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Arduino library for an IMU filter based on a quaternion

License: MIT License

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arduino arduino-library imu-sensor mahony-filter gyro gyroscope quaternion sensor-fusion

imufilter's Introduction

👋 Hi, I'm Mags 👋

A mechanical engineer that likes to code

🔭 I’m currently working on flight controllers for rc aircraft, simple web apps, and my blog.
👨‍💻 Most of my projects are available on my github profile
📝 I ocassionally write articles on my blog.
❗ Be sure to check out my RCgroups account! There's lots of good information there.
💬 Ask me about anything that's in my repos or blog. I especially like model aircraft and unusual vehicles! ✈️ 🚁
📄 Check out my super-awesome resume.

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imufilter's Issues

Problem using this library with the LSM9DS1 IMU.

Hello, I'm having a problem.

I'm trying to use the velocity example that you provide with the data from the LSM9DS1 IMU. I am gathering the accelerometer and gyroscope data thanks to the Arduino_LSM9DS1 Library, as it can be seen on the script below.
According to the documentation and my previous experimentations, the functions readAccelerometer and readGyroscope return float values for each axis, just like the imu data that you can get from the basicMPU6050.

I'm kind of disappointed, because the only thing I changed compared to your example is to put my values instead of yours in fusion.setup, fusion.update and fusion.updateVel functions, and I'm getting "nan nan nan" in the Serial Console for vel.x, vel.y and vel.z.

Moreover, I tried to send static values (i.e send {2.0,2.0,2.0} for gyro and {1.0,0.5,0.5} for accel), and it still gives the same result.

Do you have any ideas where the problem comes from ?

/*
 This sketch shows to integrate acceleration to obtain an estimate of velocity
*/

/* NOTE: The accelerometer MUST be calibrated to integrate its output. Adjust the 
   AX, AY, AND AZ offsets until the sensor reads (0,0,0) at rest. 
*/

#include <Arduino_LSM9DS1.h>
#include <accIntegral.h>

// ========== IMU sensor ==========

// Gyro settings:
#define         LP_FILTER   3           // Low pass filter.                    Value from 0 to 6
#define         GYRO_SENS   0           // Gyro sensitivity.                   Value from 0 to 3
#define         ACCEL_SENS  0           // Accelerometer sensitivity.          Value from 0 to 3
#define         ADDRESS_A0  LOW         // I2C address from state of A0 pin.   A0 -> GND : ADDRESS_A0 = LOW
                                        //                                     A0 -> 5v  : ADDRESS_A0 = HIGH
// Accelerometer offset:
constexpr int   AX_OFFSET =  552;       // Use these values to calibrate the accelerometer. The sensor should output 1.0g if held level. 
constexpr int   AY_OFFSET = -241;       // These values are unlikely to be zero.
constexpr int   AZ_OFFSET = -3185;


// =========== Settings ===========
accIntegral fusion;
                                            //  Unit            
constexpr float GRAVITY = 9.81e3;           //  mm/s^2          Magnitude of gravity at rest. Determines units of velocity.
constexpr float SD_ACC  = 200;              //  mm/s^2          Standard deviation of acceleration. Deviations from zero are suppressed.
constexpr float SD_VEL  = 200;              //  mm/s            Standard deviation of velocity. Deviations from target value are suppressed.
float acceleration[3];
float gyrom[3];

void setup() {
  Serial.begin(38400);

  if(!IMU.begin())
    while(1);
  if(IMU.accelerationAvailable()){
      IMU.readAcceleration(acceleration[0],acceleration[1],acceleration[2]);
      Serial.print("acceleration : ");
      Serial.println(acceleration[0]);
    }
  // initialize sensor fusion
  fusion.setup(acceleration[0],acceleration[1],acceleration[2]);   // set initial heading 
  fusion.reset();                                 // zero velocity estimate
}

void loop() {   
  /* NOTE: The heading must be updated along with the velocity estimate for accurate results.
           Use the following steps to ensure proper integration */
  
  // 1. measure state
  if(IMU.accelerationAvailable() && IMU.gyroscopeAvailable()){
      IMU.readAcceleration(acceleration[0],acceleration[1],acceleration[2]);
      IMU.readGyroscope(gyrom[0], gyrom[1], gyrom[2]);
 
  
  vec3_t accel = { acceleration[0],acceleration[1],acceleration[2] };
  vec3_t gyro = { gyrom[0], gyrom[1], gyrom[2] };

  // 2. update heading

  fusion.update( gyro, accel );

  // 3. update velocity estimate

  vec3_t vel_t = {0,0,0};   // Known measured velocity (target state)
  vec3_t vel;               // placeholder variable 
  
  fusion.updateVel( gyro, accel, vel_t, SD_ACC, SD_VEL, GRAVITY );
  vel = fusion.getVel();
  
  // Display velocity components [view with serial plotter]
 
  Serial.print( vel.x);
  Serial.print( " " );
  Serial.print( vel.y);
  Serial.print( " " );
  Serial.print( vel.z);
  Serial.println();
  }
}

Can this be extended to the LSM6DSL IMU?

This is a very popular 6DOF IMU with no magnetometer, do you think you can extend this library to include this?

Using the algorithm of imuFilter with gyroscope(l3g20h) and accelerometer(lsm303) sensors

Hello @RCmags
I am rewriting the code to assemble it under the stm32f411ceu6 or BlackPill in the Arduino ecosystem.

I receive raw data, process it using the calibration function

calibrateSensor(gyroBias, accelBias);

I normalize the axes like this:
ax = ((aix * ACCEL_RANGE) / ACCEL_SCALE); // 1G
and

gx = ((gix * GYRO_RANGE) / GYRO_SCALE); // DPS
gx *= DEG_TO_RAD; // radians per second

After the filter, I multiply the orientation angles by 57.32 to get the angles(ROLL, PITCH, YAW) in degrees/second again.
I output port data to the serial in a format that is understandable to the visualizer for processing.
And most importantly, as a result, I do not see the “magic” of the Kalman filter.
Orientation angles (yaw generally drifts probably half a degree per second, even the Majwick filter didn’t work that bad), roll also goes away quickly.
Even with a coefficient

#define GAIN 1.0

The algorithm doesn't want to calculate orientation angles based only on the accelerometer, it still uses a gyroscope, otherwise I can't explain the drift I see.

imuFilter.mp4

and

imuFilter_2.mp4

Code below

/*
 This sketch shows to initialize the filter and update it with the imu output. It also shows how to get the euler angles of the estimated heading orientation.
*/

/* NOTE: The accelerometer MUST be calibrated for the fusion to work. Adjust the 
   AX, AY, AND AZ offsets until the sensor reads (0,0,0) at rest. 
*/

#define AHRS_VERSION 13.1

#define PROCESSING
// #define DEBUG

#include <Wire.h>
// library Adafruit LSM303
#include <Adafruit_LSM303.h>
// library  L3DG20
#include <L3G.h>

// #include <basicMPU6050.h>       // Library for IMU sensor. See this link: https://github.com/RCmags/basicMPU6050
    #include <imuFilter.h>            // https://github.com/RCmags/imuFilter/

/* // Gyro settings:
#define         LP_FILTER   3           // Low pass filter.                    Value from 0 to 6
#define         GYRO_SENS   0           // Gyro sensitivity.                   Value from 0 to 3
#define         ACCEL_SENS  0           // Accelerometer sensitivity.          Value from 0 to 3
#define         ADDRESS_A0  LOW         // I2C address from state of A0 pin.   A0 -> GND : ADDRESS_A0 = LOW
                                        //                                     A0 -> 5v  : ADDRESS_A0 = HIGH
// Accelerometer offset:
constexpr int   AX_OFFSET = 0;          // Use these values to calibrate the accelerometer. The sensor should output 1.0g if held level. 
constexpr int   AY_OFFSET = 0;          // These values are unlikely to be zero.
constexpr int   AZ_OFFSET = 0;

//-- Set the template parameters:

basicMPU6050<LP_FILTER,  GYRO_SENS,  ACCEL_SENS, ADDRESS_A0,
             AX_OFFSET,  AY_OFFSET,  AZ_OFFSET
            >imu; */
   
// =========== Settings ===========
imuFilter fusion;

#define G (9.80665)
#define DEG_TO_RAD (M_PI/180)
#define RAD_TO_DEG (180/M_PI)

#define GYRO_RANGE 2000.0f
// #define GYRO_SCALE 28571.4f
#define GYRO_SCALE 32768.0f
#define ACCEL_RANGE 8.0f
#define ACCEL_SCALE 32768.0f

#define STATUS_LED PC13
#define SERIAL_BAUD (115200)

#define GAIN          0.9    /* Fusion gain, value between 0 and 1 - Determines orientation correction with respect to gravity vector.If set to 1 the gyroscope is dissabled. If set to 0 the accelerometer is dissabled (equivant to gyro-only) */

#define SD_ACCEL      0.1     /* Standard deviation of acceleration. Accelerations relative to (0,0,1)g outside of this band are suppresed. Accelerations within this band are used to update the orientation. [Measured in g-force] */                          
            
#define FUSION        true    /* Enable sensor fusion. Setting to "true" enables gravity correction */

int16_t aix, aiy, aiz, gix, giy, giz;// raw
float ax, ay, az, gx, gy, gz, mx, my, mz;// G | deg/s | uGauss
float axX, ayY, azZ, gxX, gyY, gzZ, mxX, myY, mzZ;// m/s^2 | rad/s | microtesla (uT)

float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer

Adafruit_LSM303 lsm303;
// Adafruit_LSM303 lsm303(&Wire1);
L3G gyro;

void setup() {
  Serial.begin(SERIAL_BAUD);
  Wire.begin();

  Serial.print("AHRS ver: "); Serial.println(AHRS_VERSION, 1);

  pinMode(STATUS_LED, OUTPUT);  // Status LED
  digitalWrite(STATUS_LED, HIGH); // stm32f411 led OFF
  
  // Calibrate imu
  // imu.setup();
  // imu.setBias();

  // Adafruit LSM303
	initAccelMag();
	// L3DG20
	initGyro();

  // read accel + mag data
  lsm303.read();
  // read gyro data
  gyro.read();

  calibrateSensor(gyroBias, accelBias);

  #ifdef DEBUG

  Serial.print("gyroBias[0]: ");
  Serial.println(gyroBias[0]);
  Serial.print("gyroBias[1]: ");
  Serial.println(gyroBias[1]);
  Serial.print("gyroBias[2]: ");
  Serial.println(gyroBias[2]);

  Serial.print("accelBias[0]: ");
  Serial.println(accelBias[0]);
  Serial.print("accelBias[1]: ");
  Serial.println(accelBias[1]);
  Serial.print("accelBias[2]: ");
  Serial.println(accelBias[2]);

  delay(2000);

  #endif

  aix = lsm303.accelData.x - accelBias[0]; // RAW X
aiy = lsm303.accelData.y - accelBias[1]; // RAW Y
aiz = lsm303.accelData.z + accelBias[2]; // RAW Z

  ax = ((aix * ACCEL_RANGE) / ACCEL_SCALE); // G
  // ax *= G; // in 9.8 m/s/s
  ay = ((aiy * ACCEL_RANGE) / ACCEL_SCALE); // G
  // ay *= G; // in 9.8 m/s/s
  az = ((aiz * ACCEL_RANGE) / ACCEL_SCALE); // G
  // az *= G; // in 9.8 m/s/s


  #if FUSION
    // Set quaternion with gravity vector
    // fusion.setup( imu.ax(), imu.ay(), imu.az() );     
    fusion.setup( ax, -az, ay );     
  #else 
    // Just use gyro
    fusion.setup();                                   
  #endif
}

void loop() {

  // read accel + mag data
  lsm303.read();
  // read gyro data
  gyro.read();

  aix = lsm303.accelData.x - accelBias[0]; // RAW
	aiy = lsm303.accelData.y - accelBias[1]; // RAW
	aiz = lsm303.accelData.z + accelBias[2]; // RAW

  ax = ((aix * ACCEL_RANGE) / ACCEL_SCALE); // 1G
  // ax *= G; // in 9.8 m/s/s
  ay = ((aiy * ACCEL_RANGE) / ACCEL_SCALE); // 1G
  // ay *= G; // in 9.8 m/s/s
  az = ((aiz * ACCEL_RANGE) / ACCEL_SCALE); // 1G
  // az *= G; // in 9.8 m/s/s

  // Serial.print("ax: ");
  // Serial.println(ax);
  // Serial.print("ay: ");
  // Serial.println(ay);
  // Serial.print("az: ");
  // Serial.println(az);

	gix = gyro.g.x - gyroBias[0];// RAW
	giy = gyro.g.y - gyroBias[1];// RAW
	giz = gyro.g.z - gyroBias[2];// RAW

  gx = ((gix * GYRO_RANGE) / GYRO_SCALE); // DPS
  gx *=  DEG_TO_RAD; // radians per second
  gy = ((giy * GYRO_RANGE) / GYRO_SCALE); // DPS
  gy *=  DEG_TO_RAD; // radians per second
  gz = ((giz * GYRO_RANGE) / GYRO_SCALE); // DPS
  gz *=  DEG_TO_RAD; // radians per second

  #ifdef DEBUG
  Serial.print("aix: ");
  Serial.println(aix);
  Serial.print("aiy: ");
  Serial.println(aiy);
  Serial.print("aiz: ");
  Serial.println(aiz);
  // Serial.print("ax: ");
  // Serial.println(ax);
  // Serial.print("ay: ");
  // Serial.println(ay);
  // Serial.print("az: ");
  // Serial.println(az);
  Serial.print("gix: ");
  Serial.println(gix);
  Serial.print("giy: ");
  Serial.println(giy);
  Serial.print("giz: ");
  Serial.println(giz);
  // Serial.print("gx: ");
  // Serial.println(gx);
  // Serial.print("gy: ")
  // Serial.println(gy);
  // Serial.print("gz: ");
  // Serial.println(gz);
  delay(200);
  #endif

  // Update filter:
  
  #if FUSION
    /* NOTE: GAIN and SD_ACCEL are optional parameters */
    fusion.update( gx, -gz, -gy, ax, az, ay, GAIN, SD_ACCEL );  
  #else
    // Only use gyroscope
    fusion.update( imu.gx(), imu.gy(), imu.gz() );
  #endif

/*   // Display angles:
  Serial.print( fusion.pitch() );
  Serial.print( " " );
  Serial.print( fusion.yaw() );
  Serial.print( " " );
  Serial.print( fusion.roll() );
  
  // timestep
  Serial.print( " " );
  Serial.print( fusion.timeStep(), 6 );
  
  Serial.println();  */

	#ifdef PROCESSING
	
	Serial.print("Orientation: ");
	Serial.print(fusion.pitch() * RAD_TO_DEG); // roll
	Serial.print(" ");
	Serial.print(fusion.roll() * RAD_TO_DEG); // pitch
	Serial.print(" ");
	Serial.println(fusion.yaw() * RAD_TO_DEG); // yaw
	
	#endif

}

bool initAccelMag()
// void initAccelMag()
{

	bool successAccelMag = false;

	if (!lsm303.begin())
	{
	successAccelMag = false;
	#ifdef DEBUG
	Serial.println("Failed to autodetect accel + mag LSM303!");
	#endif
	while (1);
	} else {
	successAccelMag = true;
	#ifdef DEBUG
	Serial.println("Accel + mag LSM303 FOUND!");
	#endif
	}

  lsm303.enable_temperatureSensor();
  // tempRaw = lsm303.get_temperatureData();
	// lsm303.setMagGain(Adafruit_LSM303::LSM303_MAGGAIN_1_3);
	lsm303.setMagGain(Adafruit_LSM303::LSM303_MAGGAIN_8_1);
	// 0x08 = 0b00001000 2g
	// lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG4_A, 0x08);   
	// 0x18 = 0b00011000 4g
	// lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG4_A, 0x18); 
	// 0x28 = 0b00101000 8g
	lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG4_A, 0x28);
	// 0x38 = 0b00111000 16g
	// lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG4_A, 0x38);

	// 0 Boot - 00 HP-Filter - 0 filtered data selection - 0 HP filter enabled for int2 source - 0 HP filter enabled for int1 source -
	// 00 HP Filter Cut off Frequ
	// 0b00000000
    // lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG2_A, 0x00);
    // 0b10000100 - 0x84
    // lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG2_A, 0x84);
    // 0b11111111 - 0xF
    // lsm303.write8(LSM303_ADDRESS_ACCEL, Adafruit_LSM303::LSM303_REGISTER_ACCEL_CTRL_REG2_A, 0xFF);

    lsm303.enable_temperatureSensor();

	return successAccelMag;

}

bool initGyro()
// void initGyro()
{

    bool successGyro = false;

    if (!gyro.init())
    {
    successGyro = false;
    #ifdef DEBUG
    Serial.println("Failed to autodetect gyro L3GD20!");
    #endif
    while (1);
    } else {
    successGyro = true;
    #ifdef DEBUG
    Serial.println("Gyro L3DG20 FOUND!"); 
    #endif
    }
	// enableDefault
    // 0x5F = 0b01011111
	// DR = 01 (190 Hz ODR); BW = 01 (25 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)	
    gyro.enableDefault();
    // gyro.writeReg(L3G::CTRL_REG4, 0x00); // 250 dps full scale 0b0000000
    // gyro.writeReg(L3G::CTRL_REG4, 0x10); // 500 dps full scale 0b00100000
    gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale 0b00110000
    // gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, ODR 95Hz, Cut-Off 12.5 Hz - 0b00001111

	// 0x6F = 0b01101111
	// DR = 01 (190 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
	// gyro.writeReg(L3G::CTRL_REG1, 0x6F);
	// 0xAF = 0b10101111
	// DR = 10 (380 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)  
	// gyro.writeReg(L3G::CTRL_REG1, 0xAF);
	// 0xBF = 0b10111111
	// DR = 10 (380 Hz ODR); BW = 11 (100 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
	gyro.writeReg(L3G::CTRL_REG1, 0xBF);

    return successGyro;

}

// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
void calibrateSensor(float * dest1, float * dest2)
{  
  uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
  uint16_t ii, packet_count, fifo_count;
  int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
 
  // uint16_t  gyrosensitivity  = 131;   // = 131 LSB/degrees/sec
  // uint16_t  accelsensitivity = 16384;  // = 16384 LSB/g
  uint16_t  gyrosensitivity  = GYRO_RANGE;
  uint16_t  accelsensitivity = ACCEL_RANGE;

  fifo_count = 100;
  packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging

  for (ii = 0; ii < packet_count; ii++) {
    int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};

    // Form signed 16-bit integer for each sample in FIFO
    accel_temp[0] = (int16_t) lsm303.accelData.x;
    accel_temp[1] = (int16_t) lsm303.accelData.y;
    accel_temp[2] = (int16_t) lsm303.accelData.z;    
    gyro_temp[0]  = (int16_t) gyro.g.x;
    gyro_temp[1]  = (int16_t) gyro.g.y;
    gyro_temp[2]  = (int16_t) gyro.g.z;
    
    // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
    accel_bias[0] += (int32_t) accel_temp[0];
    accel_bias[1] += (int32_t) accel_temp[1];
    accel_bias[2] += (int32_t) accel_temp[2];
    gyro_bias[0]  += (int32_t) gyro_temp[0];
    gyro_bias[1]  += (int32_t) gyro_temp[1];
    gyro_bias[2]  += (int32_t) gyro_temp[2];
            
}
    // Normalize sums to get average count biases
    accel_bias[0] /= (int32_t) packet_count;
    accel_bias[1] /= (int32_t) packet_count;
    accel_bias[2] /= (int32_t) packet_count;
    gyro_bias[0]  /= (int32_t) packet_count;
    gyro_bias[1]  /= (int32_t) packet_count;
    gyro_bias[2]  /= (int32_t) packet_count;
    
  if(accel_bias[1] > 0L) {accel_bias[1] -= (int32_t) accelsensitivity;}  // Remove gravity from the z-axis accelerometer bias calculation
  else {accel_bias[1] += (int32_t) accelsensitivity;}

// Push gyro biases to hardware registers

  dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
  dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
  dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;

// Output scaled accelerometer biases for manual subtraction in the main program
  dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
  dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
  dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
}

It would be great if you tried to run this code with similar sensors or others, for example icm20948 or bno055.
Let me know if you need a graphic attitude indicator in the processing language, I will send it to you in an archive.
I also plan to test the algorithm based on raw data from the gyroscope and accelerometer from the flight gear simulator, as I did here

https://forum.flightgear.org/viewtopic.php?f=36&t=42308

I would be glad for a little help.

imuFilter with ESP32

Hello,

I'm trying to run basicMPU6050 with ESP32, but I got some errors, hope you can help me with that.
Firstly, for Velocity example, esp32 keep resetting. I tried to debug it and I think this error because of vector data type library.
Secondly, For output example. The readings are not stable at all and keep changes although I didn't move the module at all.

Sorry for your time, I will be very grateful if you can help me. Thanks in advance.

Sincerely,
Zidan

velocity example keeps resetting on teensy 4.0

Hello, the velocity example seems to reset the teensy on the accIntegral fusion; constructor.
I use the vector datatype library in the version 1.3.1 and basicMPU6050 in the version 0.3.0, both installed via Arduino Library management.
Any suggestion is appreciated. Thank you.

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