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1.陀螺仪校准支持三个gyro 2.加速度增加一级滑动滤波，提高数据质量 3.优化飞控任务逻辑，使得电机驱动与惯性导航独立运行 4.限制角…
…速度感知范围
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| /* | ||
| * File: \kalmanFilter.h | ||
| * Project: algorithm | ||
| * Created Date: 2024-04-29 20:41:02 | ||
| * Author: Guoyi | ||
| * ----- | ||
| * Last Modified: 2024-04-29 20:57:21 | ||
| * Modified By: Guoyi | ||
| * ----- | ||
| * Copyright (c) 2024 Guoyi Inc. | ||
| * | ||
| * ------------------------------------ | ||
| */ | ||
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| float kalman_filter(float angle_m, float gyro_m, float *angle_f, float *angle_dot_f) | ||
| { | ||
| //------------------------------ | ||
| static float angle, angle_dot; | ||
| const float Q_angle = 0.000001, Q_gyro = 0.0001, R_angle = 0.5, dt = 0.002; | ||
| static float P[2][2] = { | ||
| {1, 0}, | ||
| {0, 1}}; | ||
| static float Pdot[4] = {0, 0, 0, 0}; | ||
| const uint8 C_0 = 1; | ||
| static float q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1; | ||
| //------------------------------ | ||
| angle += (gyro_m - q_bias) * dt; | ||
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| Pdot[0] = Q_angle - P[0][1] - P[1][0]; | ||
| Pdot[1] = -P[1][1]; | ||
| Pdot[2] = -P[1][1]; | ||
| Pdot[3] = Q_gyro; | ||
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| P[0][0] += Pdot[0] * dt; | ||
| P[0][1] += Pdot[1] * dt; | ||
| P[1][0] += Pdot[2] * dt; | ||
| P[1][1] += Pdot[3] * dt; | ||
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| angle_err = angle_m - angle; | ||
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| PCt_0 = C_0 * P[0][0]; | ||
| PCt_1 = C_0 * P[1][0]; | ||
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| E = R_angle + C_0 * PCt_0; | ||
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| K_0 = PCt_0 / E; | ||
| K_1 = PCt_1 / E; | ||
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| t_0 = PCt_0; | ||
| t_1 = C_0 * P[0][1]; | ||
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| P[0][0] -= K_0 * t_0; | ||
| P[0][1] -= K_0 * t_1; | ||
| P[1][0] -= K_1 * t_0; | ||
| P[1][1] -= K_1 * t_1; | ||
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| angle += K_0 * angle_err; | ||
| q_bias += K_1 * angle_err; | ||
| angle_dot = gyro_m - q_bias; | ||
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| *angle_f = angle; | ||
| *angle_dot_f = angle_dot; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| /* | ||
| * File: \slidingFilter.h | ||
| * Project: algorithm | ||
| * Created Date: 2024-04-29 21:10:08 | ||
| * Author: Guoyi | ||
| * ----- | ||
| * Last Modified: 2024-04-29 22:54:36 | ||
| * Modified By: Guoyi | ||
| * ----- | ||
| * Copyright (c) 2024 Guoyi Inc. | ||
| * | ||
| * ------------------------------------ | ||
| */ | ||
|
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| #ifndef SLIDING_FILTER_H | ||
| #define SLIDING_FILTER_H | ||
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| #include <stdio.h> | ||
| #include "utils/F3D.h" | ||
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| #define SLIDING_FILTER_QUEUE_LEN 10 | ||
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| // 只对加速度进行滑动滤波 | ||
| static float SlidingFilterQueue[3][SLIDING_FILTER_QUEUE_LEN]; // gcc默认初始化全0，不用手动置为零 | ||
| static int insertStart = 0; | ||
| static float sumX = 0; | ||
| static float sumY = 0; | ||
| static float sumZ = 0; | ||
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| F3D performSlidingFilter(F3D OriginalData) | ||
| { | ||
| float ax = OriginalData.x; | ||
| float ay = OriginalData.y; | ||
| float az = OriginalData.z; | ||
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| // 更新sum | ||
| sumX += ax / SLIDING_FILTER_QUEUE_LEN - SlidingFilterQueue[0][insertStart]; | ||
| sumY += ay / SLIDING_FILTER_QUEUE_LEN - SlidingFilterQueue[1][insertStart]; | ||
| sumZ += az / SLIDING_FILTER_QUEUE_LEN - SlidingFilterQueue[2][insertStart]; | ||
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| // 更新队列 | ||
| SlidingFilterQueue[0][insertStart] = ax / SLIDING_FILTER_QUEUE_LEN; | ||
| SlidingFilterQueue[1][insertStart] = ay / SLIDING_FILTER_QUEUE_LEN; | ||
| SlidingFilterQueue[2][insertStart] = az / SLIDING_FILTER_QUEUE_LEN; | ||
| insertStart++; | ||
| if (insertStart >= SLIDING_FILTER_QUEUE_LEN) | ||
| { | ||
| insertStart = 0; | ||
| } | ||
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| // 包装值，并返回F3D | ||
| F3D ret = { | ||
| .x = sumX, | ||
| .y = sumY, | ||
| .z = sumZ, | ||
| }; | ||
| return ret; | ||
| } | ||
|
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||
| #endif |
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