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Merge pull request #1127 from paparazzi/ahrs_infrared_module

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convert AHRS infrared to module

tested and working
This commit is contained in:
Gautier Hattenberger
2015-03-03 17:43:44 +01:00
parent eeb340fa07 a4da623375
commit 3f2c26577c
24 changed files with 68 additions and 77 deletions
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conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
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@@ -18,7 +18,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -36,6 +35,7 @@
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
<!--load name="ins_vn100.xml"/-->
</modules>
conf/airframes/LAAS/mmlaas_N1.xml
+9 -9
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@@ -21,7 +21,6 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -34,15 +33,16 @@
<modules>
<load name="formation_flight.xml"/>
<!-- <load name="tcas.xml"/> -->
<!-- <load name="tcas.xml"/> -->
<!--load name="potential.xml"/-->
<load name="cartography.xml"/>
<load name="infrared_adc.xml">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
</modules>
<load name="cartography.xml"/>
<load name="infrared_adc.xml">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
<load name="ahrs_infrared.xml"/>
</modules>
conf/airframes/LAAS/mmlaas_N2.xml
+1 -1
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@@ -21,7 +21,6 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -41,6 +40,7 @@
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/airframes/LAAS/mmlaas_N3.xml
+1 -1
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@@ -21,7 +21,6 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -41,6 +40,7 @@
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/airframes/examples/delta_wing_minimal.xml
+1 -1
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@@ -17,7 +17,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="gps_passthrough"/>
@@ -25,6 +24,7 @@
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<firmware name="setup">
conf/airframes/examples/easy_glider.xml
+1 -1
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@@ -170,7 +170,6 @@
<!-- Actuators are automatically chosen according to board -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -185,6 +184,7 @@
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
</load>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
</airframe>
conf/airframes/examples/easystar.xml
+5 -1
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@@ -18,7 +18,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -28,6 +27,11 @@
<target name="tunnel" board="twog_1.0"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
conf/airframes/examples/easystar_ets.xml
+1 -1
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@@ -23,7 +23,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
@@ -38,6 +37,7 @@
<load name="baro_ets.xml"/>
<load name="air_data.xml"/>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/airframes/examples/funjet.xml
+1 -1
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@@ -26,7 +26,6 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -35,6 +34,7 @@
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<firmware name="setup">
conf/airframes/examples/funjet_cam.xml
+1 -1
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@@ -26,7 +26,6 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ins" type="gps_passthrough"/>
<subsystem name="navigation"/>
@@ -47,6 +46,7 @@
</load>
<load name="sys_mon.xml"/>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/airframes/examples/microjet.xml
+2 -2
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@@ -175,13 +175,12 @@
<subsystem name="imu" type="analog">
<configure name="GYRO_P" value="ADC_3"/>
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware>
<section name="GCS">
<section name="GCS">
<define name="AC_ICON" value="flyingwing"/>
</section>
@@ -197,6 +196,7 @@
<load name="nav_vertical_raster.xml"/>
<load name="nav_bungee_takeoff.xml"/>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
<load name="tune_airspeed.xml"/>
<load name="digital_cam_servo.xml">
<define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
conf/airframes/examples/twinjet.xml
+1 -1
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@@ -20,7 +20,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="imu" type="analog">
<configure name="GYRO_P" value="ADC_3"/>
</subsystem>
@@ -41,6 +40,7 @@
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
</load>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
<load name="nav_line.xml"/>
</modules>
conf/airframes/examples/twinstar.xml
+1 -1
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@@ -21,7 +21,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="ins" type="gps_passthrough"/>
<subsystem name="navigation"/>
@@ -33,6 +32,7 @@
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/airframes/twinjet_overo.xml
+1 -1
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@@ -23,7 +23,6 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_hitl"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="gps_passthrough"/>
@@ -43,6 +42,7 @@
<flag name="USE_ADC_5"/>
</load>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<servos>
conf/airframes/usb_test.xml
+1 -1
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@@ -14,7 +14,6 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
@@ -29,6 +28,7 @@
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
</modules>
<!-- commands section -->
conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile
+1 -13
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@@ -1,13 +1 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings using infrared sensors
# usage of this ahrs subsystem implies USE_INFRARED
$(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_infrared.h\"
$(TARGET).CFLAGS += -DUSE_AHRS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_infrared.c
$(error The ahrs_infrared subsystem has converted to a module, please remove it and add <load name="ahrs_infrared.xml"/> to your module section.)
conf/modules/ahrs_infrared.xml
+22
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@@ -0,0 +1,22 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_infrared" dir="ahrs">
<doc>
<description>
AHRS infrared.
Attitude estimation using infrared sensors detecting the horizon.
For fixedwings only:
- GPS course is used as heading.
- ADC channels can be used for gyros.
</description>
</doc>
<depends>infrared_adc</depends>
<header>
<file name="ahrs_infrared.h"/>
</header>
<init fun="ahrs_infrared_init()"/>
<periodic fun="ahrs_infrared_periodic()" freq="60"/>
<makefile>
<file name="ahrs_infrared.c"/>
</makefile>
</module>
conf/modules/infrared_adc.xml
+1 -1
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@@ -32,7 +32,7 @@
<init fun="infrared_adc_init()"/>
<periodic fun="infrared_adc_update()" freq="60."/>
<makefile target="ap|sim">
<define name="USE_INFRARED_TELEMETRY"/>
<define name="USE_INFRARED"/>
<file name="infrared.c" dir="subsystems/sensors"/>
<file name="infrared_adc.c" dir="subsystems/sensors"/>
</makefile>
conf/modules/infrared_i2c.xml
+1 -1
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@@ -31,7 +31,7 @@
<!--periodic fun="infrared_i2cDownlink()" freq="1."/-->
<event fun="infrared_i2cEvent()"/>
<makefile target="ap|sim">
<define name="USE_INFRARED_TELEMETRY"/>
<define name="USE_INFRARED"/>
<file name="infrared.c" dir="subsystems/sensors"/>
<file name="infrared_i2c.c" dir="subsystems/sensors"/>
</makefile>
sw/airborne/arch/sim/sim_ir.c
+3 -2
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@@ -24,8 +24,9 @@ value set_ir_and_airspeed(
value air_speed
)
{
// INFRARED_TELEMETRY : Stupid hack to use with modules
#if USE_INFRARED || USE_INFRARED_TELEMETRY
// USE_INFRARED : Stupid hack, since sim always calls this function,
// but we don't always have an infrared module
#if USE_INFRARED
infrared.roll = Int_val(roll);
infrared.pitch = Int_val(front);
infrared.top = Int_val(top);
sw/airborne/firmwares/fixedwing/main_ap.c
+4 -6
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@@ -200,7 +200,7 @@ void init_ap(void)
#endif
#if USE_AHRS
#if defined SITL && !USE_NPS && !USE_INFRARED
#if defined SITL && !USE_NPS
ahrs_sim_init();
#else
ahrs_init();
@@ -568,10 +568,6 @@ volatile uint8_t new_ins_attitude = 0;
void attitude_loop(void)
{
#if USE_INFRARED
ahrs_update_infrared();
#endif /* USE_INFRARED */
if (pprz_mode >= PPRZ_MODE_AUTO2) {
if (v_ctl_mode == V_CTL_MODE_AUTO_THROTTLE) {
v_ctl_throttle_setpoint = nav_throttle_setpoint;
@@ -630,7 +626,7 @@ void sensors_task(void)
#endif // USE_IMU
//FIXME: this is just a kludge
#if USE_AHRS && defined SITL && !USE_NPS && !USE_INFRARED
#if USE_AHRS && defined SITL && !USE_NPS
update_ahrs_from_sim();
#endif
@@ -779,7 +775,9 @@ static inline void on_gyro_event(void)
// current timestamp
uint32_t now_ts = get_sys_time_usec();
#if USE_AHRS
ahrs_timeout_counter = 0;
#endif
imu_scale_gyro(&imu);
sw/airborne/subsystems/ahrs/ahrs_infrared.c → sw/airborne/modules/ahrs/ahrs_infrared.c
+5 -14
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@@ -20,7 +20,7 @@
*/
/**
* @file subsystems/ahrs/ahrs_infrared.c
* @file modules/ahrs/ahrs_infrared.c
*
* Attitude estimation using infrared sensors detecting the horizon.
* For fixedwings only:
@@ -29,7 +29,7 @@
*
*/
#include "subsystems/ahrs/ahrs_infrared.h"
#include "modules/ahrs/ahrs_infrared.h"
#include "subsystems/sensors/infrared.h"
#include "subsystems/imu.h"
@@ -38,9 +38,7 @@
#include "state.h"
#include "subsystems/abi.h"
struct AhrsInfrared ahrs_infrared;
float heading;
static float heading;
/** ABI binding for gyro data.
* Used for gyro ABI messages.
@@ -76,15 +74,9 @@ static void send_status(struct transport_tx *trans, struct link_device *dev)
}
#endif
void ahrs_infrared_register(void)
{
ahrs_register_impl(ahrs_infrared_init, ahrs_infrared_update_gps);
}
void ahrs_infrared_init(void)
{
ahrs_infrared.is_aligned = TRUE;
heading = 0.;
AbiBindMsgIMU_GYRO_INT32(AHRS_INFRARED_GYRO_ID, &gyro_ev, gyro_cb);
@@ -95,9 +87,9 @@ void ahrs_infrared_init(void)
#endif
}
void ahrs_infrared_update_gps(void)
{
float hspeed_mod_f = gps.gspeed / 100.;
float course_f = gps.course / 1e7;
@@ -112,7 +104,7 @@ void ahrs_infrared_update_gps(void)
}
void ahrs_update_infrared(void)
void ahrs_infrared_periodic(void)
{
float phi = atan2(infrared.roll, infrared.top) - infrared.roll_neutral;
float theta = atan2(infrared.pitch, infrared.top) - infrared.pitch_neutral;
@@ -128,5 +120,4 @@ void ahrs_update_infrared(void)
struct FloatEulers att = { phi, theta, heading };
stateSetNedToBodyEulers_f(&att);
}
sw/airborne/subsystems/ahrs/ahrs_infrared.h → sw/airborne/modules/ahrs/ahrs_infrared.h
+3 -12
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@@ -20,7 +20,7 @@
*/
/**
* @file subsystems/ahrs/ahrs_infrared.h
* @file modules/ahrs/ahrs_infrared.h
*
* Fixedwing attitude estimation using infrared sensors.
*
@@ -30,20 +30,11 @@
#define AHRS_INFRARED_H
#include "std.h"
#include "subsystems/ahrs.h"
#include "math/pprz_orientation_conversion.h"
struct AhrsInfrared {
bool_t is_aligned;
};
extern struct AhrsInfrared ahrs_infrared;
extern void ahrs_infrared_register(void);
extern void ahrs_infrared_init(void);
extern void ahrs_update_infrared(void);
extern void ahrs_infrared_periodic(void);
extern void ahrs_infrared_update_gps(void);
#define DefaultAhrsImpl ahrs_infrared
#define GPS_TRIGGERED_FUNCTION ahrs_infrared_update_gps
#endif /* AHRS_INFRARED_H */
sw/airborne/subsystems/sensors/infrared.c
-4
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@@ -27,10 +27,6 @@
#include "subsystems/sensors/infrared.h"
#include "generated/airframe.h"
#ifdef INFRARED
#error "The flag INFRARED has been deprecated. Please replace it with USE_INFRARED."
#endif
struct Infrared infrared;
/** \brief Initialisation of \a ir structure