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Performance Check & Magnetometer in DCM

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This commit is contained in:
Christophe De Wagter
2010-12-09 20:15:44 +01:00
parent 5a5a66e99b
commit d51ca86284
2 changed files with 57 additions and 110 deletions
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sw/airborne/subsystems/ahrs/dcm/dcm.c
+47 -110
View File
@@ -32,13 +32,11 @@ float speed_3d = 0;
// Algebra
//Computes the dot product of two vectors
static inline float Vector_Dot_Product(float vector1[3],float vector2[3])
{
return vector1[0]*vector2[0] + vector1[1]*vector2[1] + vector1[2]*vector2[2];
}
//Computes the cross product of two vectors
static inline void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
{
vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
@@ -46,7 +44,6 @@ static inline void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2
vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
}
//Multiply the vector by a scalar.
static inline void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
{
vectorOut[0]=vectorIn[0]*scale2;
@@ -101,117 +98,65 @@ void Normalize(void)
float temporary[3][3];
float renorm=0;
boolean problem=FALSE;
error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19
Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19
Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19
Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]); //eq.19
Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]); //eq.19
Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20
renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]);
renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???SQT:1,RNM:");
Serial.print (renorm);
Serial.print (",ERR:");
Serial.print (error);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
} else {
problem = TRUE;
#if PERFORMANCE_REPORTING == 1
renorm_blowup_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???PRB:1,RNM:");
Serial.print (renorm);
Serial.print (",ERR:");
Serial.print (error);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
}
Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]);
renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???SQT:2,RNM:");
Serial.print (renorm);
Serial.print (",ERR:");
Serial.print (error);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
} else {
problem = TRUE;
#if PERFORMANCE_REPORTING == 1
renorm_blowup_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???PRB:2,RNM:");
Serial.print (renorm);
Serial.print (",ERR:");
Serial.print (error);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
}
Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm);
renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]);
renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???SQT:3,RNM:");
Serial.print (renorm);
Serial.print (",ERR:");
Serial.print (error);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
} else {
problem = TRUE;
problem = TRUE;
#if PERFORMANCE_REPORTING == 1
renorm_blowup_count++;
#endif
#if PRINT_DEBUG != 0
Serial.print("???PRB:3,RNM:");
Serial.print (renorm);
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
}
Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm);
if (problem) { // Our solution is blowing up and we will force back to initial condition. Hope we are not upside down!
DCM_Matrix[0][0]= 1.0f;
DCM_Matrix[0][1]= 0.0f;
@@ -222,7 +167,7 @@ void Normalize(void)
DCM_Matrix[2][0]= 0.0f;
DCM_Matrix[2][1]= 0.0f;
DCM_Matrix[2][2]= 1.0f;
problem = FALSE;
problem = FALSE;
}
}
@@ -239,7 +184,7 @@ float MAG_Heading;
void Drift_correction(void)
{
//Compensation the Roll, Pitch and Yaw drift.
//Compensation the Roll, Pitch and Yaw drift.
static float Scaled_Omega_P[3];
static float Scaled_Omega_I[3];
float Accel_magnitude;
@@ -267,34 +212,37 @@ void Drift_correction(void)
Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
// Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
#if PERFORMANCE_REPORTING == 1
tempfloat = ((Accel_weight - 0.5) * 256.0f); //amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction
{
float tempfloat = ((Accel_weight - 0.5) * 256.0f); //amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction
imu_health += tempfloat;
Bound(imu_health,129,65405);
}
#endif
Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference
Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
//*****YAW***************
#if USE_MAGNETOMETER==1
#if USE_MAGNETOMETER==1
// We make the gyro YAW drift correction based on compass magnetic heading
mag_heading_x = cos(MAG_Heading);
mag_heading_y = sin(MAG_Heading);
errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x); //Calculating YAW error
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
#else // Use GPS Ground course to correct yaw gyro drift
if(gps_mode==3 && ground_speed>= 0.5) //hwarm
{
@@ -303,29 +251,21 @@ void Drift_correction(void)
COGY = sin(RadOfDeg(ground_course));
errorCourse=(DCM_Matrix[0][0]*COGY) - (DCM_Matrix[1][0]*COGX); //Calculating YAW error
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
}
#endif
// Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I,Omega_I));
if (Integrator_magnitude > DegOfRad(300)) {
Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude);
#if PRINT_DEBUG != 0
Serial.print("!!!INT:1,MAG:");
Serial.print (ToDeg(Integrator_magnitude));
Serial.print (",TOW:");
Serial.print (iTOW);
Serial.println("***");
#endif
}
}
/**************************************************/
@@ -337,11 +277,11 @@ void Matrix_update(void)
if (gps_mode==3) //Remove centrifugal acceleration.
{
Accel_Vector[1] += speed_3d*Omega[2]; // Centrifugal force on Acc_y = GPS_speed*GyroZ
Accel_Vector[2] -= speed_3d*Omega[1]; // Centrifugal force on Acc_z = GPS_speed*GyroY
Accel_Vector[2] -= speed_3d*Omega[1]; // Centrifugal force on Acc_z = GPS_speed*GyroY
}
#if OUTPUTMODE==1 // With corrected data (drift correction)
#if OUTPUTMODE==1 // With corrected data (drift correction)
Update_Matrix[0][0]=0;
Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
@@ -370,7 +310,7 @@ void Matrix_update(void)
for(int y=0; y<3; y++)
{
DCM_Matrix[x][y]+=Temporary_Matrix[x][y];
}
}
}
}
@@ -381,9 +321,6 @@ void Euler_angles(void)
euler.theta = -asin((Accel_Vector[0])/GRAVITY); // asin(acc_x)
euler.psi = 0;
#else
//pitch = -asin(DCM_Matrix[2][0]);
//roll = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]);
//yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]);
euler.phi = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]);
euler.theta = -asin(DCM_Matrix[2][0]);
euler.psi = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]);
sw/airborne/subsystems/ahrs/dcm/dcm.h
+10
View File
@@ -34,5 +34,15 @@ extern struct FloatEulers euler;
// Mode 1 = DCM integration with Kp and Ki
// Mode 2 = direct accelerometer -> euler
#define MAGNETOMETER 1
extern float MAG_Heading;
#define PERFORMANCE_REPORTING 1
#if PERFORMANCE_REPORTING == 1
extern int renorm_sqrt_count;
extern int renorm_blowup_count;
extern float imu_health;
#endif