From fdc5f4e20e937dfa3257493095300a2663b8e0c1 Mon Sep 17 00:00:00 2001
From: Alberto <alberto.nidasio@skywarder.eu>
Date: Mon, 24 Oct 2022 20:59:34 +0200
Subject: [PATCH] [Sensors] Changed angularVelocity in angularSpeed
---
.../shared/sensors/LSM6DS3H/LSM6DS3HData.h | 4 ++--
src/entrypoints/bmx160-calibration-entry.cpp | 5 ++--
src/shared/algorithms/NAS/NAS.cpp | 11 ++++-----
src/shared/algorithms/NAS/NAS.h | 8 +++----
src/shared/sensors/BMX160/BMX160.cpp | 20 ++++++++--------
src/shared/sensors/BMX160/BMX160Data.h | 8 +++----
.../sensors/BMX160/BMX160WithCorrection.cpp | 2 +-
.../sensors/BMX160/BMX160WithCorrectionData.h | 20 +++++++---------
src/shared/sensors/L3GD20/L3GD20Data.h | 8 +++----
src/shared/sensors/MPU9250/MPU9250.cpp | 18 +++++++-------
src/shared/sensors/MPU9250/MPU9250Data.h | 8 +++----
src/shared/sensors/SensorData.h | 23 +++++++++---------
src/shared/sensors/VN100/VN100.cpp | 8 +++----
src/shared/sensors/VN100/VN100Data.h | 10 ++++----
.../SensorDataExtra/SensorDataExtra.cpp | 12 +++++-----
.../algorithms/NAS/test-attitude-parafoil.cpp | 8 +++----
.../algorithms/NAS/test-attitude-stack.cpp | 12 +++++-----
.../algorithms/NAS/test-nas-parafoil.cpp | 8 +++----
.../algorithms/NAS/test-nas-with-triad.cpp | 24 +++++++++----------
src/tests/algorithms/NAS/test-nas.cpp | 8 +++----
.../sensors/test-bmx160-with-correction.cpp | 4 ++--
src/tests/sensors/test-bmx160.cpp | 5 ++--
src/tests/sensors/test-l3gd20-fifo.cpp | 10 ++++----
src/tests/sensors/test-l3gd20.cpp | 8 +++----
src/tests/sensors/test-mpu9250.cpp | 5 ++--
src/tests/sensors/test-vn100.cpp | 4 ++--
src/tests/test-sensormanager.cpp | 14 +++++------
27 files changed, 132 insertions(+), 143 deletions(-)
diff --git a/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h b/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
index d321f0c15..128707df2 100644
--- a/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
+++ b/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
@@ -35,8 +35,8 @@ struct LSM6DS3HData
static std::string header()
{
- return "timestamp,acc_x,acc_y,acc_z,angularVelocityX,angularVelocityY,"
- "angularVelocityZ\n";
+ return "timestamp,acc_x,acc_y,acc_z,angularSpeedX,angularSpeedY,"
+ "angularSpeedZ\n";
}
void print(std::ostream& os) const
diff --git a/src/entrypoints/bmx160-calibration-entry.cpp b/src/entrypoints/bmx160-calibration-entry.cpp
index 07f5f0b32..40e57dc55 100644
--- a/src/entrypoints/bmx160-calibration-entry.cpp
+++ b/src/entrypoints/bmx160-calibration-entry.cpp
@@ -417,9 +417,8 @@ void calibrateGyroscope()
auto data = fifo.at(i);
Logger::getInstance().log(data);
- calibrationModel.feed({data.angularVelocityX,
- data.angularVelocityY,
- data.angularVelocityZ});
+ calibrationModel.feed({data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ});
count++;
}
},
diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 5f745b795..d84b39d31 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -127,12 +127,12 @@ void NAS::predictAcc(const AccelerometerData& acceleration)
acceleration.accelerationZ});
}
-void NAS::predictGyro(const Vector3f& angularVelocity)
+void NAS::predictGyro(const Vector3f& angularSpeed)
{
Vector3f bias = x.block<3, 1>(IDX_BIAS, 0);
Vector4f q = x.block<4, 1>(IDX_QUAT, 0);
- Vector3f omega = angularVelocity - bias;
+ Vector3f omega = angularSpeed - bias;
// clang-format off
Matrix4f omega_mat{
{ 0.0f, omega(2), -omega(1), omega(0)},
@@ -156,11 +156,10 @@ void NAS::predictGyro(const Vector3f& angularVelocity)
P.block<6, 6>(IDX_QUAT, IDX_QUAT) = Pq;
}
-void NAS::predictGyro(const GyroscopeData& angularVelocity)
+void NAS::predictGyro(const GyroscopeData& angularSpeed)
{
- predictGyro(Vector3f{angularVelocity.angularVelocityX,
- angularVelocity.angularVelocityY,
- angularVelocity.angularVelocityZ});
+ predictGyro(Vector3f{angularSpeed.angularSpeedX, angularSpeed.angularSpeedY,
+ angularSpeed.angularSpeedZ});
}
void NAS::correctBaro(const float pressure)
diff --git a/src/shared/algorithms/NAS/NAS.h b/src/shared/algorithms/NAS/NAS.h
index a5f7d0d1a..a200c215b 100644
--- a/src/shared/algorithms/NAS/NAS.h
+++ b/src/shared/algorithms/NAS/NAS.h
@@ -69,16 +69,16 @@ public:
/**
* @brief Prediction with gyroscope data.
*
- * @param angularVelocity Vector with angular velocity data [x y z][rad/s].
+ * @param angularSpeed Vector with angular velocity data [x y z][rad/s].
*/
- void predictGyro(const Eigen::Vector3f& angularVelocity);
+ void predictGyro(const Eigen::Vector3f& angularSpeed);
/**
* @brief Prediction with gyroscope data.
*
- * @param angularVelocity Gyroscope data [rad/s].
+ * @param angularSpeed Gyroscope data [rad/s].
*/
- void predictGyro(const GyroscopeData& angularVelocity);
+ void predictGyro(const GyroscopeData& angularSpeed);
/**
* @brief Correction with barometer data.
diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index 2a40cdcaf..41aea4459 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -31,19 +31,19 @@ namespace Boardcore
BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config)
: BMX160(bus, cs, config, SPIBusConfig{})
{
- spiSlave.config.clockDivider = SPI::ClockDivider::DIV_32;
- oldMag.magneticFieldTimestamp = 0.0f;
- oldGyr.angularVelocityTimestamp = 0.0f;
- oldAcc.accelerationTimestamp = 0.0f;
+ spiSlave.config.clockDivider = SPI::ClockDivider::DIV_32;
+ oldMag.magneticFieldTimestamp = 0.0f;
+ oldGyr.angularSpeedTimestamp = 0.0f;
+ oldAcc.accelerationTimestamp = 0.0f;
}
BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config,
SPIBusConfig bus_config)
: spiSlave(bus, cs, bus_config), config(config)
{
- oldMag.magneticFieldTimestamp = 0.0f;
- oldGyr.angularVelocityTimestamp = 0.0f;
- oldAcc.accelerationTimestamp = 0.0f;
+ oldMag.magneticFieldTimestamp = 0.0f;
+ oldGyr.angularSpeedTimestamp = 0.0f;
+ oldAcc.accelerationTimestamp = 0.0f;
}
bool BMX160::init()
@@ -732,8 +732,8 @@ void BMX160::readFifo(bool headerless)
// current frame.
if (oldMag.magneticFieldTimestamp != 0)
oldMag.magneticFieldTimestamp -= interruptTimestampDelta;
- if (oldGyr.angularVelocityTimestamp != 0)
- oldGyr.angularVelocityTimestamp -= interruptTimestampDelta;
+ if (oldGyr.angularSpeedTimestamp != 0)
+ oldGyr.angularSpeedTimestamp -= interruptTimestampDelta;
if (oldAcc.accelerationTimestamp != 0)
oldAcc.accelerationTimestamp -= interruptTimestampDelta;
@@ -865,7 +865,7 @@ void BMX160::readFifo(bool headerless)
{
lastFifo[i].accelerationTimestamp +=
lastInterruptTimestamp - watermarkTimestamp;
- lastFifo[i].angularVelocityTimestamp +=
+ lastFifo[i].angularSpeedTimestamp +=
lastInterruptTimestamp - watermarkTimestamp;
lastFifo[i].magneticFieldTimestamp +=
lastInterruptTimestamp - watermarkTimestamp;
diff --git a/src/shared/sensors/BMX160/BMX160Data.h b/src/shared/sensors/BMX160/BMX160Data.h
index 5347ad81c..bc2c33160 100644
--- a/src/shared/sensors/BMX160/BMX160Data.h
+++ b/src/shared/sensors/BMX160/BMX160Data.h
@@ -45,8 +45,8 @@ struct BMX160Data : public AccelerometerData,
static std::string header()
{
return "accelerationTimestamp,accelerationX,accelerationY,"
- "accelerationZ,angularVelocityTimestamp,angularVelocityX,"
- "angularVelocityY,angularVelocityZ,magneticFieldTimestamp,"
+ "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+ "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
"magneticFieldX,magneticFieldY,magneticFieldZ\n";
}
@@ -54,8 +54,8 @@ struct BMX160Data : public AccelerometerData,
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
index 5246aa3b2..ba68500bb 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
+++ b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
@@ -117,7 +117,7 @@ BMX160WithCorrectionData BMX160WithCorrection::sampleImpl()
static_cast<AccelerometerData&>(result) << avgAccel;
result.magneticFieldTimestamp = fifoElement.accelerationTimestamp;
static_cast<MagnetometerData&>(result) << avgMag;
- result.angularVelocityTimestamp = fifoElement.accelerationTimestamp;
+ result.angularSpeedTimestamp = fifoElement.accelerationTimestamp;
static_cast<GyroscopeData&>(result) << (avgGyro - gyroscopeBias);
if (calibrating)
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
index 65a737f5a..c3e22c094 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
+++ b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
@@ -52,9 +52,9 @@ struct BMX160WithCorrectionData : public BMX160Data
BMX160WithCorrectionData& operator=(GyroscopeData gyr)
{
- angularVelocityX = gyr.angularVelocityX;
- angularVelocityY = gyr.angularVelocityY;
- angularVelocityZ = gyr.angularVelocityZ;
+ angularSpeedX = gyr.angularSpeedX;
+ angularSpeedY = gyr.angularSpeedY;
+ angularSpeedZ = gyr.angularSpeedZ;
return *this;
}
@@ -69,21 +69,17 @@ struct BMX160WithCorrectionData : public BMX160Data
static std::string header()
{
return "accelerationTimestamp,accelerationX,accelerationY,"
- "accelerationZ,gyro_"
- "timestamp,"
- "angularVelocityX,"
- "angularVelocityY,"
- "angularVelocityZ,magneticFieldTimestamp,magneticFieldX,"
- "magneticFieldY,"
- "magneticFieldZ\n";
+ "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+ "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
+ "magneticFieldX,magneticFieldY,magneticFieldZ\n";
}
void print(std::ostream& os) const
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
diff --git a/src/shared/sensors/L3GD20/L3GD20Data.h b/src/shared/sensors/L3GD20/L3GD20Data.h
index fa8e08955..e46833302 100644
--- a/src/shared/sensors/L3GD20/L3GD20Data.h
+++ b/src/shared/sensors/L3GD20/L3GD20Data.h
@@ -41,14 +41,14 @@ struct L3GD20Data : public GyroscopeData
static std::string header()
{
- return "angularVelocityTimestamp,angularVelocityX,angularVelocityY,"
- "angularVelocityZ\n";
+ return "angularSpeedTimestamp,angularSpeedX,angularSpeedY,"
+ "angularSpeedZ\n";
}
void print(std::ostream& os) const
{
- os << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << "\n";
+ os << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << "\n";
}
};
diff --git a/src/shared/sensors/MPU9250/MPU9250.cpp b/src/shared/sensors/MPU9250/MPU9250.cpp
index 23c98cd7c..512bbbea3 100644
--- a/src/shared/sensors/MPU9250/MPU9250.cpp
+++ b/src/shared/sensors/MPU9250/MPU9250.cpp
@@ -111,11 +111,11 @@ MPU9250Data MPU9250::sampleImpl()
}
// Save timestamps
- uint64_t timestamp = TimestampTimer::getTimestamp();
- data.accelerationTimestamp = timestamp;
- data.temperatureTimestamp = timestamp;
- data.angularVelocityTimestamp = timestamp;
- data.magneticFieldTimestamp = timestamp;
+ uint64_t timestamp = TimestampTimer::getTimestamp();
+ data.accelerationTimestamp = timestamp;
+ data.temperatureTimestamp = timestamp;
+ data.angularSpeedTimestamp = timestamp;
+ data.magneticFieldTimestamp = timestamp;
// Save data
data.accelerationX =
@@ -124,10 +124,10 @@ MPU9250Data MPU9250::sampleImpl()
normalizeAcceleration(swapBytes16(rawData.bits.accelY));
data.accelerationZ =
normalizeAcceleration(swapBytes16(rawData.bits.accelZ));
- data.temperature = normalizeTemperature(swapBytes16(rawData.bits.temp));
- data.angularVelocityX = normalizeGyroscope(swapBytes16(rawData.bits.gyroX));
- data.angularVelocityY = normalizeGyroscope(swapBytes16(rawData.bits.gyroY));
- data.angularVelocityZ = normalizeGyroscope(swapBytes16(rawData.bits.gyroZ));
+ data.temperature = normalizeTemperature(swapBytes16(rawData.bits.temp));
+ data.angularSpeedX = normalizeGyroscope(swapBytes16(rawData.bits.gyroX));
+ data.angularSpeedY = normalizeGyroscope(swapBytes16(rawData.bits.gyroY));
+ data.angularSpeedZ = normalizeGyroscope(swapBytes16(rawData.bits.gyroZ));
data.magneticFieldX =
normalizeMagnetometer(rawData.bits.magX, magSensAdjCoeff[0]);
data.magneticFieldY =
diff --git a/src/shared/sensors/MPU9250/MPU9250Data.h b/src/shared/sensors/MPU9250/MPU9250Data.h
index 2f7837b93..45e314b33 100644
--- a/src/shared/sensors/MPU9250/MPU9250Data.h
+++ b/src/shared/sensors/MPU9250/MPU9250Data.h
@@ -43,8 +43,8 @@ struct MPU9250Data : public AccelerometerData,
return "accelerationTimestamp,accelerationX,accelerationY,"
"accelerationZ,gyro_"
"timestamp,"
- "angularVelocityX,"
- "angularVelocityY,angularVelocityZ,magneticFieldTimestamp,"
+ "angularSpeedX,"
+ "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
"magneticFieldX,"
"magneticFieldY,"
"magneticFieldZ,"
@@ -56,8 +56,8 @@ struct MPU9250Data : public AccelerometerData,
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << ","
<< temperatureTimestamp << "," << temperature << "\n";
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index 8c79d8be7..002ca80a7 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -150,41 +150,40 @@ struct AccelerometerData
*/
struct GyroscopeData
{
- uint64_t angularVelocityTimestamp = 0;
- float angularVelocityX = 0;
- float angularVelocityY = 0;
- float angularVelocityZ = 0;
+ uint64_t angularSpeedTimestamp = 0;
+ float angularSpeedX = 0;
+ float angularSpeedY = 0;
+ float angularSpeedZ = 0;
GyroscopeData() {}
GyroscopeData(uint64_t timestamp, float x, float y, float z)
- : angularVelocityTimestamp(timestamp), angularVelocityX(x),
- angularVelocityY(y), angularVelocityZ(z)
+ : angularSpeedTimestamp(timestamp), angularSpeedX(x), angularSpeedY(y),
+ angularSpeedZ(z)
{
}
GyroscopeData(const GyroscopeData& data) = default;
explicit GyroscopeData(const Eigen::Vector3f& vel)
- : angularVelocityX(vel(0)), angularVelocityY(vel(1)),
- angularVelocityZ(vel(2))
+ : angularSpeedX(vel(0)), angularSpeedY(vel(1)), angularSpeedZ(vel(2))
{
}
static std::string header()
{
- return "timestamp,angularVelocityX,angularVelocityY,angularVelocityZ\n";
+ return "timestamp,angularSpeedX,angularSpeedY,angularSpeedZ\n";
}
void print(std::ostream& os) const
{
- os << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << "\n";
+ os << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << "\n";
}
operator Eigen::Vector3f() const
{
- return {angularVelocityX, angularVelocityY, angularVelocityZ};
+ return {angularSpeedX, angularSpeedY, angularSpeedZ};
}
};
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index 5ee4019dc..826d51f85 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -578,10 +578,10 @@ GyroscopeData VN100::sampleGyroscope()
}
// Parse the data
- data.angularVelocityTimestamp = TimestampTimer::getTimestamp();
- data.angularVelocityX = strtod(recvString + indexStart + 1, &nextNumber);
- data.angularVelocityY = strtod(nextNumber + 1, &nextNumber);
- data.angularVelocityZ = strtod(nextNumber + 1, NULL);
+ data.angularSpeedTimestamp = TimestampTimer::getTimestamp();
+ data.angularSpeedX = strtod(recvString + indexStart + 1, &nextNumber);
+ data.angularSpeedY = strtod(nextNumber + 1, &nextNumber);
+ data.angularSpeedZ = strtod(nextNumber + 1, NULL);
return data;
}
diff --git a/src/shared/sensors/VN100/VN100Data.h b/src/shared/sensors/VN100/VN100Data.h
index 210a3b82d..319a7621b 100644
--- a/src/shared/sensors/VN100/VN100Data.h
+++ b/src/shared/sensors/VN100/VN100Data.h
@@ -83,9 +83,9 @@ struct VN100Data : public QuaternionData,
return "quatTimestamp,quatX,quatY,quatZ,quatW,magneticFieldTimestamp,"
"magneticFieldX,magneticFieldY,magneticFieldZ,"
"accelerationTimestamp,accelerationX,accelerationY,"
- "accelerationZ,gyro_timestamp,angularVelocityX,angularVelocityY,"
- "angularVelocityZ,temperatureTimestamp,temperature,"
- "pressureTimestamp,pressure\n";
+ "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+ "angularSpeedY,angularSpeedZ,temperatureTimestamp,"
+ "temperature,pressureTimestamp,pressure\n";
}
void print(std::ostream& os) const
@@ -95,8 +95,8 @@ struct VN100Data : public QuaternionData,
<< magneticFieldX << "," << magneticFieldY << "," << magneticFieldZ
<< "," << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< temperatureTimestamp << "," << temperature << ","
<< pressureTimestamp << "," << pressure << "\n";
}
diff --git a/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp b/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
index ed69028b1..faaf8caea 100644
--- a/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
+++ b/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
@@ -43,16 +43,16 @@ void operator<<(Eigen::Vector3f& lhs, const AccelerometerData& rhs)
void operator<<(GyroscopeData& lhs, const Vector3f& rhs)
{
- lhs.angularVelocityX = rhs[0];
- lhs.angularVelocityY = rhs[1];
- lhs.angularVelocityZ = rhs[2];
+ lhs.angularSpeedX = rhs[0];
+ lhs.angularSpeedY = rhs[1];
+ lhs.angularSpeedZ = rhs[2];
}
void operator<<(Eigen::Vector3f& lhs, const GyroscopeData& rhs)
{
- lhs[0] = rhs.angularVelocityX;
- lhs[1] = rhs.angularVelocityY;
- lhs[2] = rhs.angularVelocityZ;
+ lhs[0] = rhs.angularSpeedX;
+ lhs[1] = rhs.angularSpeedY;
+ lhs[2] = rhs.angularSpeedZ;
}
void operator<<(MagnetometerData& lhs, const Vector3f& rhs)
diff --git a/src/tests/algorithms/NAS/test-attitude-parafoil.cpp b/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
index 2fc066cbe..3af6f6222 100644
--- a/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
@@ -111,8 +111,8 @@ void imuStep()
auto data = imu->getLastSample();
Vector3f acceleration(data.accelerationX, data.accelerationY,
data.accelerationZ);
- Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ);
Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
data.magneticFieldZ);
@@ -120,7 +120,7 @@ void imuStep()
{
Vector3f bias(0.0218462708018154, 0.0281755574886535,
0.0264119470499244);
- angularVelocity -= bias;
+ angularSpeed -= bias;
Vector3f offset(15.9850903462129, -15.6775071377074, -33.8438469147423);
magneticField -= offset;
magneticField = {magneticField[1], magneticField[0], -magneticField[2]};
@@ -130,7 +130,7 @@ void imuStep()
magneticField.normalize();
// Predict step
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
// Correct step
nas->correctMag(magneticField);
diff --git a/src/tests/algorithms/NAS/test-attitude-stack.cpp b/src/tests/algorithms/NAS/test-attitude-stack.cpp
index 58fa874f5..00d0145f7 100644
--- a/src/tests/algorithms/NAS/test-attitude-stack.cpp
+++ b/src/tests/algorithms/NAS/test-attitude-stack.cpp
@@ -132,16 +132,16 @@ void imuStep()
auto data = imu->getLastSample();
Vector3f acceleration(data.accelerationX, data.accelerationY,
data.accelerationZ);
- Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ);
Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
data.magneticFieldZ);
// Calibration
{
Vector3f offset{-1.63512255486542, 3.46523431469979, -3.08516033954451};
- angularVelocity = angularVelocity - offset;
- angularVelocity = angularVelocity / 180 * Constants::PI / 10;
+ angularSpeed = angularSpeed - offset;
+ angularSpeed = angularSpeed / 180 * Constants::PI / 10;
Vector3f b{21.5356818859811, -22.7697302909894, -2.68219304319269};
Matrix3f A{{0.688760050772712, 0, 0},
{0, 0.637715211784480, 0},
@@ -153,13 +153,13 @@ void imuStep()
magneticField.normalize();
// Predict step
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
// Correct step
nas->correctMag(magneticField);
nas->correctAcc(acceleration);
- // std::cout << acceleration.transpose() << angularVelocity.transpose()
+ // std::cout << acceleration.transpose() << angularSpeed.transpose()
// << magneticField.transpose() << std::endl;
auto nasState = nas->getState();
diff --git a/src/tests/algorithms/NAS/test-nas-parafoil.cpp b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
index be943b057..7af7e41c3 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -129,8 +129,8 @@ void step()
Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
imuData.accelerationZ);
- Vector3f angularVelocity(imuData.angularVelocityX, imuData.angularVelocityY,
- imuData.angularVelocityZ);
+ Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+ imuData.angularSpeedZ);
Vector3f magneticField(imuData.magneticFieldX, imuData.magneticFieldY,
imuData.magneticFieldZ);
@@ -146,14 +146,14 @@ void step()
Vector3f biasAcc(-0.1255, 0.2053, -0.2073);
acceleration -= biasAcc;
Vector3f bias(-0.0291, 0.0149, 0.0202);
- angularVelocity -= bias;
+ angularSpeed -= bias;
Vector3f offset(15.9850903462129, -15.6775071377074, -33.8438469147423);
magneticField -= offset;
magneticField = {magneticField[1], magneticField[0], -magneticField[2]};
}
// Predict step
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
if (gpsPos[0] < 1e3 && gpsPos[0] > -1e3 && gpsPos[1] < 1e3 &&
gpsPos[1] > -1e3)
nas->predictAcc(acceleration);
diff --git a/src/tests/algorithms/NAS/test-nas-with-triad.cpp b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
index a940738f6..fb5c1c20f 100644
--- a/src/tests/algorithms/NAS/test-nas-with-triad.cpp
+++ b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
@@ -128,8 +128,8 @@ void bmxCallback()
auto data = bmx160->getLastSample();
Vector3f acceleration(data.accelerationX, data.accelerationY,
data.accelerationZ);
- Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ);
Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
data.magneticFieldZ);
@@ -137,8 +137,8 @@ void bmxCallback()
Vector3f acc_b(0.3763 + 0.094, -0.1445 - 0.0229, -0.1010 + 0.0150);
acceleration -= acc_b;
Vector3f gyro_b{-1.63512255486542, 3.46523431469979, -3.08516033954451};
- angularVelocity = angularVelocity - gyro_b;
- angularVelocity = angularVelocity / 180 * Constants::PI / 10;
+ angularSpeed = angularSpeed - gyro_b;
+ angularSpeed = angularSpeed / 180 * Constants::PI / 10;
Vector3f mag_b{21.0730033648425, -24.3997259703105, -2.32621524742862};
Matrix3f A{{0.659926504672263, 0, 0},
{0, 0.662442130094073, 0},
@@ -182,11 +182,11 @@ void bmxCallback()
// Predict step
{
// nas->predictAcc(acceleration);
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
- data.angularVelocityX = angularVelocity[0];
- data.angularVelocityY = angularVelocity[1];
- data.angularVelocityZ = angularVelocity[2];
+ data.angularSpeedX = angularSpeed[0];
+ data.angularSpeedY = angularSpeed[1];
+ data.angularSpeedZ = angularSpeed[2];
}
// Correct step
@@ -201,10 +201,10 @@ void bmxCallback()
auto nasState = nas->getState();
- nasState.timestamp = TimestampTimer::getTimestamp();
- data.accelerationTimestamp = nasState.timestamp;
- data.magneticFieldTimestamp = nasState.timestamp;
- data.angularVelocityTimestamp = nasState.timestamp;
+ nasState.timestamp = TimestampTimer::getTimestamp();
+ data.accelerationTimestamp = nasState.timestamp;
+ data.magneticFieldTimestamp = nasState.timestamp;
+ data.angularSpeedTimestamp = nasState.timestamp;
// Logger::getInstance().log(nasState);
// Logger::getInstance().log(data);
diff --git a/src/tests/algorithms/NAS/test-nas.cpp b/src/tests/algorithms/NAS/test-nas.cpp
index 306026834..c62f60ffc 100644
--- a/src/tests/algorithms/NAS/test-nas.cpp
+++ b/src/tests/algorithms/NAS/test-nas.cpp
@@ -151,14 +151,14 @@ void step()
Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
imuData.accelerationZ);
- Vector3f angularVelocity(imuData.angularVelocityX, imuData.angularVelocityY,
- imuData.angularVelocityZ);
+ Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+ imuData.angularSpeedZ);
Vector3f magneticField(imuData.magneticFieldX, imuData.magneticFieldY,
imuData.magneticFieldZ);
// Calibration
{
- angularVelocity -= Vector3f{-0.00863, 0.00337, 0.01284};
+ angularSpeed -= Vector3f{-0.00863, 0.00337, 0.01284};
Matrix3f A{{0.66306, 0, 0}, {0, 0.66940, 0}, {0, 0, 2.25299}};
Vector3f b{40.70668, -17.83740, -13.52012};
@@ -187,7 +187,7 @@ void step()
}
// Predict step
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
nas->predictAcc(acceleration);
// Correct step
diff --git a/src/tests/sensors/test-bmx160-with-correction.cpp b/src/tests/sensors/test-bmx160-with-correction.cpp
index 015df9635..db14f2c96 100644
--- a/src/tests/sensors/test-bmx160-with-correction.cpp
+++ b/src/tests/sensors/test-bmx160-with-correction.cpp
@@ -302,8 +302,8 @@ SixParametersCorrector calibrateGyroscope(SixParametersCorrector corr)
auto data = fifo.at(i);
Logger::getInstance().log(data);
- Vector3f gyro = {data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ};
+ Vector3f gyro = {data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ};
avgGyro = (avgGyro * count + gyro) / (count + 1);
count++;
diff --git a/src/tests/sensors/test-bmx160.cpp b/src/tests/sensors/test-bmx160.cpp
index 36e04b704..27f3f332f 100644
--- a/src/tests/sensors/test-bmx160.cpp
+++ b/src/tests/sensors/test-bmx160.cpp
@@ -114,9 +114,8 @@ int main()
data.magneticFieldZ);
printf("Gyr [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
- data.angularVelocityTimestamp / 1000000.0f,
- data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ data.angularSpeedTimestamp / 1000000.0f, data.angularSpeedX,
+ data.angularSpeedY, data.angularSpeedZ);
printf("Acc [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
data.accelerationTimestamp / 1000000.0f, data.accelerationX,
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index 24e2c4d3a..faa927dbb 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -219,13 +219,13 @@ int main()
// clang-format off
printf("%d,%llu,%llu,%llu,%llu,%f,%f,%f,%.2f\n",
data[i].fifoNum,
- data[i].gyro.angularVelocityTimestamp,
+ data[i].gyro.angularSpeedTimestamp,
data[i].wtmDelta,
data[i].update,
- (data[i].gyro.angularVelocityTimestamp - data[i - 1].gyro.angularVelocityTimestamp),
- data[i].gyro.angularVelocityX,
- data[i].gyro.angularVelocityY,
- data[i].gyro.angularVelocityZ,
+ (data[i].gyro.angularSpeedTimestamp - data[i - 1].gyro.angularSpeedTimestamp),
+ data[i].gyro.angularSpeedX,
+ data[i].gyro.angularSpeedY,
+ data[i].gyro.angularSpeedZ,
data[i].cpu);
// clang-format on
}
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index 33d4134e2..1ce300bf7 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -147,7 +147,7 @@ int main()
L3GD20Data d = gyro->getLastSample();
// Store the sample in the array, togheter with other useful data
- data[dataCounter++] = {d.angularVelocityTimestamp, sampleDelta, d,
+ data[dataCounter++] = {d.angularSpeedTimestamp, sampleDelta, d,
CpuMeter::getCpuStats().mean};
// Wait until SAMPLE_PERIOD milliseconds from the start of this
@@ -166,9 +166,9 @@ int main()
TimerUtils::toIntMicroSeconds(
TimestampTimer::timestampTimer.getTimer(), data[i].sampleDelta),
(data[i].timestamp - data[i - 1].timestamp),
- data[i].data.angularVelocityX,
- data[i].data.angularVelocityY,
- data[i].data.angularVelocityZ,
+ data[i].data.angularSpeedX,
+ data[i].data.angularSpeedY,
+ data[i].data.angularSpeedZ,
data[i].cpu);
// clang-format on
}
diff --git a/src/tests/sensors/test-mpu9250.cpp b/src/tests/sensors/test-mpu9250.cpp
index 03e798fa2..4a334572e 100644
--- a/src/tests/sensors/test-mpu9250.cpp
+++ b/src/tests/sensors/test-mpu9250.cpp
@@ -72,9 +72,8 @@ int main()
MPU9250Data data = mpu9250.getLastSample();
printf("%lld,%f,%f,%f;", data.accelerationTimestamp, data.accelerationX,
data.accelerationY, data.accelerationZ);
- printf("%lld,%f,%f,%f;", data.angularVelocityTimestamp,
- data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ printf("%lld,%f,%f,%f;", data.angularSpeedTimestamp, data.angularSpeedX,
+ data.angularSpeedY, data.angularSpeedZ);
printf("%lld,%f,%f,%f\n", data.magneticFieldTimestamp,
data.magneticFieldX, data.magneticFieldY, data.magneticFieldZ);
diff --git a/src/tests/sensors/test-vn100.cpp b/src/tests/sensors/test-vn100.cpp
index df1d1870e..991f26650 100644
--- a/src/tests/sensors/test-vn100.cpp
+++ b/src/tests/sensors/test-vn100.cpp
@@ -61,8 +61,8 @@ int main()
printf("acc: %" PRIu64 ", %.3f, %.3f, %.3f\n",
sample.accelerationTimestamp, sample.accelerationX,
sample.accelerationY, sample.accelerationZ);
- printf("ang: %.3f, %.3f, %.3f\n", sample.angularVelocityX,
- sample.angularVelocityY, sample.angularVelocityZ);
+ printf("ang: %.3f, %.3f, %.3f\n", sample.angularSpeedX,
+ sample.angularSpeedY, sample.angularSpeedZ);
sensor.sampleRaw();
sampleRaw = sensor.getLastRawSample();
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index 011941abb..644d70ae6 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -105,8 +105,8 @@ struct MySensorDataFIFO : public AccelerometerData, public GyroscopeData
MySensorDataFIFO(AccelerometerData acc, GyroscopeData gyro)
: AccelerometerData{TimestampTimer::getTimestamp(), acc.accelerationX,
acc.accelerationY, acc.accelerationZ},
- GyroscopeData{TimestampTimer::getTimestamp(), gyro.angularVelocityX,
- gyro.angularVelocityY, gyro.angularVelocityZ}
+ GyroscopeData{TimestampTimer::getTimestamp(), gyro.angularSpeedX,
+ gyro.angularSpeedY, gyro.angularSpeedZ}
{
}
};
@@ -131,9 +131,8 @@ public:
TRACE("Accel : %llu %f %f %f \n", acc.accelerationTimestamp,
acc.accelerationX, acc.accelerationY, acc.accelerationZ);
- TRACE("Gyro : %llu %f %f %f \n", gyro.angularVelocityTimestamp,
- gyro.angularVelocityX, gyro.angularVelocityY,
- gyro.angularVelocityZ);
+ TRACE("Gyro : %llu %f %f %f \n", gyro.angularSpeedTimestamp,
+ gyro.angularSpeedX, gyro.angularSpeedY, gyro.angularSpeedZ);
Thread::sleep(5);
}
@@ -269,9 +268,8 @@ int main()
TRACE("AccelProxy : %llu %f %f %f \n", data.accelerationTimestamp,
data.accelerationX, data.accelerationY, data.accelerationZ);
- TRACE("GyroProxy : %llu %f %f %f \n", data.angularVelocityTimestamp,
- data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ TRACE("GyroProxy : %llu %f %f %f \n", data.angularSpeedTimestamp,
+ data.angularSpeedX, data.angularSpeedY, data.angularSpeedZ);
Thread::sleep(1000);
}
--
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