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Fix Madgwick Filter for Orientation

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Florian Märkl 2021-01-09 10:42:40 +01:00
commit 96cbd5d9b8
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3 changed files with 50 additions and 24 deletions
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4
lib/include/chiaki/orientation.h
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@ -22,7 +22,7 @@ typedef struct chiaki_orientation_t
CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient); CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient);
CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient, CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient,
float gx, float gy, float gz, float ax, float ay, float az, float time_step_sec); float gx, float gy, float gz, float ax, float ay, float az, float beta, float time_step_sec);
/** /**
* Extension of ChiakiOrientation, also tracking an absolute timestamp and the current gyro/accel state * Extension of ChiakiOrientation, also tracking an absolute timestamp and the current gyro/accel state
@ -33,7 +33,7 @@ typedef struct chiaki_orientation_tracker_t
float accel_x, accel_y, accel_z; float accel_x, accel_y, accel_z;
ChiakiOrientation orient; ChiakiOrientation orient;
uint32_t timestamp; uint32_t timestamp;
bool first_sample; uint64_t sample_index;
} ChiakiOrientationTracker; } ChiakiOrientationTracker;
CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker); CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker);

2
lib/src/feedbacksender.c
View file

@ -116,10 +116,12 @@ static void feedback_sender_send_state(ChiakiFeedbackSender *feedback_sender)
state.accel_x = feedback_sender->controller_state.accel_x; state.accel_x = feedback_sender->controller_state.accel_x;
state.accel_y = feedback_sender->controller_state.accel_y; state.accel_y = feedback_sender->controller_state.accel_y;
state.accel_z = feedback_sender->controller_state.accel_z; state.accel_z = feedback_sender->controller_state.accel_z;
state.orient_x = feedback_sender->controller_state.orient_x; state.orient_x = feedback_sender->controller_state.orient_x;
state.orient_y = feedback_sender->controller_state.orient_y; state.orient_y = feedback_sender->controller_state.orient_y;
state.orient_z = feedback_sender->controller_state.orient_z; state.orient_z = feedback_sender->controller_state.orient_z;
state.orient_w = feedback_sender->controller_state.orient_w; state.orient_w = feedback_sender->controller_state.orient_w;
ChiakiErrorCode err = chiaki_takion_send_feedback_state(feedback_sender->takion, feedback_sender->state_seq_num++, &state); ChiakiErrorCode err = chiaki_takion_send_feedback_state(feedback_sender->takion, feedback_sender->state_seq_num++, &state);
if(err != CHIAKI_ERR_SUCCESS) if(err != CHIAKI_ERR_SUCCESS)
CHIAKI_LOGE(feedback_sender->log, "FeedbackSender failed to send Feedback State"); CHIAKI_LOGE(feedback_sender->log, "FeedbackSender failed to send Feedback State");

68
lib/src/orientation.c
View file

@ -1,18 +1,30 @@
// SPDX-License-Identifier: LicenseRef-AGPL-3.0-only-OpenSSL // SPDX-License-Identifier: LicenseRef-AGPL-3.0-only-OpenSSL
#include <chiaki/orientation.h> #include <chiaki/orientation.h>
#include <math.h>
#define SIN_1_4_PI 0.7071067811865475
#define SIN_NEG_1_4_PI -0.7071067811865475
#define COS_1_4_PI 0.7071067811865476
#define COS_NEG_1_4_PI 0.7071067811865476
#define WARMUP_SAMPLES_COUNT 30
#define BETA_WARMUP 20.0f
#define BETA_DEFAULT 0.05f
CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient) CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient)
{ {
orient->x = orient->y = orient->z = 0.0f; // 90 deg rotation around x for Madgwick
orient->w = 1.0f; orient->x = SIN_1_4_PI;
orient->y = 0.0f;
orient->z = 0.0f;
orient->w = COS_1_4_PI;
} }
#define BETA 0.1f // 2 * proportional gain
static float inv_sqrt(float x); static float inv_sqrt(float x);
CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient, CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient,
float gx, float gy, float gz, float ax, float ay, float az, float time_step_sec) float gx, float gy, float gz, float ax, float ay, float az, float beta, float time_step_sec)
{ {
float q0 = orient->w, q1 = orient->x, q2 = orient->y, q3 = orient->z; float q0 = orient->w, q1 = orient->x, q2 = orient->y, q3 = orient->z;
// Madgwick's IMU algorithm. // Madgwick's IMU algorithm.
@ -57,17 +69,22 @@ CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient,
s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
recip_norm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude recip_norm = s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3; // normalise step magnitude
s0 *= recip_norm; // avoid NaN when the orientation is already perfect or inverse to perfect
s1 *= recip_norm; if(recip_norm > 0.000001f)
s2 *= recip_norm; {
s3 *= recip_norm; recip_norm = inv_sqrt(recip_norm);
s0 *= recip_norm;
s1 *= recip_norm;
s2 *= recip_norm;
s3 *= recip_norm;
// Apply feedback step // Apply feedback step
q_dot1 -= BETA * s0; q_dot1 -= beta * s0;
q_dot2 -= BETA * s1; q_dot2 -= beta * s1;
q_dot3 -= BETA * s2; q_dot3 -= beta * s2;
q_dot4 -= BETA * s3; q_dot4 -= beta * s3;
}
} }
// Integrate rate of change of quaternion to yield quaternion // Integrate rate of change of quaternion to yield quaternion
@ -91,6 +108,9 @@ CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient,
static float inv_sqrt(float x) static float inv_sqrt(float x)
{ {
#if 1
return 1.0f / sqrt(x);
#else
// Fast inverse square-root // Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root // See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
float halfx = 0.5f * x; float halfx = 0.5f * x;
@ -100,6 +120,7 @@ static float inv_sqrt(float x)
y = *(float*)&i; y = *(float*)&i;
y = y * (1.5f - (halfx * y * y)); y = y * (1.5f - (halfx * y * y));
return y; return y;
#endif
} }
CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker) CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker)
@ -110,7 +131,7 @@ CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tra
tracker->gyro_x = tracker->gyro_y = tracker->gyro_z = 0.0f; tracker->gyro_x = tracker->gyro_y = tracker->gyro_z = 0.0f;
chiaki_orientation_init(&tracker->orient); chiaki_orientation_init(&tracker->orient);
tracker->timestamp = 0; tracker->timestamp = 0;
tracker->first_sample = true; tracker->sample_index = 0;
} }
CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *tracker, CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *tracker,
@ -122,9 +143,9 @@ CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *t
tracker->accel_x = ax; tracker->accel_x = ax;
tracker->accel_y = ay; tracker->accel_y = ay;
tracker->accel_z = az; tracker->accel_z = az;
if(tracker->first_sample) tracker->sample_index++;
if(tracker->sample_index <= 1)
{ {
tracker->first_sample = false;
tracker->timestamp = timestamp_us; tracker->timestamp = timestamp_us;
return; return;
} }
@ -133,7 +154,9 @@ CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *t
delta_us += (1ULL << 32); delta_us += (1ULL << 32);
delta_us -= tracker->timestamp; delta_us -= tracker->timestamp;
tracker->timestamp = timestamp_us; tracker->timestamp = timestamp_us;
chiaki_orientation_update(&tracker->orient, gx, gy, gz, ax, ay, az, (float)delta_us / 1000000.0f); chiaki_orientation_update(&tracker->orient, gx, gy, gz, ax, ay, az,
tracker->sample_index < WARMUP_SAMPLES_COUNT ? BETA_WARMUP : BETA_DEFAULT,
(float)delta_us / 1000000.0f);
} }
CHIAKI_EXPORT void chiaki_orientation_tracker_apply_to_controller_state(ChiakiOrientationTracker *tracker, CHIAKI_EXPORT void chiaki_orientation_tracker_apply_to_controller_state(ChiakiOrientationTracker *tracker,
@ -145,8 +168,9 @@ CHIAKI_EXPORT void chiaki_orientation_tracker_apply_to_controller_state(ChiakiOr
state->accel_x = tracker->accel_x; state->accel_x = tracker->accel_x;
state->accel_y = tracker->accel_y; state->accel_y = tracker->accel_y;
state->accel_z = tracker->accel_z; state->accel_z = tracker->accel_z;
state->orient_x = tracker->orient.x; // -90 deg rotation around x from Madgwick
state->orient_y = tracker->orient.y; state->orient_w = COS_NEG_1_4_PI * tracker->orient.w - SIN_NEG_1_4_PI * tracker->orient.x;
state->orient_z = tracker->orient.z; state->orient_x = COS_NEG_1_4_PI * tracker->orient.x + SIN_NEG_1_4_PI * tracker->orient.w;
state->orient_w = tracker->orient.w; state->orient_y = COS_NEG_1_4_PI * tracker->orient.y - SIN_NEG_1_4_PI * tracker->orient.z;
state->orient_z = COS_NEG_1_4_PI * tracker->orient.z + SIN_NEG_1_4_PI * tracker->orient.y;
} }