nl_tokens: --------------------------------------------------------------------------------------------------- AHRS algorithm update
pl_tokens: function mahonyAHRSupdate ( gx , gy , gz , ax , ay , az , mx , my , mz , deltaTimeSec ) { recipSampleFreq = deltaTimeSec || recipSampleFreq ; let recipNorm ; let q0q0 , q0q1 , q0q2 , q0q3 , q1q1 , q1q2 , q1q3 , q2q2 , q2q3 , q3q3 ; let hx , hy , bx , bz ; let halfvx , halfvy , halfvz , halfwx , halfwy , halfwz ; let halfex , halfey , halfez ; // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation) if ( mx === undefined || my === undefined || mz === undefined || ( mx === 0 && my === 0 && mz === 0 ) ) { mahonyAHRSupdateIMU ( gx , gy , gz , ax , ay , az ) ; <mask> ; } // Compute feedback only if accelerometer measurement valid (afunctions NaN in accelerometer normalisation) if ( ax !== 0 && ay !== 0 && az !== 0 ) { // Normalise accelerometer measurement recipNorm = ( ax * ax + ay * ay + az * az ) ** - 0.5 ; ax *= recipNorm ; ay *= recipNorm ; az *= recipNorm ; // Normalise magnetometer measurement recipNorm = ( mx * mx + my * my + mz * mz ) ** - 0.5 ; mx *= recipNorm ; my *= recipNorm ; mz *= recipNorm ; // Auxiliary variables to afunction repeated arithmetic q0q0 = q0 * q0 ; q0q1 = q0 * q1 ; q0q2 = q0 * q2 ; q0q3 = q0 * q3 ; q1q1 = q1 * q1 ; q1q2 = q1 * q2 ; q1q3 = q1 * q3 ; q2q2 = q2 * q2 ; q2q3 = q2 * q3 ; q3q3 = q3 * q3 ; // Reference direction of Earth's magnetic field hx = 2.0 * ( mx * ( 0.5 - q2q2 - q3q3 ) + my * ( q1q2 - q0q3 ) + mz * ( q1q3 + q0q2 ) ) ; hy = 2.0 * ( mx * ( q1q2 + q0q3 ) + my * ( 0.5 - q1q1 - q3q3 ) + mz * ( q2q3 - q0q1 ) ) ; bx = Math . sqrt ( hx * hx + hy * hy ) ; bz = 2.0 * ( mx * ( q1q3 - q0q2 ) + my * ( q2q3 + q0q1 ) + mz * ( 0.5 - q1q1 - q2q2 ) ) ; // Estimated direction of gravity and magnetic field halfvx = q1q3 - q0q2 ; halfvy = q0q1 + q2q3 ; halfvz = q0q0 - 0.5 + q3q3 ; halfwx = bx * ( 0.5 - q2q2 - q3q3 ) + bz * ( q1q3 - q0q2 ) ; halfwy = bx * ( q1q2 - q0q3 ) + bz * ( q0q1 + q2q3 ) ; halfwz = bx * ( q0q2 + q1q3 ) + bz * ( 0.5 - q1q1 - q2q2 ) ; // Error is sum of cross product between estimated direction and measured direction of field vectors halfex = ay * halfvz - az * halfvy + ( my * halfwz - mz * halfwy ) ; halfey = az * halfvx - ax * halfvz + ( mz * halfwx - mx * halfwz ) ; halfez = ax * halfvy - ay * halfvx + ( mx * halfwy - my * halfwx ) ; // Compute and apply integral feedback if enabled if ( twoKi > 0.0 ) { integralFBx += twoKi * halfex * recipSampleFreq ; // integral error scaled by Ki integralFBy += twoKi * halfey * recipSampleFreq ; integralFBz += twoKi * halfez * recipSampleFreq ; gx += integralFBx ; // apply integral feedback gy += integralFBy ; gz += integralFBz ; } else { integralFBx = 0.0 ; // prevent integral windup integralFBy = 0.0 ; integralFBz = 0.0 ; } // Apply proportional feedback gx += twoKp * halfex ; gy += twoKp * halfey ; gz += twoKp * halfez ; } // Integrate rate of change of quaternion gx *= 0.5 * recipSampleFreq ; // pre-multiply common factors gy *= 0.5 * recipSampleFreq ; gz *= 0.5 * recipSampleFreq ; const qa = q0 ; const qb = q1 ; const qc = q2 ; q0 += - qb * gx - qc * gy - q3 * gz ; q1 += qa * gx + qc * gz - q3 * gy ; q2 += qa * gy - qb * gz + q3 * gx ; q3 += qa * gz + qb * gy - qc * gx ; // Normalise quaternion recipNorm = ( q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3 ) ** - 0.5 ; q0 *= recipNorm ; q1 *= recipNorm ; q2 *= recipNorm ; q3 *= recipNorm ; }