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Use quaternions for rotation estimates.

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This commit is contained in:
Andrzej Kapolka 2013-06-06 12:07:34 -07:00
parent 7f8b6fe0a6
commit f04e45b7c1
1 changed files with 6 additions and 23 deletions
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27
interface/src/SerialInterface.cpp
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@ -229,8 +229,8 @@ void SerialInterface::readData(float deltaTime) {
_lastRotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND; _lastRotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
// Update raw rotation estimates // Update raw rotation estimates
_estimatedRotation += deltaTime * (_lastRotationRates - _averageRotationRates); glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * (_lastRotationRates - _averageRotationRates)));
// Update estimated position and velocity // Update estimated position and velocity
float const DECAY_VELOCITY = 0.95f; float const DECAY_VELOCITY = 0.95f;
@ -258,29 +258,12 @@ void SerialInterface::readData(float deltaTime) {
1.f/(float)GRAVITY_SAMPLES * _lastAcceleration; 1.f/(float)GRAVITY_SAMPLES * _lastAcceleration;
} else { } else {
// Use gravity reading to do sensor fusion on the pitch and roll estimation // Use gravity reading to do sensor fusion on the pitch and roll estimation
float truePitchAngle = glm::angle(glm::normalize(glm::vec3(0, _gravity.y, _gravity.z)), _estimatedRotation = safeMix(_estimatedRotation,
glm::normalize(glm::vec3(0, _lastAcceleration.y, _lastAcceleration.z))) rotationBetween(_gravity, _lastAcceleration) * _estimatedRotation, 1.0f / SENSOR_FUSION_SAMPLES);
* ((_lastAcceleration.z > _gravity.z) ? -1.0 : 1.0);
float trueRollAngle = glm::angle(glm::normalize(glm::vec3(_gravity.x, _gravity.y, 0)),
glm::normalize(glm::vec3(_lastAcceleration.x, _lastAcceleration.y, 0)))
* ((_lastAcceleration.x > _gravity.x) ? -1.0 : 1.0);
// PER: BUG: This is bizarre, because glm::angle() SOMETIMES returns NaN for what seem to
// be perfectly valid inputs. So I added these NaN tests, gotta fix.
if (!glm::isnan(truePitchAngle) && !glm::isnan(trueRollAngle)) {
_estimatedRotation.x = (1.f - 1.f/(float)SENSOR_FUSION_SAMPLES) * _estimatedRotation.x
+ 1.f/(float)SENSOR_FUSION_SAMPLES * truePitchAngle;
_estimatedRotation.z = (1.f - 1.f/(float)SENSOR_FUSION_SAMPLES) * _estimatedRotation.z
+ 1.f/(float)SENSOR_FUSION_SAMPLES * trueRollAngle;
// Without a compass heading, always decay estimated Yaw slightly
const float YAW_DECAY = 0.995;
_estimatedRotation.y *= YAW_DECAY;
}
} }
} }
_estimatedRotation = safeEulerAngles(estimatedRotation);
totalSamples++; totalSamples++;
} }