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[ahrs] float_cmpl wrapper

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This commit is contained in:
Felix Ruess
2015-01-16 15:36:53 +01:00
parent e4a350124e
commit f8be335041
9 changed files with 252 additions and 187 deletions
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conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+2 -1
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@@ -21,10 +21,11 @@ ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+2 -1
View File
@@ -21,10 +21,11 @@ ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
+2 -1
View File
@@ -19,10 +19,11 @@ ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
+2 -1
View File
@@ -18,10 +18,11 @@ ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl_wrapper.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+27 -172
View File
@@ -27,7 +27,6 @@
* Propagation can be done in rotation matrix or quaternion representation.
*/
#include "subsystems/ahrs.h"
#include "subsystems/ahrs/ahrs_float_cmpl.h"
#include "subsystems/ahrs/ahrs_float_utils.h"
#include "math/pprz_algebra_float.h"
@@ -38,7 +37,6 @@
#include "subsystems/gps.h"
#endif
#include "state.h"
#include "subsystems/abi.h"
//#include "../../test/pprz_algebra_print.h"
@@ -90,165 +88,16 @@ static inline void compute_body_orientation_and_rates(void);
struct AhrsFloatCmpl ahrs_fc;
/** ABI binding for IMU data.
* Used for gyro, accel and mag ABI messages.
*/
#ifndef AHRS_FC_IMU_ID
#define AHRS_FC_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)
void ahrs_fc_init(void)
{
#if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl propagation.")
/* timestamp in usec when last callback was received */
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.status == AHRS_FC_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_propagate((struct Int32Rates*)gyro, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS float_cmpl propagation.")
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
if (ahrs_fc.status == AHRS_FC_RUNNING) {
const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
ahrs_fc_propagate((struct Int32Rates*)gyro, dt);
}
#endif
}
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_CORRECT_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl accel update.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.status == AHRS_FC_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_update_accel((struct Int32Vect3*)accel, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS float_cmpl accel update.")
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
if (ahrs_fc.status == AHRS_FC_RUNNING) {
const float dt = 1. / (AHRS_CORRECT_FREQUENCY);
ahrs_fc_update_accel((struct Int32Vect3*)accel, 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_MAG_CORRECT_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl mag update.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.status == AHRS_FC_RUNNING) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_update_mag((struct Int32Vect3*)mag, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_MAG_CORRECT_FREQUENCY for AHRS float_cmpl mag update.")
PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
if (ahrs_fc.status == AHRS_FC_RUNNING) {
const float dt = 1. / (AHRS_MAG_CORRECT_FREQUENCY);
ahrs_fc_update_mag((struct Int32Vect3*)mag, 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_fc.status != AHRS_FC_RUNNING) {
ahrs_fc_align((struct Int32Rates*)lp_gyro, (struct Int32Vect3*)lp_accel,
(struct Int32Vect3*)lp_mag);
}
}
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_att(struct transport_tx *trans, struct link_device *dev) {
struct FloatEulers ltp_to_imu_euler;
float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_fc.ltp_to_imu_quat);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
struct Int32Eulers* eulers_body = stateGetNedToBodyEulers_i();
pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
&euler_i.phi,
&euler_i.theta,
&euler_i.psi,
&(eulers_body->phi),
&(eulers_body->theta),
&(eulers_body->psi));
}
static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
&ahrs_fc.mag_h.x, &ahrs_fc.mag_h.y, &ahrs_fc.mag_h.z);
}
// TODO convert from float to int if we really need this one
/*
static void send_rmat(struct transport_tx *trans, struct link_device *dev) {
struct Int32RMat* att_rmat = stateGetNedToBodyRMat_i();
pprz_msg_send_AHRS_RMAT(trans, dev, AC_ID,
&ahrs_fc.ltp_to_imu_rmat.m[0],
&ahrs_fc.ltp_to_imu_rmat.m[1],
&ahrs_fc.ltp_to_imu_rmat.m[2],
&ahrs_fc.ltp_to_imu_rmat.m[3],
&ahrs_fc.ltp_to_imu_rmat.m[4],
&ahrs_fc.ltp_to_imu_rmat.m[5],
&ahrs_fc.ltp_to_imu_rmat.m[6],
&ahrs_fc.ltp_to_imu_rmat.m[7],
&ahrs_fc.ltp_to_imu_rmat.m[8],
&(att_rmat->m[0]),
&(att_rmat->m[1]),
&(att_rmat->m[2]),
&(att_rmat->m[3]),
&(att_rmat->m[4]),
&(att_rmat->m[5]),
&(att_rmat->m[6]),
&(att_rmat->m[7]),
&(att_rmat->m[8]));
}
*/
#endif
void ahrs_fc_register(void)
{
ahrs_register_impl(ahrs_fc_init, ahrs_fc_update_gps);
}
void ahrs_fc_init(struct OrientationReps* body_to_imu)
{
/* save body_to_imu pointer */
ahrs_fc.body_to_imu = body_to_imu;
ahrs_fc.status = AHRS_FC_UNINIT;
ahrs_fc.is_aligned = FALSE;
ahrs_fc.ltp_vel_norm_valid = FALSE;
ahrs_fc.heading_aligned = FALSE;
/* Set ltp_to_imu so that body is zero */
memcpy(&ahrs_fc.ltp_to_imu_quat, orientationGetQuat_f(ahrs_fc.body_to_imu),
sizeof(struct FloatQuat));
memcpy(&ahrs_fc.ltp_to_imu_rmat, orientationGetRMat_f(ahrs_fc.body_to_imu),
sizeof(struct FloatRMat));
/* init ltp_to_imu quaternion as zero/identity rotation */
float_quat_identity(&ahrs_fc.ltp_to_imu_quat);
FLOAT_RATES_ZERO(ahrs_fc.imu_rate);
@@ -270,19 +119,6 @@ void ahrs_fc_init(struct OrientationReps* body_to_imu)
ahrs_fc.accel_cnt = 0;
ahrs_fc.mag_cnt = 0;
/*
* Subscribe to scaled IMU measurements and attach callbacks
*/
AbiBindMsgIMU_GYRO_INT32(AHRS_FC_IMU_ID, &gyro_ev, gyro_cb);
AbiBindMsgIMU_ACCEL_INT32(AHRS_FC_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgIMU_MAG_INT32(AHRS_FC_IMU_ID, &mag_ev, mag_cb);
AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_att);
register_periodic_telemetry(DefaultPeriodic, "GEO_MAG", send_geo_mag);
#endif
}
bool_t ahrs_fc_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
@@ -311,6 +147,7 @@ bool_t ahrs_fc_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
RATES_FLOAT_OF_BFP(ahrs_fc.gyro_bias, bias0);
ahrs_fc.status = AHRS_FC_RUNNING;
ahrs_fc.is_aligned = TRUE;
return TRUE;
}
@@ -385,7 +222,7 @@ void ahrs_fc_update_accel(struct Int32Vect3* accel, float dt) {
/* convert centrifugal acceleration from body to imu frame */
struct FloatVect3 acc_c_imu;
struct FloatRMat *body_to_imu_rmat = orientationGetRMat_f(ahrs_fc.body_to_imu);
struct FloatRMat *body_to_imu_rmat = orientationGetRMat_f(&ahrs_fc.body_to_imu);
float_rmat_vmult(&acc_c_imu, body_to_imu_rmat, &acc_c_body);
/* and subtract it from imu measurement to get a corrected measurement of the gravity vector */
@@ -653,7 +490,7 @@ void ahrs_fc_realign_heading(float heading) {
float_quat_comp_norm_shortest(&q, &q_c, ltp_to_body_quat);
/* compute ltp to imu rotation quaternion and matrix */
struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(ahrs_fc.body_to_imu);
struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&ahrs_fc.body_to_imu);
float_quat_comp(&ahrs_fc.ltp_to_imu_quat, &q, body_to_imu_quat);
float_rmat_of_quat(&ahrs_fc.ltp_to_imu_rmat, &ahrs_fc.ltp_to_imu_quat);
@@ -670,14 +507,32 @@ void ahrs_fc_realign_heading(float heading) {
static inline void compute_body_orientation_and_rates(void) {
/* Compute LTP to BODY quaternion */
struct FloatQuat ltp_to_body_quat;
struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(ahrs_fc.body_to_imu);
struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&ahrs_fc.body_to_imu);
float_quat_comp_inv(&ltp_to_body_quat, &ahrs_fc.ltp_to_imu_quat, body_to_imu_quat);
/* Set state */
stateSetNedToBodyQuat_f(&ltp_to_body_quat);
/* compute body rates */
struct FloatRates body_rate;
struct FloatRMat *body_to_imu_rmat = orientationGetRMat_f(ahrs_fc.body_to_imu);
struct FloatRMat *body_to_imu_rmat = orientationGetRMat_f(&ahrs_fc.body_to_imu);
float_rmat_transp_ratemult(&body_rate, body_to_imu_rmat, &ahrs_fc.imu_rate);
stateSetBodyRates_f(&body_rate);
}
void ahrs_fc_set_body_to_imu(struct OrientationReps* body_to_imu)
{
ahrs_fc_set_body_to_imu_quat(orientationGetQuat_f(body_to_imu));
}
void ahrs_fc_set_body_to_imu_quat(struct FloatQuat* q_b2i)
{
orientationSetQuat_f(&ahrs_fc.body_to_imu, q_b2i);
if (!ahrs_fc.is_aligned) {
/* Set ltp_to_imu so that body is zero */
memcpy(&ahrs_fc.ltp_to_imu_quat, orientationGetQuat_f(&ahrs_fc.body_to_imu),
sizeof(struct FloatQuat));
memcpy(&ahrs_fc.ltp_to_imu_rmat, orientationGetRMat_f(&ahrs_fc.body_to_imu),
sizeof(struct FloatRMat));
}
}
sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
+10 -8
View File
@@ -27,10 +27,12 @@
* Propagation can be done in rotation matrix or quaternion representation.
*/
#ifndef AHRS_FLOAT_CMPL
#define AHRS_FLOAT_CMPL
#ifndef AHRS_FLOAT_CMPL_H
#define AHRS_FLOAT_CMPL_H
#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
enum AhrsFCStatus {
AHRS_FC_UNINIT,
@@ -66,17 +68,17 @@ struct AhrsFloatCmpl {
uint16_t accel_cnt; ///< number of propagations since last accel update
uint16_t mag_cnt; ///< number of propagations since last mag update
struct OrientationReps* body_to_imu;
struct OrientationReps body_to_imu;
enum AhrsFCStatus status;
bool_t is_aligned;
};
extern struct AhrsFloatCmpl ahrs_fc;
#define DefaultAhrsImpl ahrs_fc
extern void ahrs_fc_register(void);
extern void ahrs_fc_init(struct OrientationReps* body_to_imu);
extern void ahrs_fc_init(void);
extern void ahrs_fc_set_body_to_imu(struct OrientationReps* body_to_imu);
extern void ahrs_fc_set_body_to_imu_quat(struct FloatQuat* q_b2i);
extern bool_t ahrs_fc_align(struct Int32Rates* lp_gyro, struct Int32Vect3* lp_accel,
struct Int32Vect3* lp_mag);
extern void ahrs_fc_propagate(struct Int32Rates* gyro, float dt);
@@ -98,4 +100,4 @@ void ahrs_fc_update_heading(float heading);
void ahrs_fc_realign_heading(float heading);
#endif /* AHRS_FLOAT_CMPL_RMAT */
#endif /* AHRS_FLOAT_CMPL_H */
sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+169
View File
@@ -0,0 +1,169 @@
/*
* 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_float_cmpl_wrapper.c
*
* Paparazzi specific wrapper to run floating point complementary filter.
*/
#include "subsystems/ahrs/ahrs_float_cmpl_wrapper.h"
#include "subsystems/ahrs.h"
#include "subsystems/abi.h"
#include "state.h"
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
static void send_att(struct transport_tx *trans, struct link_device *dev) {
struct FloatEulers ltp_to_imu_euler;
float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_fc.ltp_to_imu_quat);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
struct Int32Eulers* eulers_body = stateGetNedToBodyEulers_i();
pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
&euler_i.phi,
&euler_i.theta,
&euler_i.psi,
&(eulers_body->phi),
&(eulers_body->theta),
&(eulers_body->psi));
}
static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
&ahrs_fc.mag_h.x, &ahrs_fc.mag_h.y, &ahrs_fc.mag_h.z);
}
#endif
/** ABI binding for IMU data.
* Used for gyro, accel and mag ABI messages.
*/
#ifndef AHRS_FC_IMU_ID
#define AHRS_FC_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 __attribute__((unused)) sender_id, const uint32_t* stamp,
const struct Int32Rates* gyro)
{
#if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS_FC propagation.")
/* timestamp in usec when last callback was received */
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.is_aligned) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_propagate((struct Int32Rates*)gyro, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS_FC propagation.")
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
if (ahrs_fc.status == AHRS_FC_RUNNING) {
const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
ahrs_fc_propagate((struct Int32Rates*)gyro, dt);
}
#endif
}
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_CORRECT_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl accel update.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.is_aligned) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_update_accel((struct Int32Vect3*)accel, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS float_cmpl accel update.")
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
if (ahrs_fc.is_aligned) {
const float dt = 1. / (AHRS_CORRECT_FREQUENCY);
ahrs_fc_update_accel((struct Int32Vect3*)accel, 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_MAG_CORRECT_FREQUENCY)
PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl mag update.")
static uint32_t last_stamp = 0;
if (last_stamp > 0 && ahrs_fc.is_aligned) {
float dt = (float)(*stamp - last_stamp) * 1e-6;
ahrs_fc_update_mag((struct Int32Vect3*)mag, dt);
}
last_stamp = *stamp;
#else
PRINT_CONFIG_MSG("Using fixed AHRS_MAG_CORRECT_FREQUENCY for AHRS float_cmpl mag update.")
PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
if (ahrs_fc.is_aligned) {
const float dt = 1. / (AHRS_MAG_CORRECT_FREQUENCY);
ahrs_fc_update_mag((struct Int32Vect3*)mag, 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_fc.is_aligned) {
ahrs_fc_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_fc_set_body_to_imu_quat((struct FloatQuat*)q_b2i_f);
}
void ahrs_fc_register(void)
{
ahrs_register_impl(ahrs_fc_init, ahrs_fc_update_gps);
/*
* Subscribe to scaled IMU measurements and attach callbacks
*/
AbiBindMsgIMU_GYRO_INT32(AHRS_FC_IMU_ID, &gyro_ev, gyro_cb);
AbiBindMsgIMU_ACCEL_INT32(AHRS_FC_IMU_ID, &accel_ev, accel_cb);
AbiBindMsgIMU_MAG_INT32(AHRS_FC_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, "AHRS_EULER_INT", send_att);
register_periodic_telemetry(DefaultPeriodic, "GEO_MAG", send_geo_mag);
#endif
}
sw/airborne/subsystems/ahrs/ahrs_float_cmpl_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_float_cmpl_wrapper.h
*
* Paparazzi specific wrapper to run floating point complementary filter.
*/
#ifndef AHRS_FLOAT_CMPL_WRAPPER_H
#define AHRS_FLOAT_CMPL_WRAPPER_H
#include "subsystems/ahrs/ahrs_float_cmpl.h"
#define DefaultAhrsImpl ahrs_fc
extern void ahrs_fc_register(void);
#endif /* AHRS_FLOAT_CMPL_WRAPPER_H */
sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h
+2 -3
View File
@@ -14,9 +14,8 @@
* 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.
* along with Paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**