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started ahrs_infrared

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This commit is contained in:
Felix Ruess
2011-08-22 22:44:31 +02:00
parent 3c46d03602
commit 68866e572f
2 changed files with 105 additions and 0 deletions
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sw/airborne/subsystems/ahrs/ahrs_infrared.c
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/*
* Copyright (C) 2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "subsystems/ahrs/ahrs_infrared.h"
#include "subsystems/sensors/infrared.h"
void ahrs_init(void) {
ahrs_float.status = AHRS_UNINIT;
/* set ltp_to_body to zero */
FLOAT_QUAT_ZERO(ahrs_float.ltp_to_body_quat);
FLOAT_EULERS_ZERO(ahrs_float.ltp_to_body_euler);
FLOAT_RMAT_ZERO(ahrs_float.ltp_to_body_rmat);
FLOAT_RATES_ZERO(ahrs_float.body_rate);
/* set ltp_to_body to zero */
FLOAT_QUAT_ZERO(ahrs_float.ltp_to_imu_quat);
FLOAT_EULERS_ZERO(ahrs_float.ltp_to_imu_euler);
FLOAT_RMAT_ZERO(ahrs_float.ltp_to_imu_rmat);
FLOAT_RATES_ZERO(ahrs_float.imu_rate);
}
void ahrs_align(void) {
//TODO set gyro bias if used
ahrs.status = AHRS_RUNNING;
}
void ahrs_propagate(void) {
}
void ahrs_update_accel(void) {
}
void ahrs_update_mag(void) {
}
void ahrs_update_infrared(void) {
ahrs_float.ltp_to_body_euler.phi = atan2(infrared.roll, infrared.top) - infrared.roll_neutral;
ahrs_float.ltp_to_body_euler.theta = atan2(infrared.pitch, infrared.top) - infrared.pitch_neutral;
if (ahrs_float.ltp_to_body_euler.theta < -M_PI_2)
ahrs_float.ltp_to_body_euler.theta += M_PI;
else if (ahrs_float.ltp_to_body_euler.theta > M_PI_2)
ahrs_float.ltp_to_body_euler.theta -= M_PI;
if (ahrs_float.ltp_to_body_euler.phi >= 0)
ahrs_float.ltp_to_body_euler.phi *= infrared.correction_right;
else
ahrs_float.ltp_to_body_euler.phi *= infrared.correction_left;
if (ahrs_float.ltp_to_body_euler.theta >= 0)
ahrs_float.ltp_to_body_euler.theta *= infrared.correction_up;
else
ahrs_float.ltp_to_body_euler.theta *= infrared.correction_down;
}
sw/airborne/subsystems/ahrs/ahrs_infrared.h
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/*
* Copyright (C) 2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef AHRS_INFRARED_H
#define AHRS_INFRARED_H
#include "subsystems/ahrs.h"
#include "std.h"
#endif /* AHRS_INFRARED_H */