【Curie Nano试用】六轴姿态融合
看大家都更新了这么多教程,小的是在有愧啊,毕设也赶得紧,只能挤时间来搞curie nano了。{:3_61:}好了,废话不多说,我们看一下如何用curie nano来得到当前姿态。
首先我们在安装了curie的库之后会有一些简单的工程例子给我们,如下:data:image/png;base64,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
我们进入 curieIMU 里面,可以看到很多有关加速度计和陀螺仪的例程,我们就用这些例程来进行修改然后得到我们想要的姿态信息。
首先,我们需要安装Madgwick这个库,直接在arduino开发环境里面添加,具体怎么操作就不写了。
融合代码如下:#include <CurieIMU.h>
#include <MadgwickAHRS.h>
Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;
void setup() {
Serial.begin(9600);
// start the IMU and filter
CurieIMU.begin();
// Set data rate
filter.begin(25);
// Set the accelerometer range to 2G
CurieIMU.setAccelerometerRange(2);
// Set the gyroscope range to 250 degrees/second
CurieIMU.setGyroRange(250);
// initialize variables to pace updates to correct rate
microsPerReading = 1000000 / 25;
microsPrevious = micros();
}
void loop() {
int aix, aiy, aiz;
int gix, giy, giz;
float ax, ay, az;
float gx, gy, gz;
float mx=0, my=0, mz=0;
float roll, pitch, heading;
unsigned long microsNow;
// check if it's time to read data and update the filter
microsNow = micros();
if (microsNow - microsPrevious >= microsPerReading) {
// read raw data from CurieIMU
CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
//这个函数是读取原始值
// convert from raw data to gravity and degrees/second units
ax = convertRawAcceleration(aix);
ay = convertRawAcceleration(aiy);
az = convertRawAcceleration(aiz);
gx = convertRawGyro(gix);
gy = convertRawGyro(giy);
gz = convertRawGyro(giz);
// update the filter, which computes orientation
filter.update(gx, gy, gz, ax, ay, az, mx, my ,mz);
//这个函数可以进去到Madgwick里面看
// print the heading, pitch and roll
roll = filter.getRoll();
pitch = filter.getPitch();
heading = filter.getYaw();
Serial.print("Orientation: ");
Serial.print(heading);
Serial.print(" ");
Serial.print(pitch);
Serial.print(" ");
Serial.println(roll);
// increment previous time, so we keep proper pace
microsPrevious = microsPrevious + microsPerReading;
}
}
float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767
float a = (aRaw * 2.0) / 32768.0;
return a;
}
float convertRawGyro(int gRaw) {
// since we are using 250 degrees/seconds range
// -250 maps to a raw value of -32768
// +250 maps to a raw value of 32767
float g = (gRaw * 250.0) / 32768.0;
return g;
}
然后就可以通过串口助手来观察板子当前所处的状态:
data:image/png;base64,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
但是通过这个算法得到的yaw值会漂,所以希望得到更精确的值,在板子上面有另一个模块hmc5883l电子罗盘,我们可以使用电子罗盘来校准yaw的值。
我目前为止没有什么进展,因为姿态融合这一块本来就比较难,相关资料也比较少,也希望有同方向一起研究的人。
后面更新就如何在在上述代码下启用hmc5883l,并通过这个电子罗盘来校准我们得到的姿态值。
多找点资料学呗
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