src/main/flight/imu.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/maths.h"
  21 #include "common/time.h"
  22 #include "config/parameter_group.h"
  23
  24 #define GRAVITY_CMSS    980.665f
  25
  26 extern int16_t throttleAngleCorrection;
  27 extern int16_t smallAngle;
  28
  29 extern t_fp_vector imuMeasuredAccelBF;         // cm/s/s
  30 extern t_fp_vector imuMeasuredRotationBF;       // rad/s
  31
  32 typedef union {
  33     int16_t raw[XYZ_AXIS_COUNT];
  34     struct {
  35         // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  36         int16_t roll;
  37         int16_t pitch;
  38         int16_t yaw;
  39     } values;
  40 } attitudeEulerAngles_t;
  41
  42 extern attitudeEulerAngles_t attitude;
  43
  44 typedef struct imuConfig_s {
  45     uint16_t dcm_kp_acc;                    // DCM filter proportional gain ( x 10000) for accelerometer
  46     uint16_t dcm_ki_acc;                    // DCM filter integral gain ( x 10000) for accelerometer
  47     uint16_t dcm_kp_mag;                    // DCM filter proportional gain ( x 10000) for magnetometer and GPS heading
  48     uint16_t dcm_ki_mag;                    // DCM filter integral gain ( x 10000) for magnetometer and GPS heading
  49     uint8_t small_angle;
  50 } imuConfig_t;
  51
  52 PG_DECLARE(imuConfig_t, imuConfig);
  53
  54 typedef struct imuRuntimeConfig_s {
  55     float dcm_kp_acc;
  56     float dcm_ki_acc;
  57     float dcm_kp_mag;
  58     float dcm_ki_mag;
  59     uint8_t small_angle;
  60 } imuRuntimeConfig_t;
  61
  62 void imuConfigure(void);
  63
  64 void imuUpdateAttitude(timeUs_t currentTimeUs);
  65 void imuUpdateAccelerometer(void);
  66 void imuUpdateGyroscope(timeUs_t gyroUpdateDeltaUs);
  67 float calculateCosTiltAngle(void);
  68 bool isImuReady(void);
  69 bool isImuHeadingValid(void);
  70
  71 void imuTransformVectorBodyToEarth(t_fp_vector * v);
  72 void imuTransformVectorEarthToBody(t_fp_vector * v);
  73
  74 void imuInit(void);