1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
|
/*
* Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
*
* @file attitude_estimator_so3_comp_params.c
*
* Implementation of nonlinear complementary filters on the SO(3).
* This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
* Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
*
* Theory of nonlinear complementary filters on the SO(3) is based on [1].
* Quaternion realization of [1] is based on [2].
* Optmized quaternion update code is based on Sebastian Madgwick's implementation.
*
* References
* [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
*/
#include "attitude_estimator_so3_comp_params.h"
/* This is filter gain for nonlinear SO3 complementary filter */
PARAM_DEFINE_FLOAT(SO3_COMP_KP, 0.5f);
PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
{
/* Filter gain parameters */
h->Kp = param_find("SO3_COMP_KP");
h->Ki = param_find("SO3_COMP_KI");
/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
h->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
return OK;
}
int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
{
/* Update filter gain */
param_get(h->Kp, &(p->Kp));
param_get(h->Ki, &(p->Ki));
/* Update attitude offset */
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
return OK;
}
|
