void SensorFusion::reset(const Eigen::Vector3f& accel, const Eigen::Vector3f& magnetom)
{
G_Dt = 0;
Eigen::Vector3f temp1;
Eigen::Vector3f temp2;
Eigen::Vector3f xAxis;
xAxis << 1.0f, 0.0f, 0.0f;
timestamp = highResClock.now();
// GET PITCH
// Using y-z-plane-component/x-component of gravity vector
pitch = -atan2f(accel(0), sqrtf(accel(1) * accel(1) + accel(2) * accel(2)));
// GET ROLL
// Compensate pitch of gravity vector
temp1 = accel.cross(xAxis);
temp2 = xAxis.cross(temp1);
// Normally using x-z-plane-component/y-component of compensated gravity vector
// roll = atan2(temp2[1], sqrt(temp2[0] * temp2[0] + temp2[2] * temp2[2]));
// Since we compensated for pitch, x-z-plane-component equals z-component:
roll = atan2f(temp2(1), temp2(2));
// GET YAW
compassHeading(magnetom);
yaw = magHeading;
// Init rotation matrix
init_rotation_matrix(dcmMatrix, yaw, pitch, roll);
}
// Read every sensor and record a time stamp
// Init DCM with unfiltered orientation
// TODO re-init global vars?
void reset_sensor_fusion() {
float temp1[3];
float temp2[3];
float xAxis[] = { 1.0f, 0.0f, 0.0f };
read_sensors();
timestamp = millis();
// GET PITCH
// Using y-z-plane-component/x-component of gravity vector
pitch = -atan2(accel[0], sqrt(accel[1] * accel[1] + accel[2] * accel[2]));
// GET ROLL
// Compensate pitch of gravity vector
Vector_Cross_Product(temp1, accel, xAxis);
Vector_Cross_Product(temp2, xAxis, temp1);
// Normally using x-z-plane-component/y-component of compensated gravity vector
// roll = atan2(temp2[1], sqrt(temp2[0] * temp2[0] + temp2[2] * temp2[2]));
// Since we compensated for pitch, x-z-plane-component equals z-component:
roll = atan2(temp2[1], temp2[2]);
// GET YAW
Compass_Heading();
yaw = MAG_Heading;
// Init rotation matrix
init_rotation_matrix(DCM_Matrix, yaw, pitch, roll);
}
