added madgwick
This commit is contained in:
306
madgwick.c
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306
madgwick.c
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#include "madgwick.h"
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#include <stddef.h>
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#include <stdlib.h>
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#define MADGWICK_INIT_ERR_STR "Madgwick AHRS init error"
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#define MADGWICK_SET_BETA_ERR_STR "Madgwick set beta error"
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#define MADGWICK_SET_SAMP_FREQ_ERR_STR "Madgwick set sample frequency error"
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#define MADGWICK_GET_QUAT_ERR_STR "Madgwick get quaternion error"
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#define MADGWICK_UPDATE_6DOF_ERR_STR "Madgwick update 6DOF error"
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#define MADGWICK_UPDATE_9DOF_ERR_STR "Madgwick update 9DOF error"
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static const char* MADGWICK_TAG = "MADGWICK AHRS";
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#define MADGWICK_CHECK(a, str, ret) if(!(a)) { \
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return (ret); \
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}
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#define STM_ERR_INVALID_ARG 1
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typedef struct madgwick {
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float beta;
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float sample_freq;
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float q0;
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float q1;
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float q2;
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float q3;
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uint8_t lock;
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} madgwick_t;
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static float invSqrt(float x)
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{
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float halfx = 0.5f * x;
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float y = x;
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long i = *(long*)&y;
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i = 0x5f3759df - (i >> 1);
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y = *(float*)&i;
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y = y * (1.5f - (halfx * y * y));
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return y;
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}
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madgwick_handle_t madgwick_init(madgwick_cfg_t *config)
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{
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/* Check input conditions */
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MADGWICK_CHECK(config, MADGWICK_INIT_ERR_STR, NULL);
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/* Allocate memory for handle structure */
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madgwick_handle_t handle = calloc(1, sizeof(madgwick_t));
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MADGWICK_CHECK(handle, MADGWICK_INIT_ERR_STR, NULL);
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/* Update handle structure */
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handle->beta = config->beta;
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handle->sample_freq = config->sample_freq;
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handle->q0 = 1.0f;
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handle->q1 = 0.0f;
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handle->q2 = 0.0f;
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handle->q3 = 0.0f;
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handle->lock = 0;
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return handle;
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}
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uint8_t madgwick_set_beta(madgwick_handle_t handle, float beta)
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{
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/* Check input conditions */
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MADGWICK_CHECK(handle, MADGWICK_SET_BETA_ERR_STR, STM_ERR_INVALID_ARG);
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handle->lock = 1;
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handle->beta = beta;
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handle->lock = 0;
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return 0;
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}
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uint8_t madgwick_set_sample_frequency(madgwick_handle_t handle, float sample_freq)
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{
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/* Check input conditions */
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MADGWICK_CHECK(handle, MADGWICK_SET_SAMP_FREQ_ERR_STR, STM_ERR_INVALID_ARG);
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handle->lock = 1;
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handle->sample_freq = sample_freq;
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handle->lock = 0;
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return 0;
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}
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uint8_t madgwick_get_quaternion(madgwick_handle_t handle, madgwick_quat_data_t *quat_data)
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{
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/* Check input conditions */
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MADGWICK_CHECK(handle, MADGWICK_GET_QUAT_ERR_STR, STM_ERR_INVALID_ARG);
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handle->lock = 1;
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quat_data->q0 = handle->q0;
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quat_data->q1 = handle->q1;
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quat_data->q2 = handle->q2;
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quat_data->q3 = handle->q3;
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handle->lock = 0;
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return 0;
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}
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uint8_t madgwick_update_6dof(madgwick_handle_t handle, float gx, float gy, float gz, float ax, float ay, float az)
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{
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/* Check input conditions */
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MADGWICK_CHECK(handle, MADGWICK_UPDATE_6DOF_ERR_STR, STM_ERR_INVALID_ARG);
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handle->lock = 1;
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float q0 = handle->q0;
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float q1 = handle->q1;
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float q2 = handle->q2;
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float q3 = handle->q3;
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float beta = handle->beta;
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float sampleFreq = handle->sample_freq;
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float recipNorm;
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float s0, s1, s2, s3;
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float qDot1, qDot2, qDot3, qDot4;
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float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 , _8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
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// Rate of change of quaternion from gyroscope
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qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
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qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
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qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
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qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
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// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
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if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
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// Normalise accelerometer measurement
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recipNorm = invSqrt(ax * ax + ay * ay + az * az);
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ax *= recipNorm;
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ay *= recipNorm;
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az *= recipNorm;
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// Auxiliary variables to avoid repeated arithmetic
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_2q0 = 2.0f * q0;
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_2q1 = 2.0f * q1;
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_2q2 = 2.0f * q2;
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_2q3 = 2.0f * q3;
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_4q0 = 4.0f * q0;
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_4q1 = 4.0f * q1;
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_4q2 = 4.0f * q2;
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_8q1 = 8.0f * q1;
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_8q2 = 8.0f * q2;
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q0q0 = q0 * q0;
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q1q1 = q1 * q1;
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q2q2 = q2 * q2;
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q3q3 = q3 * q3;
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// Gradient decent algorithm corrective step
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s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
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s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
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s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
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s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
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recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
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s0 *= recipNorm;
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s1 *= recipNorm;
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s2 *= recipNorm;
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s3 *= recipNorm;
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// Apply feedback step
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qDot1 -= beta * s0;
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qDot2 -= beta * s1;
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qDot3 -= beta * s2;
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qDot4 -= beta * s3;
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}
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// Integrate rate of change of quaternion to yield quaternion
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q0 += qDot1 * (1.0f / sampleFreq);
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q1 += qDot2 * (1.0f / sampleFreq);
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q2 += qDot3 * (1.0f / sampleFreq);
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q3 += qDot4 * (1.0f / sampleFreq);
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// Normalise quaternion
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recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
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q0 *= recipNorm;
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q1 *= recipNorm;
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q2 *= recipNorm;
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q3 *= recipNorm;
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handle->q0 = q0;
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handle->q1 = q1;
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handle->q2 = q2;
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handle->q3 = q3;
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handle->lock = 0;
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return 0;
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}
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uint8_t madgwick_update_9dof(madgwick_handle_t handle, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
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{
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/* Check input conditions */
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MADGWICK_CHECK(handle, MADGWICK_UPDATE_9DOF_ERR_STR, STM_ERR_INVALID_ARG);
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// Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
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if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
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madgwick_update_6dof(handle, gx, gy, gz, ax, ay, az);
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return 0;
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}
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handle->lock = 1;
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float q0 = handle->q0;
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float q1 = handle->q1;
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float q2 = handle->q2;
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float q3 = handle->q3;
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float beta = handle->beta;
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float sampleFreq = handle->sample_freq;
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float recipNorm;
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float s0, s1, s2, s3;
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float qDot1, qDot2, qDot3, qDot4;
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float hx, hy;
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float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
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// Rate of change of quaternion from gyroscope
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qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
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qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
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qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
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qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
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// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
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if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
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// Normalise accelerometer measurement
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recipNorm = invSqrt(ax * ax + ay * ay + az * az);
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ax *= recipNorm;
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ay *= recipNorm;
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az *= recipNorm;
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// Normalise magnetometer measurement
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recipNorm = invSqrt(mx * mx + my * my + mz * mz);
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mx *= recipNorm;
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my *= recipNorm;
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mz *= recipNorm;
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// Auxiliary variables to avoid repeated arithmetic
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_2q0mx = 2.0f * q0 * mx;
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_2q0my = 2.0f * q0 * my;
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_2q0mz = 2.0f * q0 * mz;
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_2q1mx = 2.0f * q1 * mx;
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_2q0 = 2.0f * q0;
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_2q1 = 2.0f * q1;
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_2q2 = 2.0f * q2;
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_2q3 = 2.0f * q3;
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_2q0q2 = 2.0f * q0 * q2;
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_2q2q3 = 2.0f * q2 * q3;
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q0q0 = q0 * q0;
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q0q1 = q0 * q1;
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q0q2 = q0 * q2;
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q0q3 = q0 * q3;
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q1q1 = q1 * q1;
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q1q2 = q1 * q2;
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q1q3 = q1 * q3;
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q2q2 = q2 * q2;
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q2q3 = q2 * q3;
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q3q3 = q3 * q3;
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// Reference direction of Earth's magnetic field
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hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
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hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
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_2bx = sqrt(hx * hx + hy * hy);
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_2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
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_4bx = 2.0f * _2bx;
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_4bz = 2.0f * _2bz;
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// Gradient decent algorithm corrective step
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s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
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s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
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s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
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s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
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recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
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s0 *= recipNorm;
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s1 *= recipNorm;
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s2 *= recipNorm;
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s3 *= recipNorm;
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// Apply feedback step
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qDot1 -= beta * s0;
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qDot2 -= beta * s1;
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qDot3 -= beta * s2;
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qDot4 -= beta * s3;
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}
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// Integrate rate of change of quaternion to yield quaternion
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q0 += qDot1 * (1.0f / sampleFreq);
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q1 += qDot2 * (1.0f / sampleFreq);
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q2 += qDot3 * (1.0f / sampleFreq);
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q3 += qDot4 * (1.0f / sampleFreq);
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// Normalise quaternion
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recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
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q0 *= recipNorm;
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q1 *= recipNorm;
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q2 *= recipNorm;
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q3 *= recipNorm;
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handle->q0 = q0;
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handle->q1 = q1;
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handle->q2 = q2;
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handle->q3 = q3;
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handle->lock = 0;
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return 0;
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}
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124
madgwick.h
Normal file
124
madgwick.h
Normal file
@@ -0,0 +1,124 @@
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// MIT License
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// Copyright (c) 2020 phonght32, 2025 edited by angoosh for general use
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#ifndef _IMU_MADGWICK_H_
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#define _IMU_MADGWICK_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "stdint.h"
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#include "math.h"
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typedef struct madgwick *madgwick_handle_t;
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typedef struct {
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float q0;
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float q1;
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float q2;
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float q3;
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} madgwick_quat_data_t;
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typedef struct {
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float beta;
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float sample_freq;
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} madgwick_cfg_t;
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/*
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* @brief Configure Madgwick AHRS parameters.
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* @param config Struct pointer.
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* @return
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* - Madgwick handle structure: Success.
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* - 0: Fail.
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*/
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madgwick_handle_t madgwick_init(madgwick_cfg_t *config);
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/*
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* @brief Set beta value.
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* @param handle Handle structure.
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* @param beta Beta.
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* @return
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* - STM_OK: Success.
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* - Others: Fail.
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*/
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uint8_t madgwick_set_beta(madgwick_handle_t handle, float beta);
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/*
|
||||
* @brief Set sample frequency value.
|
||||
* @param handle Handle structure.
|
||||
* @param sample_freq Sample frequency.
|
||||
* @return
|
||||
* - STM_OK: Success.
|
||||
* - Others: Fail.
|
||||
*/
|
||||
uint8_t madgwick_set_sample_frequency(madgwick_handle_t handle, float sample_freq);
|
||||
|
||||
/*
|
||||
* @brief Get quaternion.
|
||||
* @param handle Handle structure.
|
||||
* @param quat_data Quaternion.
|
||||
* @return
|
||||
* - STM_OK: Success.
|
||||
* - Others: Fail.
|
||||
*/
|
||||
uint8_t madgwick_get_quaternion(madgwick_handle_t handle, madgwick_quat_data_t *quat_data);
|
||||
|
||||
/*
|
||||
* @brief Update Madgwick AHRS quaternion with 6 motions.
|
||||
* @param handle Handle structure.
|
||||
* @param gx Gyroscope along x axis.
|
||||
* @param gy Gyroscope along y axis.
|
||||
* @param gz Gyroscope along z axis.
|
||||
* @param ax Accelerometer along x axis.
|
||||
* @param ay Accelerometer along y axis.
|
||||
* @param az Accelerometer along z axis.
|
||||
* @return
|
||||
* - STM_OK: Success.
|
||||
* - Others: Fail.
|
||||
*/
|
||||
uint8_t madgwick_update_6dof(madgwick_handle_t handle, float gx, float gy, float gz, float ax, float ay, float az);
|
||||
|
||||
/*
|
||||
* @brief Update Madgwick AHRS quaternion with 9 motions.
|
||||
* @param handle Handle structure.
|
||||
* @param gx Gyroscope along x axis.
|
||||
* @param gy Gyroscope along y axis.
|
||||
* @param gz Gyroscope along z axis.
|
||||
* @param ax Accelerometer along x axis.
|
||||
* @param ay Accelerometer along y axis.
|
||||
* @param az Accelerometer along z axis.
|
||||
* @param mx Magnetometer along x axis.
|
||||
* @param my Magnetometer along y axis.
|
||||
* @param mz Magnetometer along z axis.
|
||||
* @return
|
||||
* - STM_OK: Success.
|
||||
* - Others: Fail.
|
||||
*/
|
||||
uint8_t madgwick_update_9dof(madgwick_handle_t handle, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _IMU_MADGWICK_H_ */
|
||||
34
main.c
Normal file
34
main.c
Normal file
@@ -0,0 +1,34 @@
|
||||
#include "madgwick.h"
|
||||
#include "stdint.h"
|
||||
#include "stdio.h"
|
||||
|
||||
#define MADGWICK_BETA 0.1f
|
||||
#define MADGWICK_SAMPLE_RATE 100.0f
|
||||
#define DEG2RAD 3.14f/180.0f
|
||||
|
||||
madgwick_handle_t madgwick_handle;
|
||||
madgwick_quat_data_t quat_data;
|
||||
|
||||
int main(){
|
||||
madgwick_cfg_t madgwick_cfg;
|
||||
madgwick_cfg.beta = MADGWICK_BETA;
|
||||
madgwick_cfg.sample_freq = MADGWICK_SAMPLE_RATE;
|
||||
madgwick_handle = madgwick_init(&madgwick_cfg);
|
||||
|
||||
madgwick_update_6dof(madgwick_handle,
|
||||
0.6 * DEG2RAD,
|
||||
1 * DEG2RAD,
|
||||
3 * DEG2RAD,
|
||||
0.43,
|
||||
0.56,
|
||||
1.3);
|
||||
|
||||
madgwick_get_quaternion(madgwick_handle, &quat_data);
|
||||
float roll = 180.0 / 3.14 * atan2(2 * (quat_data.q0 * quat_data.q1 + quat_data.q2 * quat_data.q3), 1 - 2 * (quat_data.q1 * quat_data.q1 + quat_data.q2 * quat_data.q2));
|
||||
float pitch = 180.0 / 3.14 * asin(2 * (quat_data.q0 * quat_data.q2 - quat_data.q3 * quat_data.q1));
|
||||
float yaw = 180.0 / 3.14 * atan2f(quat_data.q0 * quat_data.q3 + quat_data.q1 * quat_data.q2, 0.5f - quat_data.q2 * quat_data.q2 - quat_data.q3 * quat_data.q3);
|
||||
|
||||
printf("Roll: %f\nPitch: %f\nYaw: %f\n", roll, pitch, yaw);
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user