == 0xaa) && (packet.signature[1] == 0x53)) {
device3_callback(device, timestamp, DEVICE3_EVENT_INIT, device->ahrs);
device3_callback(device, timestamp, DEVICE3_EVENT_INIT);
return 0;
}
@ -644,9 +712,15 @@ int device3_read(device3_type* device, int timeout) {
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);
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE, device->ahrs);
if (device->correction) {
update_correction_with_ahrs(device->correction, (const FusionAhrs*) device->ahrs);
}
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
return 0;
}
@ -668,8 +742,17 @@ 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) {
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs,
const device3_correction_type* correction) {
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;

2
modules/Fusion

@ -1 +1 @@
Subproject commit 55cbd59d56fbf3b83251806efb5e852fb146f4d2
Subproject commit 01a6f8e36c4d79a837c06b3047f47e2ad27e3be3

5
src/driver.c
View file

@ -33,7 +33,8 @@
void test3(uint64_t timestamp,
device3_event_type event,
const device3_ahrs_type* ahrs) {
const device3_ahrs_type* ahrs,
const device3_correction_type* correction) {
static device3_quat_type old;
static float dmax = -1.0f;
@ -41,7 +42,7 @@ void test3(uint64_t timestamp,
return;
}
device3_quat_type q = device3_get_orientation(ahrs);
device3_quat_type q = device3_get_orientation(ahrs, correction);
const float dx = (old.x - q.x) * (old.x - q.x);
const float dy = (old.y - q.y) * (old.y - q.y);