111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
#pragma once
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#include <cmath>
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#ifdef PS
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#undef PS
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#endif
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#ifdef F
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#undef F
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#endif
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#include <Eigen/Dense>
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#include "freertos/idf_additions.h"
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inline float getYawDifference(const Eigen::Vector3f &v_gps,
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const Eigen::Vector3f &v_imu) {
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float yaw_gps = std::atan2(v_gps.y(), v_gps.x());
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float yaw_imu = std::atan2(v_imu.y(), v_imu.x());
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float delta_yaw = yaw_gps - yaw_imu;
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return std::atan2(std::sin(delta_yaw), std::cos(delta_yaw));
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}
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struct sens_fus_compl {
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Eigen::Vector3f position = Eigen::Vector3f::Zero();
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Eigen::Vector3f velocity = Eigen::Vector3f::Zero();
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Eigen::Vector3f last_accel_world = Eigen::Vector3f::Zero();
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float yaw_offset = 0.0f;
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/*
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* Tau is the time that the filter takes to reach 1-e^(-1) of the difference
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* to a constant target
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* so at t=tau, were 63% of the way there
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* at t=3*tau, were 95% of the way there
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*/
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Eigen::Vector3f tau_gps_pos = {20.0f, 20.0f, INFINITY};
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Eigen::Vector3f tau_gps_vel = {40.0f, 40.0f, INFINITY};
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Eigen::Vector3f tau_baro_pos = {INFINITY, INFINITY, 15.0f};
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Eigen::Vector3f tau_baro_vel = {INFINITY, INFINITY, 30.0f};
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float tau_yaw = 20.0f; // Yaw remains a scalar
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Eigen::Matrix3f yaw_rotation_matrix = Eigen::Matrix3f::Identity().eval();
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void update_yaw_matrix() {
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yaw_rotation_matrix =
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Eigen::AngleAxisf(this->yaw_offset, Eigen::Vector3f::UnitZ())
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.toRotationMatrix();
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}
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void predict(float dt, Eigen::Vector3f accel) {
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Eigen::Vector3f accel_rotated = yaw_rotation_matrix * accel;
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Eigen::Vector3f next_velocity =
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this->velocity + (this->last_accel_world + accel_rotated) * 0.5f * dt;
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this->position += (this->velocity + next_velocity) * 0.5f * dt;
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this->velocity = next_velocity;
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this->last_accel_world = accel_rotated;
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}
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void measure_gps(float dt, Eigen::Vector3f gps_pos, Eigen::Vector3f gps_vel) {
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// alpha = dt / (tau + dt)
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Eigen::Vector3f alpha_pos = dt / (tau_gps_pos.array() + dt);
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Eigen::Vector3f alpha_vel = dt / (tau_gps_vel.array() + dt);
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float alpha_yaw = dt / (tau_yaw + dt);
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// res = (1 - alpha) * state + alpha * measurement
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this->position =
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(Eigen::Vector3f::Ones() - alpha_pos).array() * this->position.array() +
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alpha_pos.array() * gps_pos.array();
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// 2. Yaw Correction (only if moving > 1.0 m/s)
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if (gps_vel.norm() > 1.0f) {
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float yaw_delta = getYawDifference(gps_vel, this->velocity);
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this->yaw_offset += yaw_delta * alpha_yaw;
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this->yaw_offset =
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std::atan2(std::sin(this->yaw_offset), std::cos(this->yaw_offset));
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this->update_yaw_matrix();
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this->velocity = (Eigen::Vector3f::Ones() - alpha_vel).array() *
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this->velocity.array() +
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alpha_vel.array() * gps_vel.array();
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} else if (this->velocity.norm() > 1.0) {
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this->velocity *= 1 - (0.90 * dt);
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}
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}
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void measure_baro(float dt, Eigen::Vector3f baro_pos,
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Eigen::Vector3f baro_vel) {
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// Formula: alpha = dt / (tau + dt)
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Eigen::Vector3f alpha_pos = dt / (tau_baro_pos.array() + dt);
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Eigen::Vector3f alpha_vel = dt / (tau_baro_vel.array() + dt);
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this->position =
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(Eigen::Vector3f::Ones() - alpha_pos).array() * this->position.array() +
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alpha_pos.array() * baro_pos.array();
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this->velocity =
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(Eigen::Vector3f::Ones() - alpha_vel).array() * this->velocity.array() +
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alpha_vel.array() * baro_vel.array();
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}
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};
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inline SemaphoreHandle_t sens_fus_mutex = NULL;
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inline sens_fus_compl sens_fus;
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