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/axis.h"
  21 #include "common/maths.h"
  22 #include "common/vector.h"
  23 #include "common/quaternion.h"
  24 #include "common/time.h"
  25 #include "config/parameter_group.h"
  26
  27 extern fpVector3_t imuMeasuredAccelBF;         // cm/s/s
  28 extern fpVector3_t imuMeasuredRotationBF;       // rad/s
  29
  30 typedef union {
  31     int16_t raw[XYZ_AXIS_COUNT];
  32     struct {
  33         // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  34         int16_t roll;
  35         int16_t pitch;
  36         int16_t yaw;
  37     } values;
  38 } attitudeEulerAngles_t;
  39
  40 extern fpQuaternion_t orientation;
  41 extern attitudeEulerAngles_t attitude;
  42 extern float rMat[3][3];
  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     uint8_t acc_ignore_rate;
  51     uint8_t acc_ignore_slope;
  52 } imuConfig_t;
  53
  54 PG_DECLARE(imuConfig_t, imuConfig);
  55
  56 typedef struct imuRuntimeConfig_s {
  57     float dcm_kp_acc;
  58     float dcm_ki_acc;
  59     float dcm_kp_mag;
  60     float dcm_ki_mag;
  61     uint8_t small_angle;
  62 } imuRuntimeConfig_t;
  63
  64 void imuConfigure(void);
  65
  66 void imuSetMagneticDeclination(float declinationDeg);
  67 void imuUpdateAttitude(timeUs_t currentTimeUs);
  68 void imuUpdateAccelerometer(void);
  69 float calculateCosTiltAngle(void);
  70 bool isImuReady(void);
  71 bool isImuHeadingValid(void);
  72
  73 void imuTransformVectorBodyToEarth(fpVector3_t * v);
  74 void imuTransformVectorEarthToBody(fpVector3_t * v);
  75
  76 void imuInit(void);