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[ahrs] int_cmpl_euler wrapper

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This commit is contained in:
Felix Ruess
2015-01-16 16:42:18 +01:00
parent d2e26a46cb
commit ca464e37a2
5 changed files with 223 additions and 156 deletions
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conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
+2 -1
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@@ -17,9 +17,10 @@ ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\" AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h\"
AHRS_SRCS += subsystems/ahrs.c AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS) ap.CFLAGS += $(AHRS_CFLAGS)
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+29 -147
View File
@@ -61,165 +61,30 @@ static inline void set_body_state_from_euler(void);
} }
/** ABI binding for IMU data. void ahrs_ice_init(void)
* Used for gyro, accel and mag ABI messages.
*/
#ifndef AHRS_ICE_IMU_ID
#define AHRS_ICE_IMU_ID ABI_BROADCAST
#endif
static abi_event gyro_ev;
static abi_event accel_ev;
static abi_event mag_ev;
static abi_event aligner_ev;
static void gyro_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t* stamp,
const struct Int32Rates* gyro)
{ {
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_ice.status == AHRS_ICE_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_ice_propagate((struct Int32Rates*)gyro, dt);
}
last_stamp = *stamp;
}
static void accel_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t* stamp,
const struct Int32Vect3* accel)
{
#if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS int_cmpl_euler propagation.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_ice.status == AHRS_ICE_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_ice_update_accel((struct Int32Vect3*)accel, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS int_cmpl_euler propagation.")
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
if (ahrs_ice.status == AHRS_ICE_RUNNING) {
const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
ahrs_ice_propagate((struct Int32Rates*)gyro, dt);
}
#endif
}
static void mag_cb(uint8_t __attribute__((unused)) sender_id, const uint32_t* stamp,
const struct Int32Vect3* mag)
{
#if USE_AUTO_AHRS_FREQ || !defined(AHRS_CORRECT_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS int_cmpl_euler accel update.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_ice.status == AHRS_ICE_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_ice_update_mag((struct Int32Vect3*)mag, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS int_cmpl_quat accel update.")
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
if (ahrs_ice.status == AHRS_ICE_RUNNING) {
const float dt = 1. / (AHRS_CORRECT_FREQUENCY);
ahrs_ice_update_accel((struct Int32Rates*)accel, dt);
}
#endif
}
static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
const uint32_t* stamp __attribute__((unused)),
const struct Int32Rates* lp_gyro, const struct Int32Vect3* lp_accel,
const struct Int32Vect3* lp_mag)
{
if (ahrs_ice.status != AHRS_ICE_RUNNING) {
ahrs_ice_align((struct Int32Rates*)lp_gyro, (struct Int32Vect3*)lp_accel,
(struct Int32Vect3*)lp_mag);
}
}
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_filter(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_FILTER(trans, dev, AC_ID,
&ahrs_ice.ltp_to_imu_euler.phi,
&ahrs_ice.ltp_to_imu_euler.theta,
&ahrs_ice.ltp_to_imu_euler.psi,
&ahrs_ice.measure.phi,
&ahrs_ice.measure.theta,
&ahrs_ice.measure.psi,
&ahrs_ice.hi_res_euler.phi,
&ahrs_ice.hi_res_euler.theta,
&ahrs_ice.hi_res_euler.psi,
&ahrs_ice.residual.phi,
&ahrs_ice.residual.theta,
&ahrs_ice.residual.psi,
&ahrs_ice.gyro_bias.p,
&ahrs_ice.gyro_bias.q,
&ahrs_ice.gyro_bias.r);
}
static void send_euler(struct transport_tx *trans, struct link_device *dev) {
struct Int32Eulers* eulers = stateGetNedToBodyEulers_i();
pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
&ahrs_ice.ltp_to_imu_euler.phi,
&ahrs_ice.ltp_to_imu_euler.theta,
&ahrs_ice.ltp_to_imu_euler.psi,
&(eulers->phi),
&(eulers->theta),
&(eulers->psi));
}
static void send_bias(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
&ahrs_ice.gyro_bias.p, &ahrs_ice.gyro_bias.q, &ahrs_ice.gyro_bias.r);
}
#endif
void ahrs_ice_register(void)
{
ahrs_register_impl(ahrs_ice_init, NULL);
}
void ahrs_ice_init(struct OrientationReps* body_to_imu)
{
/* save body_to_imu pointer */
ahrs_ice.body_to_imu = body_to_imu;
ahrs_ice.status = AHRS_ICE_UNINIT; ahrs_ice.status = AHRS_ICE_UNINIT;
ahrs_ice.is_aligned = FALSE;
/* set ltp_to_imu so that body is zero */ /* init ltp_to_imu to zero */
memcpy(&ahrs_ice.ltp_to_imu_euler, orientationGetEulers_i(ahrs_ice.body_to_imu), INT_EULERS_ZERO(ahrs_ice.ltp_to_imu_euler)
sizeof(struct Int32Eulers));
INT_RATES_ZERO(ahrs_ice.imu_rate); INT_RATES_ZERO(ahrs_ice.imu_rate);
INT_RATES_ZERO(ahrs_ice.gyro_bias); INT_RATES_ZERO(ahrs_ice.gyro_bias);
ahrs_ice.reinj_1 = FACE_REINJ_1; ahrs_ice.reinj_1 = FACE_REINJ_1;
ahrs_ice.mag_offset = AHRS_MAG_OFFSET; ahrs_ice.mag_offset = AHRS_MAG_OFFSET;
/*
* Subscribe to scaled IMU measurements and attach callbacks
*/
AbiBindMsgIMU_GYRO_INT32(AHRS_ICE_IMU_ID, &gyro_ev, gyro_cb);
AbiBindMsgIMU_ACCEL_INT32(AHRS_ICE_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgIMU_MAG_INT32(AHRS_ICE_IMU_ID, &mag_ev, mag_cb);
AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "FILTER", send_filter);
register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);
#endif
} }
bool_t ahrs_ice_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel, bool_t ahrs_ice_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
struct Int32Vect3* lp_mag) struct Int32Vect3* lp_mag)
{ {
get_phi_theta_measurement_fom_accel(&ahrs_ice.hi_res_euler.phi, &ahrs_ice.hi_res_euler.theta, lp_accel); get_phi_theta_measurement_fom_accel(&ahrs_ice.hi_res_euler.phi,
&ahrs_ice.hi_res_euler.theta, lp_accel);
get_psi_measurement_from_mag(&ahrs_ice.hi_res_euler.psi, get_psi_measurement_from_mag(&ahrs_ice.hi_res_euler.psi,
ahrs_ice.hi_res_euler.phi/F_UPDATE, ahrs_ice.hi_res_euler.theta/F_UPDATE, lp_mag); ahrs_ice.hi_res_euler.phi/F_UPDATE,
ahrs_ice.hi_res_euler.theta/F_UPDATE, lp_mag);
EULERS_COPY(ahrs_ice.measure, ahrs_ice.hi_res_euler); EULERS_COPY(ahrs_ice.measure, ahrs_ice.hi_res_euler);
EULERS_COPY(ahrs_ice.measurement, ahrs_ice.hi_res_euler); EULERS_COPY(ahrs_ice.measurement, ahrs_ice.hi_res_euler);
@@ -232,6 +97,7 @@ bool_t ahrs_ice_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
RATES_COPY(ahrs_ice.gyro_bias, *lp_gyro); RATES_COPY(ahrs_ice.gyro_bias, *lp_gyro);
ahrs_ice.status = AHRS_ICE_RUNNING; ahrs_ice.status = AHRS_ICE_RUNNING;
ahrs_ice.is_aligned = TRUE;
return TRUE; return TRUE;
} }
@@ -286,7 +152,7 @@ static inline bool_t cut_accel (struct Int32Vect3 i1, struct Int32Vect3 i2, int3
* *
*/ */
void ahrs_ice_propagate(struct Int32Rates* gyro, float dt __attribute__((unused))) { void ahrs_ice_propagate(struct Int32Rates* gyro) {
/* unbias gyro */ /* unbias gyro */
struct Int32Rates uf_rate; struct Int32Rates uf_rate;
@@ -336,7 +202,7 @@ void ahrs_ice_propagate(struct Int32Rates* gyro, float dt __attribute__((unused)
} }
void ahrs_ice_update_accel(struct Int32Vect3* accel, float dt __attribute__((unused))) { void ahrs_ice_update_accel(struct Int32Vect3* accel) {
#if USE_NOISE_CUT || USE_NOISE_FILTER #if USE_NOISE_CUT || USE_NOISE_FILTER
static struct Int32Vect3 last_accel = { 0, 0, 0 }; static struct Int32Vect3 last_accel = { 0, 0, 0 };
@@ -357,7 +223,7 @@ void ahrs_ice_update_accel(struct Int32Vect3* accel, float dt __attribute__((unu
} }
void ahrs_ice_update_mag(struct Int32Vect3* mag, float dt __attribute__((unused))) { void ahrs_ice_update_mag(struct Int32Vect3* mag) {
get_psi_measurement_from_mag(&ahrs_ice.measurement.psi, ahrs_ice.ltp_to_imu_euler.phi, ahrs_ice.ltp_to_imu_euler.theta, mag); get_psi_measurement_from_mag(&ahrs_ice.measurement.psi, ahrs_ice.ltp_to_imu_euler.phi, ahrs_ice.ltp_to_imu_euler.theta, mag);
@@ -406,7 +272,7 @@ __attribute__ ((always_inline)) static inline void get_psi_measurement_from_mag(
/* Rotate angles and rates from imu to body frame and set state */ /* Rotate angles and rates from imu to body frame and set state */
static void set_body_state_from_euler(void) { static void set_body_state_from_euler(void) {
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(ahrs_ice.body_to_imu); struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&ahrs_ice.body_to_imu);
struct Int32RMat ltp_to_imu_rmat, ltp_to_body_rmat; struct Int32RMat ltp_to_imu_rmat, ltp_to_body_rmat;
/* Compute LTP to IMU rotation matrix */ /* Compute LTP to IMU rotation matrix */
int32_rmat_of_eulers(&ltp_to_imu_rmat, &ahrs_ice.ltp_to_imu_euler); int32_rmat_of_eulers(&ltp_to_imu_rmat, &ahrs_ice.ltp_to_imu_euler);
@@ -422,3 +288,19 @@ static void set_body_state_from_euler(void) {
stateSetBodyRates_i(&body_rate); stateSetBodyRates_i(&body_rate);
} }
void ahrs_ice_set_body_to_imu(struct OrientationReps* body_to_imu)
{
ahrs_ice_set_body_to_imu_quat(orientationGetQuat_f(body_to_imu));
}
void ahrs_ice_set_body_to_imu_quat(struct FloatQuat* q_b2i)
{
orientationSetQuat_f(&ahrs_ice.body_to_imu, q_b2i);
if (!ahrs_ice.is_aligned) {
/* Set ltp_to_imu so that body is zero */
memcpy(&ahrs_ice.ltp_to_imu_euler, orientationGetEulers_i(&ahrs_ice.body_to_imu),
sizeof(struct Int32Eulers));
}
}
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
+9 -8
View File
@@ -33,6 +33,7 @@
#include "subsystems/ahrs.h" #include "subsystems/ahrs.h"
#include "std.h" #include "std.h"
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
#include "math/pprz_orientation_conversion.h"
enum AhrsICEStatus { enum AhrsICEStatus {
AHRS_ICE_UNINIT, AHRS_ICE_UNINIT,
@@ -50,21 +51,21 @@ struct AhrsIntCmplEuler {
int32_t reinj_1; int32_t reinj_1;
float mag_offset; float mag_offset;
struct OrientationReps* body_to_imu; struct OrientationReps body_to_imu;
enum AhrsICEStatus status; enum AhrsICEStatus status;
bool_t is_aligned;
}; };
extern struct AhrsIntCmplEuler ahrs_ice; extern struct AhrsIntCmplEuler ahrs_ice;
#define DefaultAhrsImpl ahrs_ice extern void ahrs_ice_init(void);
extern void ahrs_ice_set_body_to_imu(struct OrientationReps* body_to_imu);
extern void ahrs_ice_register(void); extern void ahrs_ice_set_body_to_imu_quat(struct FloatQuat* q_b2i);
extern void ahrs_ice_init(struct OrientationReps* body_to_imu);
extern bool_t ahrs_ice_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel, extern bool_t ahrs_ice_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
struct Int32Vect3* lp_mag); struct Int32Vect3* lp_mag);
extern void ahrs_ice_propagate(struct Int32Rates* gyro, float dt); extern void ahrs_ice_propagate(struct Int32Rates* gyro);
extern void ahrs_ice_update_accel(struct Int32Vect3* accel, float dt); extern void ahrs_ice_update_accel(struct Int32Vect3* accel);
extern void ahrs_ice_update_mag(struct Int32Vect3* mag, float dt); extern void ahrs_ice_update_mag(struct Int32Vect3* mag);
#endif /* AHRS_INT_CMPL_EULER_H */ #endif /* AHRS_INT_CMPL_EULER_H */
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
+147
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@@ -0,0 +1,147 @@
/*
* Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
*
* 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, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
*
* Paparazzi specific wrapper to run floating point complementary filter.
*/
#include "subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "state.h"
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_filter(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_FILTER(trans, dev, AC_ID,
&ahrs_ice.ltp_to_imu_euler.phi,
&ahrs_ice.ltp_to_imu_euler.theta,
&ahrs_ice.ltp_to_imu_euler.psi,
&ahrs_ice.measure.phi,
&ahrs_ice.measure.theta,
&ahrs_ice.measure.psi,
&ahrs_ice.hi_res_euler.phi,
&ahrs_ice.hi_res_euler.theta,
&ahrs_ice.hi_res_euler.psi,
&ahrs_ice.residual.phi,
&ahrs_ice.residual.theta,
&ahrs_ice.residual.psi,
&ahrs_ice.gyro_bias.p,
&ahrs_ice.gyro_bias.q,
&ahrs_ice.gyro_bias.r);
}
static void send_euler(struct transport_tx *trans, struct link_device *dev) {
struct Int32Eulers* eulers = stateGetNedToBodyEulers_i();
pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
&ahrs_ice.ltp_to_imu_euler.phi,
&ahrs_ice.ltp_to_imu_euler.theta,
&ahrs_ice.ltp_to_imu_euler.psi,
&(eulers->phi),
&(eulers->theta),
&(eulers->psi));
}
static void send_bias(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
&ahrs_ice.gyro_bias.p, &ahrs_ice.gyro_bias.q, &ahrs_ice.gyro_bias.r);
}
#endif
/** ABI binding for IMU data.
* Used for gyro, accel and mag ABI messages.
*/
#ifndef AHRS_ICE_IMU_ID
#define AHRS_ICE_IMU_ID ABI_BROADCAST
#endif
static abi_event gyro_ev;
static abi_event accel_ev;
static abi_event mag_ev;
static abi_event aligner_ev;
static abi_event body_to_imu_ev;
static void gyro_cb(uint8_t sender_id __attribute__((unused)),
const uint32_t* stamp __attribute__((unused)),
const struct Int32Rates* gyro)
{
if (ahrs_ice.is_aligned) {
ahrs_ice_propagate((struct Int32Rates*)gyro);
}
}
static void accel_cb(uint8_t sender_id __attribute__((unused)),
const uint32_t* stamp __attribute__((unused)),
const struct Int32Vect3* accel)
{
if (ahrs_ice.is_aligned) {
ahrs_ice_update_accel((struct Int32Vect3*)accel);
}
}
static void mag_cb(uint8_t sender_id __attribute__((unused)),
const uint32_t* stamp __attribute__((unused)),
const struct Int32Vect3* mag)
{
if (ahrs_ice.is_aligned) {
ahrs_ice_update_mag((struct Int32Vect3*)mag);
}
}
static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
const uint32_t* stamp __attribute__((unused)),
const struct Int32Rates* lp_gyro, const struct Int32Vect3* lp_accel,
const struct Int32Vect3* lp_mag)
{
if (!ahrs_ice.is_aligned) {
ahrs_ice_align((struct Int32Rates*)lp_gyro, (struct Int32Vect3*)lp_accel,
(struct Int32Vect3*)lp_mag);
}
}
static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
const struct FloatQuat* q_b2i_f)
{
ahrs_ice_set_body_to_imu_quat((struct FloatQuat*)q_b2i_f);
}
void ahrs_ice_register(void)
{
ahrs_register_impl(ahrs_ice_init, NULL);
/*
* Subscribe to scaled IMU measurements and attach callbacks
*/
AbiBindMsgIMU_GYRO_INT32(AHRS_ICE_IMU_ID, &gyro_ev, gyro_cb);
AbiBindMsgIMU_ACCEL_INT32(AHRS_ICE_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgIMU_MAG_INT32(AHRS_ICE_IMU_ID, &mag_ev, mag_cb);
AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "FILTER", send_filter);
register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);
#endif
}
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h
+36
View File
@@ -0,0 +1,36 @@
/*
* Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
*
* 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, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.h
*
* Paparazzi specific wrapper to run floating point DCM filter.
*/
#ifndef AHRS_INT_CMPL_EULER_WRAPPER_H
#define AHRS_INT_CMPL_EULER_WRAPPER_H
#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
#define DefaultAhrsImpl ahrs_ice
extern void ahrs_ice_register(void);
#endif /* AHRS_INT_CMPL_EULER_WRAPPER_H */