mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 08:10:35 +08:00
Paul Riseborough
2b370417e8
Previous did not match the matlab simulation in: https://github.com/priseborough/InertialNav/blob/master/models/imu_error_modelling.m
122 lines
5.1 KiB
C++
122 lines
5.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file integrator.h
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*
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* A resettable integrator
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <mathlib/mathlib.h>
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class Integrator
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{
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public:
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Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
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virtual ~Integrator();
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/**
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* Put an item into the integral.
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*
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* @param timestamp Timestamp of the current value.
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* @param val Item to put.
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* @param integral Current integral in case the integrator did reset, else the value will not be modified
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* @param integral_dt Get the dt in us of the current integration (only if reset).
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* @return true if putting the item triggered an integral reset and the integral should be
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* published.
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*/
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bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
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/**
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* Put an item into the integral but provide an interval instead of a timestamp.
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*
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* @param interval_us Interval in us since last integration.
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* @param val Item to put.
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* @param integral Current integral in case the integrator did reset, else the value will not be modified
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* @param integral_dt Get the dt in us of the current integration (only if reset). Note that this
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* values might not be accurate vs. hrt_absolute_time because it is just the sum of the
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* supplied intervals.
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* @return true if putting the item triggered an integral reset and the integral should be
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* published.
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*/
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bool put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
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uint64_t &integral_dt);
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/**
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* Get the current integral and reset the integrator if needed.
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*
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* @param reset Reset the integral to zero.
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* @param integral_dt Get the dt in us of the current integration (only if reset).
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* @return the integral since the last read-reset
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*/
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math::Vector<3> get(bool reset, uint64_t &integral_dt);
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/**
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* Get the current integral and reset the integrator if needed. Additionally give the
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* integral over the samples differentiated by the integration time (mean filtered values).
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*
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* @param reset Reset the integral to zero.
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* @param integral_dt Get the dt in us of the current integration (only if reset).
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* @param filtered_val The integral differentiated by the integration time.
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* @return the integral since the last read-reset
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*/
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math::Vector<3> get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3> &filtered_val);
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private:
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uint64_t _auto_reset_interval; /**< the interval after which the content will be published
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and the integrator reset, 0 if no auto-reset */
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uint64_t _last_integration_time; /**< timestamp of the last integration step */
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uint64_t _last_reset_time; /**< last auto-announcement of integral value */
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math::Vector<3> _alpha; /**< integrated value before coning corrections are applied */
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math::Vector<3> _last_alpha; /**< previous value of _alpha */
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math::Vector<3> _beta; /**< accumulated coning corrections */
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math::Vector<3> _last_val; /**< previous input */
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math::Vector<3> _last_delta_alpha; /**< integral from previous previous sampling interval */
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bool _coning_comp_on; /**< true to turn on coning corrections */
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/* we don't want this class to be copied */
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Integrator(const Integrator &);
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Integrator operator=(const Integrator &);
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/* Do a reset.
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*
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* @param integral_dt Get the dt in us of the current integration.
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*/
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void _reset(uint64_t &integral_dt);
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};
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