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Initial cut on full quaternion IMU conversion (#2894)

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* Initial cut on full quaternion/vector IMU conversion
* More accurate quaternion integration
* Refactor vector struct per @ledvinap suggection
* Implement rotation matrix from axis/angle; Refactor mag declination to have orientation correspond to RPY angles
* Use magnetic North vector as a reference
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Konstantin Sharlaimov 2018-03-15 00:19:53 +10:00 • committed by GitHub
parent 0ede6d52d6
commit e174e5a48d
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23 changed files with 801 additions and 498 deletions
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8
src/main/sensors/acceleration.c
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@ -476,24 +476,24 @@ static void accUpdateAccumulatedMeasurements(void)
/*
* Calculate measured acceleration in body frame in g
*/
void accGetMeasuredAcceleration(t_fp_vector *measuredAcc)
void accGetMeasuredAcceleration(fpVector3_t *measuredAcc)
{
#ifdef USE_ASYNC_GYRO_PROCESSING
if (accumulatedMeasurementCount) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
measuredAcc->v[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
accumulatedMeasurements[axis] = 0;
}
accumulatedMeasurementCount = 0;
}
else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
measuredAcc->v[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
}
}
#else
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
measuredAcc->A[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
measuredAcc->v[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
}
#endif
}