65 lines
2 KiB
Rust
65 lines
2 KiB
Rust
use libm::{atan2f, atanf, cosf, sinf};
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use lsm303agr::Measurement;
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#[derive(Debug)]
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pub struct Attitude {
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pub pitch: f32,
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pub roll: f32,
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}
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#[derive(Debug)]
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pub struct NedMeasurement {
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pub x: f32,
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pub y: f32,
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pub z: f32,
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}
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//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west (desired)
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//theta=0 at south, pi/-pi at north, pi/2 at east, and -pi/2 at west (current)
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pub struct Heading(pub f32);
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/// board has forward in the -y direction and right in the -x direction, and down in the -z. (SWU), algs for tilt compensation
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/// need forward in +x and right in +y (this is known as the NED (north, east, down) cordinate
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/// system)
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/// also converts to f32
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pub fn swd_to_ned(measurement: Measurement) -> NedMeasurement {
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NedMeasurement {
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x: measurement.y as f32,
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y: measurement.x as f32,
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z: -measurement.z as f32,
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}
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}
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pub fn calc_attitude(measurement: &NedMeasurement) -> Attitude {
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//based off of: https://www.nxp.com/docs/en/application-note/AN4248.pdf
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let roll = atan2f(measurement.y, measurement.z);
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let pitch = atanf(-measurement.x / (measurement.y * sinf(roll) + measurement.z * cosf(roll)));
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Attitude { pitch, roll }
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// Attitude { pitch: 0.0, roll: 0.0 }
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}
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pub fn calc_tilt_calibrated_measurement(
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mag_measurement: NedMeasurement,
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attitde: &Attitude,
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) -> NedMeasurement {
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//based off of: https://www.nxp.com/docs/en/application-note/AN4248.pdf
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let corrected_mag_y =
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mag_measurement.z * sinf(attitde.roll) - mag_measurement.y * cosf(attitde.roll);
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let corrected_mag_x = mag_measurement.x * cosf(attitde.pitch)
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+ mag_measurement.y * sinf(attitde.pitch) * sinf(attitde.roll)
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+ mag_measurement.z * sinf(attitde.pitch) * cosf(attitde.roll);
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NedMeasurement {
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x: corrected_mag_x,
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y: corrected_mag_y,
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z: 0.0,
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}
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}
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//0 is the top sector and positive is clockwise, negative is counterclockwise.
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pub fn heading_from_measurement(measurement: NedMeasurement) -> Heading {
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Heading(atan2f(-measurement.y, measurement.x))
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}
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