Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

SensorFusion.h@34:01dec68de3ed, 2015-05-06 (annotated)

Committer:
pvaibhav
Date:
Wed May 06 07:50:02 2015 +0000
Revision:
34:01dec68de3ed
Parent:
26:8f3e4e1a3acc
Child:
35:fb6e4601adf3
motor voltage under 0.5V supported, magneto calibration initial values changed for smartplane2, complementary filter added to sensor fusion (default off), dt now sent with fusion parameters.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 15:4488660e1a3b 1 #ifndef _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 2 #define _H_SENSORFUSION_H
pvaibhav 15:4488660e1a3b 3
pvaibhav 15:4488660e1a3b 4 #include "I2CPeripheral.h"
pvaibhav 15:4488660e1a3b 5 #include "Magnetometer.h"
pvaibhav 15:4488660e1a3b 6 #include "Accelerometer.h"
pvaibhav 15:4488660e1a3b 7 #include "Gyroscope.h"
pvaibhav 15:4488660e1a3b 8 #include "Quaternion.h"
pvaibhav 15:4488660e1a3b 9
pvaibhav 15:4488660e1a3b 10 class SensorFusion : public Sensor::Delegate
pvaibhav 15:4488660e1a3b 11 {
pvaibhav 15:4488660e1a3b 12 public:
pvaibhav 20:503cbe360419 13 class Delegate
pvaibhav 20:503cbe360419 14 {
pvaibhav 21:5a0c9406e119 15 public:
pvaibhav 34:01dec68de3ed 16 virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
pvaibhav 20:503cbe360419 17 };
pvaibhav 20:503cbe360419 18
pvaibhav 15:4488660e1a3b 19 SensorFusion(I2C &i2c);
pvaibhav 20:503cbe360419 20 void setDelegate(Delegate &d);
pvaibhav 15:4488660e1a3b 21
pvaibhav 15:4488660e1a3b 22 bool start();
pvaibhav 15:4488660e1a3b 23 void stop();
pvaibhav 15:4488660e1a3b 24
pvaibhav 15:4488660e1a3b 25 virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
pvaibhav 34:01dec68de3ed 26 void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
pvaibhav 15:4488660e1a3b 27
pvaibhav 15:4488660e1a3b 28 private:
pvaibhav 21:5a0c9406e119 29 Delegate defaultDelegate; // to avoid check for existence every time
pvaibhav 20:503cbe360419 30 Delegate* delegate;
pvaibhav 15:4488660e1a3b 31 Accelerometer accel;
pvaibhav 15:4488660e1a3b 32 Gyroscope gyro;
pvaibhav 15:4488660e1a3b 33 Magnetometer magneto;
pvaibhav 15:4488660e1a3b 34 Quaternion q;
pvaibhav 21:5a0c9406e119 35 float const deltat, beta;
pvaibhav 34:01dec68de3ed 36 Vector3 fused;
pvaibhav 15:4488660e1a3b 37 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
pvaibhav 15:4488660e1a3b 38 };
pvaibhav 15:4488660e1a3b 39
pvaibhav 15:4488660e1a3b 40 #endif