337 lines
12 KiB
C
337 lines
12 KiB
C
/**
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******************************************************************************
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* @file ins_task.c
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* @author Wang Hongxi
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* @author annotation and modificaiton by neozng
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* @version V2.0.0
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* @date 2022/2/23
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* @brief
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******************************************************************************
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* @attention
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*
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******************************************************************************
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*/
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#include "ins_task.h"
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#include "controller.h"
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#include "QuaternionEKF.h"
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#include "spi.h"
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#include "tim.h"
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#include "user_lib.h"
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#include "general_def.h"
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#include "master_process.h"
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#include "crc16.h"
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static INS_t INS;
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static IMU_Param_t IMU_Param;
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static PIDInstance TempCtrl = {0};
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const float xb[3] = {1, 0, 0};
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const float yb[3] = {0, 1, 0};
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const float zb[3] = {0, 0, 1};
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// 用于获取两次采样之间的时间间隔
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static uint32_t INS_DWT_Count = 0;
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static float dt = 0, t = 0;
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static float RefTemp = 40; // 恒温设定温度
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static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
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static void IMUPWMSet(uint16_t pwm) {
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__HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
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}
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/**
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* @brief 温度控制
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*
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*/
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static void IMU_Temperature_Ctrl(void) {
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PIDCalculate(&TempCtrl, BMI088.Temperature, RefTemp);
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IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
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}
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// 使用加速度计的数据初始化Roll和Pitch,而Yaw置0,这样可以避免在初始时候的姿态估计误差
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static void InitQuaternion(float *init_q4) {
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float acc_init[3] = {0};
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float gravity_norm[3] = {0, 0, 1}; // 导航系重力加速度矢量,归一化后为(0,0,1)
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float axis_rot[3] = {0}; // 旋转轴
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// 读取100次加速度计数据,取平均值作为初始值
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for (uint8_t i = 0; i < 100; ++i) {
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BMI088_Read(&BMI088);
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acc_init[X] += BMI088.Accel[X];
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acc_init[Y] += BMI088.Accel[Y];
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acc_init[Z] += BMI088.Accel[Z];
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DWT_Delay(0.001);
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}
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for (uint8_t i = 0; i < 3; ++i)
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acc_init[i] /= 100;
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Norm3d(acc_init);
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// 计算原始加速度矢量和导航系重力加速度矢量的夹角
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float angle = acosf(Dot3d(acc_init, gravity_norm));
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Cross3d(acc_init, gravity_norm, axis_rot);
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Norm3d(axis_rot);
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init_q4[0] = cosf(angle / 2.0f);
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for (uint8_t i = 0; i < 2; ++i)
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init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
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}
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attitude_t *INS_Init(void) {
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if (!INS.init)
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INS.init = 1;
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else
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return (attitude_t *) &INS.Gyro;
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HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
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while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR);
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IMU_Param.scale[X] = 1;
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IMU_Param.scale[Y] = 1;
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IMU_Param.scale[Z] = 1;
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IMU_Param.Yaw = 0;
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IMU_Param.Pitch = 0;
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IMU_Param.Roll = 0;
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IMU_Param.flag = 1;
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float init_quaternion[4] = {0};
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InitQuaternion(init_quaternion);
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IMU_QuaternionEKF_Init(init_quaternion, 10, 0.001, 1000000, 1, 0);
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// imu heat init
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PID_Init_Config_s config = {.MaxOut = 2000,
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.IntegralLimit = 300,
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.DeadBand = 0,
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.Kp = 1000,
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.Ki = 20,
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.Kd = 0,
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.Improve = 0x01}; // enable integratiaon limit
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PIDInit(&TempCtrl, &config);
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// noise of accel is relatively big and of high freq,thus lpf is used
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INS.AccelLPF = 0.0085;
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DWT_GetDeltaT(&INS_DWT_Count);
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return (attitude_t *) &INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
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}
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/* 注意以1kHz的频率运行此任务 */
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void INS_Task(void) {
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static uint32_t count = 0;
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const float gravity[3] = {0, 0, 9.81f};
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dt = DWT_GetDeltaT(&INS_DWT_Count);
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t += dt;
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// ins update
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if ((count % 1) == 0) {
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BMI088_Read(&BMI088);
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INS.Accel[X] = BMI088.Accel[X];
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INS.Accel[Y] = BMI088.Accel[Y];
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INS.Accel[Z] = BMI088.Accel[Z];
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INS.Gyro[X] = BMI088.Gyro[X];
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INS.Gyro[Y] = BMI088.Gyro[Y];
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INS.Gyro[Z] = BMI088.Gyro[Z];
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// demo function,用于修正安装误差,可以不管,本demo暂时没用
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IMU_Param_Correction(&IMU_Param, INS.Gyro, INS.Accel);
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// 计算重力加速度矢量和b系的XY两轴的夹角,可用作功能扩展,本demo暂时没用
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// INS.atanxz = -atan2f(INS.Accel[X], INS.Accel[Z]) * 180 / PI;
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// INS.atanyz = atan2f(INS.Accel[Y], INS.Accel[Z]) * 180 / PI;
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// 核心函数,EKF更新四元数
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IMU_QuaternionEKF_Update(INS.Gyro[X], INS.Gyro[Y], INS.Gyro[Z], INS.Accel[X], INS.Accel[Y], INS.Accel[Z], dt);
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memcpy(INS.q, QEKF_INS.q, sizeof(QEKF_INS.q));
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// 机体系基向量转换到导航坐标系，本例选取惯性系为导航系
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BodyFrameToEarthFrame(xb, INS.xn, INS.q);
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BodyFrameToEarthFrame(yb, INS.yn, INS.q);
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BodyFrameToEarthFrame(zb, INS.zn, INS.q);
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// 将重力从导航坐标系n转换到机体系b,随后根据加速度计数据计算运动加速度
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float gravity_b[3];
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EarthFrameToBodyFrame(gravity, gravity_b, INS.q);
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for (uint8_t i = 0; i < 3; ++i) // 同样过一个低通滤波
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{
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INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) +
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INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt);
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}
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BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
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INS.Yaw = QEKF_INS.Yaw;
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INS.Pitch = QEKF_INS.Pitch;
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INS.Roll = QEKF_INS.Roll;
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INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
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//VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
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VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180);// 小-INS.Roll 大INS.Roll
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}
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// temperature control
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if ((count % 2) == 0) {
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// 500hz
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IMU_Temperature_Ctrl();
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}
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if ((count++ % 1000) == 0) {
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// 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
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}
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}
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/**
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* @brief Transform 3dvector from BodyFrame to EarthFrame
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* @param[1] vector in BodyFrame
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* @param[2] vector in EarthFrame
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* @param[3] quaternion
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*/
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void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q) {
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vecEF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecBF[0] +
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(q[1] * q[2] - q[0] * q[3]) * vecBF[1] +
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(q[1] * q[3] + q[0] * q[2]) * vecBF[2]);
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vecEF[1] = 2.0f * ((q[1] * q[2] + q[0] * q[3]) * vecBF[0] +
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(0.5f - q[1] * q[1] - q[3] * q[3]) * vecBF[1] +
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(q[2] * q[3] - q[0] * q[1]) * vecBF[2]);
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vecEF[2] = 2.0f * ((q[1] * q[3] - q[0] * q[2]) * vecBF[0] +
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(q[2] * q[3] + q[0] * q[1]) * vecBF[1] +
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(0.5f - q[1] * q[1] - q[2] * q[2]) * vecBF[2]);
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}
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/**
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* @brief Transform 3dvector from EarthFrame to BodyFrame
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* @param[1] vector in EarthFrame
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* @param[2] vector in BodyFrame
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* @param[3] quaternion
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*/
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void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q) {
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vecBF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecEF[0] +
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(q[1] * q[2] + q[0] * q[3]) * vecEF[1] +
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(q[1] * q[3] - q[0] * q[2]) * vecEF[2]);
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vecBF[1] = 2.0f * ((q[1] * q[2] - q[0] * q[3]) * vecEF[0] +
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(0.5f - q[1] * q[1] - q[3] * q[3]) * vecEF[1] +
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(q[2] * q[3] + q[0] * q[1]) * vecEF[2]);
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vecBF[2] = 2.0f * ((q[1] * q[3] + q[0] * q[2]) * vecEF[0] +
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(q[2] * q[3] - q[0] * q[1]) * vecEF[1] +
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(0.5f - q[1] * q[1] - q[2] * q[2]) * vecEF[2]);
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}
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/**
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* @brief reserved.用于修正IMU安装误差与标度因数误差,即陀螺仪轴和云台轴的安装偏移
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*
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*
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* @param param IMU参数
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* @param gyro 角速度
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* @param accel 加速度
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*/
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static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]) {
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static float lastYawOffset, lastPitchOffset, lastRollOffset;
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static float c_11, c_12, c_13, c_21, c_22, c_23, c_31, c_32, c_33;
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float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
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if (fabsf(param->Yaw - lastYawOffset) > 0.001f ||
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fabsf(param->Pitch - lastPitchOffset) > 0.001f ||
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fabsf(param->Roll - lastRollOffset) > 0.001f || param->flag) {
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cosYaw = arm_cos_f32(param->Yaw / 57.295779513f);
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cosPitch = arm_cos_f32(param->Pitch / 57.295779513f);
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cosRoll = arm_cos_f32(param->Roll / 57.295779513f);
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sinYaw = arm_sin_f32(param->Yaw / 57.295779513f);
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sinPitch = arm_sin_f32(param->Pitch / 57.295779513f);
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sinRoll = arm_sin_f32(param->Roll / 57.295779513f);
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// 1.yaw(alpha) 2.pitch(beta) 3.roll(gamma)
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c_11 = cosYaw * cosRoll + sinYaw * sinPitch * sinRoll;
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c_12 = cosPitch * sinYaw;
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c_13 = cosYaw * sinRoll - cosRoll * sinYaw * sinPitch;
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c_21 = cosYaw * sinPitch * sinRoll - cosRoll * sinYaw;
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c_22 = cosYaw * cosPitch;
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c_23 = -sinYaw * sinRoll - cosYaw * cosRoll * sinPitch;
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c_31 = -cosPitch * sinRoll;
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c_32 = sinPitch;
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c_33 = cosPitch * cosRoll;
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param->flag = 0;
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}
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float gyro_temp[3];
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for (uint8_t i = 0; i < 3; ++i)
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gyro_temp[i] = gyro[i] * param->scale[i];
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gyro[X] = c_11 * gyro_temp[X] +
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c_12 * gyro_temp[Y] +
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c_13 * gyro_temp[Z];
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gyro[Y] = c_21 * gyro_temp[X] +
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c_22 * gyro_temp[Y] +
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c_23 * gyro_temp[Z];
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gyro[Z] = c_31 * gyro_temp[X] +
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c_32 * gyro_temp[Y] +
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c_33 * gyro_temp[Z];
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float accel_temp[3];
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for (uint8_t i = 0; i < 3; ++i)
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accel_temp[i] = accel[i];
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accel[X] = c_11 * accel_temp[X] +
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c_12 * accel_temp[Y] +
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c_13 * accel_temp[Z];
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accel[Y] = c_21 * accel_temp[X] +
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c_22 * accel_temp[Y] +
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c_23 * accel_temp[Z];
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accel[Z] = c_31 * accel_temp[X] +
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c_32 * accel_temp[Y] +
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c_33 * accel_temp[Z];
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lastYawOffset = param->Yaw;
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lastPitchOffset = param->Pitch;
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lastRollOffset = param->Roll;
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}
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//------------------------------------functions below are not used in this demo-------------------------------------------------
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//----------------------------------you can read them for learning or programming-----------------------------------------------
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//----------------------------------they could also be helpful for further design-----------------------------------------------
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/**
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* @brief Update quaternion
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*/
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void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt) {
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float qa, qb, qc;
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gx *= 0.5f * dt;
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gy *= 0.5f * dt;
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gz *= 0.5f * dt;
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qa = q[0];
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qb = q[1];
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qc = q[2];
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q[0] += (-qb * gx - qc * gy - q[3] * gz);
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q[1] += (qa * gx + qc * gz - q[3] * gy);
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q[2] += (qa * gy - qb * gz + q[3] * gx);
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q[3] += (qa * gz + qb * gy - qc * gx);
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}
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/**
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* @brief Convert quaternion to eular angle
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*/
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void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll) {
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*Yaw = atan2f(2.0f * (q[0] * q[3] + q[1] * q[2]), 2.0f * (q[0] * q[0] + q[1] * q[1]) - 1.0f) * 57.295779513f;
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*Pitch = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), 2.0f * (q[0] * q[0] + q[3] * q[3]) - 1.0f) * 57.295779513f;
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*Roll = asinf(2.0f * (q[0] * q[2] - q[1] * q[3])) * 57.295779513f;
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}
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/**
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* @brief Convert eular angle to quaternion
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*/
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void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q) {
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float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
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Yaw /= 57.295779513f;
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Pitch /= 57.295779513f;
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Roll /= 57.295779513f;
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cosPitch = arm_cos_f32(Pitch / 2);
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cosYaw = arm_cos_f32(Yaw / 2);
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cosRoll = arm_cos_f32(Roll / 2);
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sinPitch = arm_sin_f32(Pitch / 2);
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sinYaw = arm_sin_f32(Yaw / 2);
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sinRoll = arm_sin_f32(Roll / 2);
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q[0] = cosPitch * cosRoll * cosYaw + sinPitch * sinRoll * sinYaw;
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q[1] = sinPitch * cosRoll * cosYaw - cosPitch * sinRoll * sinYaw;
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q[2] = sinPitch * cosRoll * sinYaw + cosPitch * sinRoll * cosYaw;
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q[3] = cosPitch * cosRoll * sinYaw - sinPitch * sinRoll * cosYaw;
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}
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