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add two-pole-filter to mpu9250 wrapper

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ChristophTobler 2017-04-04 13:15:54 +02:00 committed by Lorenz Meier
parent 882c5bbdc9
commit 9dab1e36db
1 changed files with 86 additions and 73 deletions
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159
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
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@ -60,6 +60,7 @@
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/device/integrator.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
@ -71,6 +72,12 @@
// We don't want to auto publish, therefore set this to 0.
#define MPU9250_NEVER_AUTOPUBLISH_US 0
#define MPU9250_ACCEL_DEFAULT_RATE 1000
#define MPU9250_GYRO_DEFAULT_RATE 1000
#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
@ -154,6 +161,13 @@ private:
Integrator _accel_int;
Integrator _gyro_int;
math::LowPassFilter2p _accel_filter_x;
math::LowPassFilter2p _accel_filter_y;
math::LowPassFilter2p _accel_filter_z;
math::LowPassFilter2p _gyro_filter_x;
math::LowPassFilter2p _gyro_filter_y;
math::LowPassFilter2p _gyro_filter_z;
unsigned _publish_count;
perf_counter_t _read_counter;
@ -169,6 +183,8 @@ private:
uint64_t _last_accel_range_hit_count;
bool _mag_enabled;
enum Rotation _rotation;
};
DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
@ -186,6 +202,12 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
_mag_orb_class_instance(-1),
_accel_int(MPU9250_NEVER_AUTOPUBLISH_US, false),
_gyro_int(MPU9250_NEVER_AUTOPUBLISH_US, true),
_accel_filter_x(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_y(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_accel_filter_z(MPU9250_ACCEL_DEFAULT_RATE, MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
_publish_count(0),
_read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
_error_counter(perf_alloc(PC_COUNT, "mpu9250_errors")),
@ -197,7 +219,8 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
_publish_perf(perf_alloc(PC_ELAPSED, "mpu9250_publish")),
_last_accel_range_hit_time(0),
_last_accel_range_hit_count(0),
_mag_enabled(mag_enabled)
_mag_enabled(mag_enabled),
_rotation(rotation)
{
// Set sane default calibration values
_accel_calibration.x_scale = 1.0f;
@ -573,37 +596,73 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
_update_mag_calibration();
}
math::Vector<3> vec_integrated_unused;
uint64_t integral_dt_unused;
accel_report accel_report = {};
gyro_report gyro_report = {};
mag_report mag_report = {};
math::Vector<3> accel_val((data.accel_m_s2_x - _accel_calibration.x_offset) * _accel_calibration.x_scale,
(data.accel_m_s2_y - _accel_calibration.y_offset) * _accel_calibration.y_scale,
(data.accel_m_s2_z - _accel_calibration.z_offset) * _accel_calibration.z_scale);
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
// apply sensor rotation on the accel measurement
accel_val = _rotation_matrix * accel_val;
// ACCEL
_accel_int.put_with_interval(data.fifo_sample_interval_us,
accel_val,
vec_integrated_unused,
integral_dt_unused);
// write raw data (without rotation)
accel_report.x_raw = data.accel_m_s2_x;
accel_report.y_raw = data.accel_m_s2_y;
accel_report.z_raw = data.accel_m_s2_z;
math::Vector<3> gyro_val(data.gyro_rad_s_x,
data.gyro_rad_s_y,
data.gyro_rad_s_z);
float xraw_f = data.accel_m_s2_x;
float yraw_f = data.accel_m_s2_y;
float zraw_f = data.accel_m_s2_z;
// apply sensor rotation on the gyro measurement
gyro_val = _rotation_matrix * gyro_val;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
// Apply calibration after rotation.
gyro_val(0) = (gyro_val(0) - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
gyro_val(1) = (gyro_val(1) - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
gyro_val(2) = (gyro_val(2) - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;
// adjust values according to the calibration
float x_in_new = (xraw_f - _accel_calibration.x_offset) * _accel_calibration.x_scale;
float y_in_new = (yraw_f - _accel_calibration.y_offset) * _accel_calibration.y_scale;
float z_in_new = (zraw_f - _accel_calibration.z_offset) * _accel_calibration.z_scale;
_gyro_int.put_with_interval(data.fifo_sample_interval_us,
gyro_val,
vec_integrated_unused,
integral_dt_unused);
accel_report.x = _accel_filter_x.apply(x_in_new);
accel_report.y = _accel_filter_y.apply(y_in_new);
accel_report.z = _accel_filter_z.apply(z_in_new);
math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
math::Vector<3> aval_integrated;
_accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
accel_report.x_integral = aval_integrated(0);
accel_report.y_integral = aval_integrated(1);
accel_report.z_integral = aval_integrated(2);
// GYRO
// write raw data (withoud rotation)
gyro_report.x_raw = data.gyro_rad_s_x;
gyro_report.y_raw = data.gyro_rad_s_y;
gyro_report.z_raw = data.gyro_rad_s_z;
xraw_f = data.gyro_rad_s_x;
yraw_f = data.gyro_rad_s_y;
zraw_f = data.gyro_rad_s_z;
// apply user specified rotation
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
// adjust values according to the calibration
float x_gyro_in_new = (xraw_f - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
float y_gyro_in_new = (yraw_f - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
float z_gyro_in_new = (zraw_f - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;
gyro_report.x = _gyro_filter_x.apply(x_gyro_in_new);
gyro_report.y = _gyro_filter_y.apply(y_gyro_in_new);
gyro_report.z = _gyro_filter_z.apply(z_gyro_in_new);
math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
math::Vector<3> gval_integrated;
_gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
gyro_report.x_integral = gval_integrated(0);
gyro_report.y_integral = gval_integrated(1);
gyro_report.z_integral = gval_integrated(2);
// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
// and wait for more packets.
@ -635,16 +694,6 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
perf_begin(_publish_perf);
accel_report accel_report = {};
gyro_report gyro_report = {};
mag_report mag_report = {};
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
if (_mag_enabled) {
mag_report.timestamp = accel_report.timestamp;
}
// TODO: get these right
gyro_report.scaling = -1.0f;
gyro_report.range_rad_s = -1.0f;
@ -655,43 +704,15 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
accel_report.device_id = m_id.dev_id;
if (_mag_enabled) {
mag_report.timestamp = accel_report.timestamp;
mag_report.scaling = -1.0f;
mag_report.range_ga = -1.0f;
mag_report.device_id = m_id.dev_id;
}
// TODO: remove these (or get the values)
gyro_report.x_raw = 0;
gyro_report.y_raw = 0;
gyro_report.z_raw = 0;
accel_report.x_raw = 0;
accel_report.y_raw = 0;
accel_report.z_raw = 0;
if (_mag_enabled) {
mag_report.x_raw = 0;
mag_report.y_raw = 0;
mag_report.z_raw = 0;
}
math::Vector<3> gyro_val_filt;
math::Vector<3> accel_val_filt;
// Read and reset.
math::Vector<3> gyro_val_integ = _gyro_int.get_and_filtered(true, gyro_report.integral_dt, gyro_val_filt);
math::Vector<3> accel_val_integ = _accel_int.get_and_filtered(true, accel_report.integral_dt, accel_val_filt);
// Use the filtered (by integration) values to get smoother / less noisy data.
gyro_report.x = gyro_val_filt(0);
gyro_report.y = gyro_val_filt(1);
gyro_report.z = gyro_val_filt(2);
accel_report.x = accel_val_filt(0);
accel_report.y = accel_val_filt(1);
accel_report.z = accel_val_filt(2);
if (_mag_enabled) {
math::Vector<3> mag_val((data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale,
(data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale,
@ -704,14 +725,6 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
mag_report.z = mag_val(2);
}
gyro_report.x_integral = gyro_val_integ(0);
gyro_report.y_integral = gyro_val_integ(1);
gyro_report.z_integral = gyro_val_integ(2);
accel_report.x_integral = accel_val_integ(0);
accel_report.y_integral = accel_val_integ(1);
accel_report.z_integral = accel_val_integ(2);
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {