int spi_ap_link_init()
{
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return -1;
}
// Initialize IMU->Body orientation
imuFloat.body_to_imu_quat = body_to_imu_quat;
imuFloat.sample_count = 0;
#ifdef IMU_ALIGN_BENCH
// This code is for aligning body to imu rotation, turn this on, put the vehicle in hover, pointed north, read BOOZ2_AHRS_REF_QUAT as body to imu (in wing frame)
struct FloatVect3 x_axis = { 0.0, 1.0, 0.0 };
FLOAT_QUAT_OF_AXIS_ANGLE(imuFloat.body_to_imu_quat, x_axis, QUAT_SETPOINT_HOVER_PITCH);
#endif
FLOAT_QUAT_NORMALIZE(imuFloat.body_to_imu_quat);
FLOAT_EULERS_OF_QUAT(imuFloat.body_to_imu_eulers, imuFloat.body_to_imu_quat);
FLOAT_RMAT_OF_QUAT(imuFloat.body_to_imu_rmat, imuFloat.body_to_imu_quat);
struct FloatRates bias0 = { 0., 0., 0.};
rdyb_mahrs_init(imuFloat.body_to_imu_quat, bias0);
return 0;
}
static void traj_static_sine_update(void) {
aos.imu_rates.p = RadOfDeg(200)*cos(aos.time);
aos.imu_rates.q = RadOfDeg(200)*cos(0.7*aos.time+2);
aos.imu_rates.r = RadOfDeg(200)*cos(0.8*aos.time+1);
FLOAT_QUAT_INTEGRATE(aos.ltp_to_imu_quat, aos.imu_rates, aos.dt);
FLOAT_EULERS_OF_QUAT(aos.ltp_to_imu_euler, aos.ltp_to_imu_quat);
}
void stabilization_attitude_run(bool_t enable_integrator) {
/*
* Update reference
*/
stabilization_attitude_ref_update();
/*
* Compute errors for feedback
*/
/* attitude error */
struct FloatQuat att_err;
FLOAT_QUAT_INV_COMP(att_err, ahrs_float.ltp_to_body_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(att_err);
/* rate error */
struct FloatRates rate_err;
RATES_DIFF(rate_err, stab_att_ref_rate, ahrs_float.body_rate);
/* integrated error */
if (enable_integrator) {
struct FloatQuat new_sum_err, scaled_att_err;
/* update accumulator */
scaled_att_err.qi = att_err.qi;
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
FLOAT_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
FLOAT_QUAT_NORMALIZE(new_sum_err);
FLOAT_QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
FLOAT_EULERS_OF_QUAT(stabilization_att_sum_err_eulers, stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx], &stab_att_ref_accel);
attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains[gain_idx], &att_err, &rate_err, &ahrs_float.body_rate_d, &stabilization_att_sum_err_quat);
// FIXME: this is very dangerous! only works if this really includes all commands
for (int i = COMMAND_ROLL; i <= COMMAND_YAW_SURFACE; i++) {
stabilization_cmd[i] = stabilization_att_fb_cmd[i]+stabilization_att_ff_cmd[i];
}
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
static void traj_step_phi_2nd_order_update(void) {
if (aos.time > 15) {
const float omega = RadOfDeg(100);
const float xi = 0.9;
struct FloatRates raccel;
RATES_ASSIGN(raccel, -2.*xi*omega*aos.imu_rates.p - omega*omega*(aos.ltp_to_imu_euler.phi - RadOfDeg(5)), 0., 0.);
FLOAT_RATES_INTEGRATE_FI(aos.imu_rates, raccel, aos.dt);
FLOAT_QUAT_INTEGRATE(aos.ltp_to_imu_quat, aos.imu_rates, aos.dt);
FLOAT_EULERS_OF_QUAT(aos.ltp_to_imu_euler, aos.ltp_to_imu_quat);
}
}
static void send_att(void) {
struct FloatEulers ltp_to_imu_euler;
FLOAT_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
struct Int32Eulers* eulers_body = stateGetNedToBodyEulers_i();
DOWNLINK_SEND_AHRS_EULER_INT(DefaultChannel, DefaultDevice,
&euler_i.phi,
&euler_i.theta,
&euler_i.psi,
&(eulers_body->phi),
&(eulers_body->theta),
&(eulers_body->psi));
}
void stabilization_attitude_ref_update(void) {
/* integrate reference attitude */
#if STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP
struct FloatQuat qdot;
FLOAT_QUAT_DERIVATIVE(qdot, stab_att_ref_rate, stab_att_ref_quat);
QUAT_SMUL(qdot, qdot, DT_UPDATE);
QUAT_ADD(stab_att_ref_quat, qdot);
#else // use finite step (involves trig)
struct FloatQuat delta_q;
FLOAT_QUAT_DIFFERENTIAL(delta_q, stab_att_ref_rate, DT_UPDATE);
/* compose new ref_quat by quaternion multiplication of delta rotation and current ref_quat */
struct FloatQuat new_ref_quat;
FLOAT_QUAT_COMP(new_ref_quat, delta_q, stab_att_ref_quat);
QUAT_COPY(stab_att_ref_quat, new_ref_quat);
#endif
FLOAT_QUAT_NORMALIZE(stab_att_ref_quat);
/* integrate reference rotational speeds */
struct FloatRates delta_rate;
RATES_SMUL(delta_rate, stab_att_ref_accel, DT_UPDATE);
RATES_ADD(stab_att_ref_rate, delta_rate);
/* compute reference angular accelerations */
struct FloatQuat err;
/* compute reference attitude error */
FLOAT_QUAT_INV_COMP(err, stab_att_sp_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(err);
/* propagate the 2nd order linear model */
stab_att_ref_accel.p = -2.*stab_att_ref_model[ref_idx].zeta.p*stab_att_ref_model[ref_idx].omega.p*stab_att_ref_rate.p
- stab_att_ref_model[ref_idx].omega.p*stab_att_ref_model[ref_idx].omega.p*err.qx;
stab_att_ref_accel.q = -2.*stab_att_ref_model[ref_idx].zeta.q*stab_att_ref_model[ref_idx].omega.q*stab_att_ref_rate.q
- stab_att_ref_model[ref_idx].omega.q*stab_att_ref_model[ref_idx].omega.q*err.qy;
stab_att_ref_accel.r = -2.*stab_att_ref_model[ref_idx].zeta.r*stab_att_ref_model[ref_idx].omega.r*stab_att_ref_rate.r
- stab_att_ref_model[ref_idx].omega.r*stab_att_ref_model[ref_idx].omega.r*err.qz;
/* saturate acceleration */
const struct FloatRates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
const struct FloatRates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R };
RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* saturate angular speed and trim accel accordingly */
SATURATE_SPEED_TRIM_ACCEL();
/* compute ref_euler */
FLOAT_EULERS_OF_QUAT(stab_att_ref_euler, stab_att_ref_quat);
}
float test_quat_of_rmat(void) {
// struct FloatEulers eul = {-0.280849, 0.613423, -1.850440};
struct FloatEulers eul = {RadOfDeg(0.131579), RadOfDeg(-62.397659), RadOfDeg(-110.470299)};
// struct FloatEulers eul = {RadOfDeg(0.13), RadOfDeg(180.), RadOfDeg(-61.)};
struct FloatMat33 rm;
FLOAT_RMAT_OF_EULERS(rm, eul);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat", rm);
struct FloatQuat q;
FLOAT_QUAT_OF_RMAT(q, rm);
DISPLAY_FLOAT_QUAT("q_of_rm ", q);
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("q_of_rm ", q);
struct FloatQuat qref;
FLOAT_QUAT_OF_EULERS(qref, eul);
DISPLAY_FLOAT_QUAT("q_of_euler", qref);
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("q_of_euler", qref);
printf("\n\n\n");
struct FloatMat33 r_att;
struct FloatEulers e312 = { eul.phi, eul.theta, eul.psi };
FLOAT_RMAT_OF_EULERS_312(r_att, e312);
DISPLAY_FLOAT_RMAT("r_att ", r_att);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("r_att ", r_att);
struct FloatQuat q_att;
FLOAT_QUAT_OF_RMAT(q_att, r_att);
struct FloatEulers e_att;
FLOAT_EULERS_OF_RMAT(e_att, r_att);
DISPLAY_FLOAT_EULERS_DEG("of rmat", e_att);
FLOAT_EULERS_OF_QUAT(e_att, q_att);
DISPLAY_FLOAT_EULERS_DEG("of quat", e_att);
return 0.;
}
static void test_4_float(void) {
printf("euler to quat to euler - float\n");
/* initial euler angles */
struct FloatEulers e;
EULERS_ASSIGN(e, RadOfDeg(-10.66), RadOfDeg(-0.7), RadOfDeg(0.));
DISPLAY_FLOAT_EULERS_DEG("e", e);
/* transform to quaternion */
struct FloatQuat q;
FLOAT_QUAT_OF_EULERS(q, e);
// DISPLAY_FLOAT_QUAT("q", q);
FLOAT_QUAT_NORMALIZE(q);
DISPLAY_FLOAT_QUAT("q_n", q);
DISPLAY_FLOAT_QUAT_AS_INT("q_n as int", q);
/* back to eulers */
struct FloatEulers e2;
FLOAT_EULERS_OF_QUAT(e2, q);
DISPLAY_FLOAT_EULERS_DEG("e2", e2);
}
float test_eulers_of_quat(struct FloatQuat fq, int display) {
struct FloatEulers fe;
FLOAT_EULERS_OF_QUAT(fe, fq);
struct Int32Quat iq;
QUAT_BFP_OF_REAL(iq, fq);
struct Int32Eulers ie;
INT32_EULERS_OF_QUAT(ie, iq);
struct FloatEulers fe2;
EULERS_FLOAT_OF_BFP(fe2, ie);
EULERS_SUB(fe2, ie);
float norm_err = FLOAT_EULERS_NORM(fe2);
if (display) {
printf("euler of quat\n");
DISPLAY_FLOAT_QUAT("fq", fq);
DISPLAY_FLOAT_EULERS_DEG("fe", fe);
DISPLAY_INT32_EULERS("ie", ie);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("ieaf", ie);
}
return norm_err;
}
void stabilization_attitude_ref_update() {
/* integrate reference attitude */
struct FloatQuat qdot;
FLOAT_QUAT_DERIVATIVE(qdot, stab_att_ref_rate, stab_att_ref_quat);
QUAT_SMUL(qdot, qdot, DT_UPDATE);
QUAT_ADD(stab_att_ref_quat, qdot);
FLOAT_QUAT_NORMALIZE(stab_att_ref_quat);
/* integrate reference rotational speeds */
struct FloatRates delta_rate;
RATES_SMUL(delta_rate, stab_att_ref_accel, DT_UPDATE);
RATES_ADD(stab_att_ref_rate, delta_rate);
/* compute reference angular accelerations */
struct FloatQuat err;
/* compute reference attitude error */
FLOAT_QUAT_INV_COMP(err, stab_att_sp_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(err);
/* propagate the 2nd order linear model */
stab_att_ref_accel.p = -2.*stab_att_ref_model[ref_idx].zeta.p*stab_att_ref_model[ref_idx].omega.p*stab_att_ref_rate.p
- stab_att_ref_model[ref_idx].omega.p*stab_att_ref_model[ref_idx].omega.p*err.qx;
stab_att_ref_accel.q = -2.*stab_att_ref_model[ref_idx].zeta.q*stab_att_ref_model[ref_idx].omega.q*stab_att_ref_rate.q
- stab_att_ref_model[ref_idx].omega.q*stab_att_ref_model[ref_idx].omega.q*err.qy;
stab_att_ref_accel.r = -2.*stab_att_ref_model[ref_idx].zeta.r*stab_att_ref_model[ref_idx].omega.r*stab_att_ref_rate.r
- stab_att_ref_model[ref_idx].omega.r*stab_att_ref_model[ref_idx].omega.r*err.qz;
/* saturate acceleration */
const struct FloatRates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
const struct FloatRates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R };
RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* compute ref_euler */
FLOAT_EULERS_OF_QUAT(stab_att_ref_euler, stab_att_ref_quat);
}
void ahrs_propagate(void) {
struct NedCoor_f accel;
struct FloatRates body_rates;
struct FloatEulers eulers;
// realign all the filter if needed
// a complete init cycle is required
if (ins_impl.reset) {
ins_impl.reset = FALSE;
ins.status = INS_UNINIT;
ahrs.status = AHRS_UNINIT;
init_invariant_state();
}
// fill command vector
struct Int32Rates gyro_meas_body;
INT32_RMAT_TRANSP_RATEMULT(gyro_meas_body, imu.body_to_imu_rmat, imu.gyro);
RATES_FLOAT_OF_BFP(ins_impl.cmd.rates, gyro_meas_body);
struct Int32Vect3 accel_meas_body;
INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
ACCELS_FLOAT_OF_BFP(ins_impl.cmd.accel, accel_meas_body);
// update correction gains
error_output(&ins_impl);
// propagate model
struct inv_state new_state;
runge_kutta_4_float((float*)&new_state,
(float*)&ins_impl.state, INV_STATE_DIM,
(float*)&ins_impl.cmd, INV_COMMAND_DIM,
invariant_model, dt);
ins_impl.state = new_state;
// normalize quaternion
FLOAT_QUAT_NORMALIZE(ins_impl.state.quat);
// set global state
FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat);
#if INS_UPDATE_FW_ESTIMATOR
// Some stupid lines of code for neutrals
eulers.phi -= ins_roll_neutral;
eulers.theta -= ins_pitch_neutral;
stateSetNedToBodyEulers_f(&eulers);
#else
stateSetNedToBodyQuat_f(&ins_impl.state.quat);
#endif
RATES_DIFF(body_rates, ins_impl.cmd.rates, ins_impl.state.bias);
stateSetBodyRates_f(&body_rates);
stateSetPositionNed_f(&ins_impl.state.pos);
stateSetSpeedNed_f(&ins_impl.state.speed);
// untilt accel and remove gravity
FLOAT_QUAT_RMAT_B2N(accel, ins_impl.state.quat, ins_impl.cmd.accel);
FLOAT_VECT3_SMUL(accel, accel, 1. / (ins_impl.state.as));
FLOAT_VECT3_ADD(accel, A);
stateSetAccelNed_f(&accel);
//------------------------------------------------------------//
RunOnceEvery(3,{
DOWNLINK_SEND_INV_FILTER(DefaultChannel, DefaultDevice,
&ins_impl.state.quat.qi,
&eulers.phi,
&eulers.theta,
&eulers.psi,
&ins_impl.state.speed.x,
&ins_impl.state.speed.y,
&ins_impl.state.speed.z,
&ins_impl.state.pos.x,
&ins_impl.state.pos.y,
&ins_impl.state.pos.z,
&ins_impl.state.bias.p,
&ins_impl.state.bias.q,
&ins_impl.state.bias.r,
&ins_impl.state.as,
&ins_impl.state.hb,
&ins_impl.meas.baro_alt,
&ins_impl.meas.pos_gps.z)
});
#if LOG_INVARIANT_FILTER
if (pprzLogFile.fs != NULL) {
if (!log_started) {
// log file header
sdLogWriteLog(&pprzLogFile, "p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n");
log_started = TRUE;
}
else {
sdLogWriteLog(&pprzLogFile, "%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n",
ins_impl.cmd.rates.p,
ins_impl.cmd.rates.q,
ins_impl.cmd.rates.r,
ins_impl.cmd.accel.x,
ins_impl.cmd.accel.y,
ins_impl.cmd.accel.z,
ins_impl.meas.pos_gps.x,
ins_impl.meas.pos_gps.y,
ins_impl.meas.pos_gps.z,
ins_impl.meas.speed_gps.x,
ins_impl.meas.speed_gps.y,
ins_impl.meas.speed_gps.z,
ins_impl.meas.mag.x,
ins_impl.meas.mag.y,
ins_impl.meas.mag.z,
ins_impl.meas.baro_alt,
ins_impl.state.quat.qi,
ins_impl.state.quat.qx,
ins_impl.state.quat.qy,
ins_impl.state.quat.qz,
ins_impl.state.bias.p,
ins_impl.state.bias.q,
ins_impl.state.bias.r,
ins_impl.state.speed.x,
ins_impl.state.speed.y,
ins_impl.state.speed.z,
ins_impl.state.pos.x,
ins_impl.state.pos.y,
ins_impl.state.pos.z,
ins_impl.state.hb,
ins_impl.state.as);
}
}
#endif
}
void parse_ins_msg( void ) {
if (last_received_packet.ErrID != VN100_Error_None) {
//TODO send error
return;
}
// parse message (will work only with read and write register)
switch (last_received_packet.RegID) {
case VN100_REG_ADOR :
ins_ador = last_received_packet.Data[0].UInt;
break;
case VN100_REG_ADOF :
ins_adof = last_received_packet.Data[0].UInt;
break;
case VN100_REG_SBAUD :
ins_baud = last_received_packet.Data[0].UInt;
break;
case VN100_REG_YPR :
ins_eulers.phi = RadOfDeg(last_received_packet.Data[2].Float);
ins_eulers.theta = RadOfDeg(last_received_packet.Data[1].Float);
ins_eulers.psi = RadOfDeg(last_received_packet.Data[0].Float);
break;
case VN100_REG_QTN :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
break;
case VN100_REG_QTM :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_mag.x = last_received_packet.Data[4].Float;
ins_mag.y = last_received_packet.Data[5].Float;
ins_mag.z = last_received_packet.Data[6].Float;
break;
case VN100_REG_QTA :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_accel.x = last_received_packet.Data[4].Float;
ins_accel.y = last_received_packet.Data[5].Float;
ins_accel.z = last_received_packet.Data[6].Float;
break;
case VN100_REG_QTR :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_rates.p = last_received_packet.Data[4].Float;
ins_rates.q = last_received_packet.Data[5].Float;
ins_rates.r = last_received_packet.Data[6].Float;
break;
case VN100_REG_QMA :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_mag.x = last_received_packet.Data[4].Float;
ins_mag.y = last_received_packet.Data[5].Float;
ins_mag.z = last_received_packet.Data[6].Float;
ins_accel.x = last_received_packet.Data[7].Float;
ins_accel.y = last_received_packet.Data[8].Float;
ins_accel.z = last_received_packet.Data[9].Float;
break;
case VN100_REG_QAR :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_accel.x = last_received_packet.Data[4].Float;
ins_accel.y = last_received_packet.Data[5].Float;
ins_accel.z = last_received_packet.Data[6].Float;
ins_rates.p = last_received_packet.Data[7].Float;
ins_rates.q = last_received_packet.Data[8].Float;
ins_rates.r = last_received_packet.Data[9].Float;
break;
case VN100_REG_QMR :
ins_quat.qi = last_received_packet.Data[0].Float;
ins_quat.qx = last_received_packet.Data[1].Float;
ins_quat.qy = last_received_packet.Data[2].Float;
ins_quat.qz = last_received_packet.Data[3].Float;
FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
ins_mag.x = last_received_packet.Data[4].Float;
ins_mag.y = last_received_packet.Data[5].Float;
ins_mag.z = last_received_packet.Data[6].Float;
ins_accel.x = last_received_packet.Data[7].Float;
ins_accel.y = last_received_packet.Data[8].Float;
ins_accel.z = last_received_packet.Data[9].Float;
ins_rates.p = last_received_packet.Data[10].Float;
ins_rates.q = last_received_packet.Data[11].Float;
ins_rates.r = last_received_packet.Data[12].Float;
break;
case VN100_REG_YMR :
ins_eulers.phi = RadOfDeg(last_received_packet.Data[2].Float);
ins_eulers.theta = RadOfDeg(last_received_packet.Data[1].Float);
ins_eulers.psi = RadOfDeg(last_received_packet.Data[0].Float);
ins_mag.x = last_received_packet.Data[3].Float;
ins_mag.y = last_received_packet.Data[4].Float;
ins_mag.z = last_received_packet.Data[5].Float;
ins_accel.x = last_received_packet.Data[6].Float;
ins_accel.y = last_received_packet.Data[7].Float;
ins_accel.z = last_received_packet.Data[8].Float;
ins_rates.p = last_received_packet.Data[9].Float;
ins_rates.q = last_received_packet.Data[10].Float;
ins_rates.r = last_received_packet.Data[11].Float;
break;
}
}
static void print_estimator_state(double time) {
#if FILTER_OUTPUT_IN_NED
struct EcefCoor_d pos_ecef,
cur_pos_ecef,
cur_vel_ecef;
struct NedCoor_d pos_ned,
vel_ned;
struct DoubleQuat q_ecef2body,
q_ecef2enu,
q_enu2body,
q_ned2enu,
q_ned2body;
VECTOR_AS_VECT3(pos_ecef,pos_0_ecef);
VECTOR_AS_VECT3(cur_pos_ecef,ins.avg_state.position);
VECTOR_AS_VECT3(cur_vel_ecef,ins.avg_state.velocity);
ned_of_ecef_point_d(&pos_ned, ¤t_ltp, &cur_pos_ecef);
ned_of_ecef_vect_d(&vel_ned, ¤t_ltp, &cur_vel_ecef);
int32_t xdd = 0;
int32_t ydd = 0;
int32_t zdd = 0;
int32_t xd = vel_ned.x/0.0000019073;
int32_t yd = vel_ned.y/0.0000019073;
int32_t zd = vel_ned.z/0.0000019073;
int32_t x = pos_ned.x/0.0039;
int32_t y = pos_ned.y/0.0039;
int32_t z = pos_ned.z/0.0039;
fprintf(ins_logfile, "%f %d BOOZ2_INS2 %d %d %d %d %d %d %d %d %d\n", time, AC_ID, xdd, ydd, zdd, xd, yd, zd, x, y, z);
#if 0
QUAT_ASSIGN(q_ecef2body, ins.avg_state.orientation.w(), -ins.avg_state.orientation.x(),
-ins.avg_state.orientation.y(), -ins.avg_state.orientation.z());
QUAT_ASSIGN(q_ned2enu, 0, M_SQRT1_2, M_SQRT1_2, 0);
FLOAT_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
FLOAT_QUAT_INV_COMP(q_enu2body, q_ecef2enu, q_ecef2body); // q_enu2body = q_ecef2body * (q_ecef2enu)^*
FLOAT_QUAT_COMP(q_ned2body, q_ned2enu, q_enu2body); // q_ned2body = q_enu2body * q_ned2enu
#else /* if 0 */
QUATERNIOND_AS_DOUBLEQUAT(q_ecef2body, ins.avg_state.orientation);
DOUBLE_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
FLOAT_QUAT_INV_COMP(q_enu2body, q_ecef2enu, q_ecef2body);
QUAT_ENU_FROM_TO_NED(q_enu2body, q_ned2body);
#endif /* if 0 */
struct FloatEulers e;
FLOAT_EULERS_OF_QUAT(e, q_ned2body);
#if PRINT_EULER_NED
printf("EULER % 6.1f % 6.1f % 6.1f\n", e.phi*180*M_1_PI, e.theta*180*M_1_PI, e.psi*180*M_1_PI);
#endif /* PRINT_EULER_NED */
fprintf(ins_logfile, "%f %d AHRS_EULER %f %f %f\n", time, AC_ID, e.phi, e.theta, e.psi);
fprintf(ins_logfile, "%f %d DEBUG_COVARIANCE %f %f %f %f %f %f %f %f %f %f %f %f\n", time, AC_ID,
sqrt(ins.cov( 0, 0)), sqrt(ins.cov( 1, 1)), sqrt(ins.cov( 2, 2)),
sqrt(ins.cov( 3, 3)), sqrt(ins.cov( 4, 4)), sqrt(ins.cov( 5, 5)),
sqrt(ins.cov( 6, 6)), sqrt(ins.cov( 7, 7)), sqrt(ins.cov( 8, 8)),
sqrt(ins.cov( 9, 9)), sqrt(ins.cov(10,10)), sqrt(ins.cov(11,11)));
fprintf(ins_logfile, "%f %d BOOZ_SIM_GYRO_BIAS %f %f %f\n", time, AC_ID, ins.avg_state.gyro_bias(0), ins.avg_state.gyro_bias(1), ins.avg_state.gyro_bias(2));
#else /* FILTER_OUTPUT_IN_ECEF */
int32_t xdd = 0;
int32_t ydd = 0;
int32_t zdd = 0;
int32_t xd = ins.avg_state.velocity(0)/0.0000019073;
int32_t yd = ins.avg_state.velocity(1)/0.0000019073;
int32_t zd = ins.avg_state.velocity(2)/0.0000019073;
int32_t x = ins.avg_state.position(0)/0.0039;
int32_t y = ins.avg_state.position(1)/0.0039;
int32_t z = ins.avg_state.position(2)/0.0039;
fprintf(ins_logfile, "%f %d BOOZ2_INS2 %d %d %d %d %d %d %d %d %d\n", time, AC_ID, xdd, ydd, zdd, xd, yd, zd, x, y, z);
struct FloatQuat q_ecef2body;
QUAT_ASSIGN(q_ecef2body, ins.avg_state.orientation.w(), ins.avg_state.orientation.x(),
ins.avg_state.orientation.y(), ins.avg_state.orientation.z());
struct FloatEulers e_ecef2body;
FLOAT_EULERS_OF_QUAT(e_ecef2body, q_ecef2body);
fprintf(ins_logfile, "%f %d AHRS_EULER %f %f %f\n", time, AC_ID, e_ecef2body.phi, e_ecef2body.theta, e_ecef2body.psi);
fprintf(ins_logfile, "%f %d DEBUG_COVARIANCE %f %f %f %f %f %f %f %f %f %f %f %f\n", time, AC_ID,
sqrt(ins.cov( 0, 0)), sqrt(ins.cov( 1, 1)), sqrt(ins.cov( 2, 2)),
sqrt(ins.cov( 3, 3)), sqrt(ins.cov( 4, 4)), sqrt(ins.cov( 5, 5)),
sqrt(ins.cov( 6, 6)), sqrt(ins.cov( 7, 7)), sqrt(ins.cov( 8, 8)),
sqrt(ins.cov( 9, 9)), sqrt(ins.cov(10,10)), sqrt(ins.cov(11,11)));
fprintf(ins_logfile, "%f %d BOOZ_SIM_GYRO_BIAS %f %f %f\n", time, AC_ID, ins.avg_state.gyro_bias(0), ins.avg_state.gyro_bias(1), ins.avg_state.gyro_bias(2));
#endif /* FILTER_OUTPUT_IN_NED / ECEF */
}
void ahrs_propagate(float dt)
{
struct FloatVect3 accel;
struct FloatRates body_rates;
// realign all the filter if needed
// a complete init cycle is required
if (ins_impl.reset) {
ins_impl.reset = FALSE;
ins.status = INS_UNINIT;
ahrs.status = AHRS_UNINIT;
init_invariant_state();
}
// fill command vector
struct Int32Rates gyro_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_ratemult(&gyro_meas_body, body_to_imu_rmat, &imu.gyro);
RATES_FLOAT_OF_BFP(ins_impl.cmd.rates, gyro_meas_body);
struct Int32Vect3 accel_meas_body;
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel);
ACCELS_FLOAT_OF_BFP(ins_impl.cmd.accel, accel_meas_body);
// update correction gains
error_output(&ins_impl);
// propagate model
struct inv_state new_state;
runge_kutta_4_float((float *)&new_state,
(float *)&ins_impl.state, INV_STATE_DIM,
(float *)&ins_impl.cmd, INV_COMMAND_DIM,
invariant_model, dt);
ins_impl.state = new_state;
// normalize quaternion
FLOAT_QUAT_NORMALIZE(ins_impl.state.quat);
// set global state
stateSetNedToBodyQuat_f(&ins_impl.state.quat);
RATES_DIFF(body_rates, ins_impl.cmd.rates, ins_impl.state.bias);
stateSetBodyRates_f(&body_rates);
stateSetPositionNed_f(&ins_impl.state.pos);
stateSetSpeedNed_f(&ins_impl.state.speed);
// untilt accel and remove gravity
struct FloatQuat q_b2n;
float_quat_invert(&q_b2n, &ins_impl.state.quat);
float_quat_vmult(&accel, &q_b2n, &ins_impl.cmd.accel);
VECT3_SMUL(accel, accel, 1. / (ins_impl.state.as));
VECT3_ADD(accel, A);
stateSetAccelNed_f((struct NedCoor_f *)&accel);
//------------------------------------------------------------//
#if SEND_INVARIANT_FILTER
struct FloatEulers eulers;
FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat);
RunOnceEvery(3, {
pprz_msg_send_INV_FILTER(trans, dev, AC_ID,
&ins_impl.state.quat.qi,
&eulers.phi,
&eulers.theta,
&eulers.psi,
&ins_impl.state.speed.x,
&ins_impl.state.speed.y,
&ins_impl.state.speed.z,
&ins_impl.state.pos.x,
&ins_impl.state.pos.y,
&ins_impl.state.pos.z,
&ins_impl.state.bias.p,
&ins_impl.state.bias.q,
&ins_impl.state.bias.r,
&ins_impl.state.as,
&ins_impl.state.hb,
&ins_impl.meas.baro_alt,
&ins_impl.meas.pos_gps.z)
});
#endif
#if LOG_INVARIANT_FILTER
if (pprzLogFile.fs != NULL) {
if (!log_started) {
// log file header
sdLogWriteLog(&pprzLogFile,
"p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n");
log_started = TRUE;
} else {
sdLogWriteLog(&pprzLogFile,
"%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n",
ins_impl.cmd.rates.p,
ins_impl.cmd.rates.q,
ins_impl.cmd.rates.r,
ins_impl.cmd.accel.x,
ins_impl.cmd.accel.y,
ins_impl.cmd.accel.z,
ins_impl.meas.pos_gps.x,
ins_impl.meas.pos_gps.y,
ins_impl.meas.pos_gps.z,
ins_impl.meas.speed_gps.x,
ins_impl.meas.speed_gps.y,
ins_impl.meas.speed_gps.z,
ins_impl.meas.mag.x,
ins_impl.meas.mag.y,
ins_impl.meas.mag.z,
ins_impl.meas.baro_alt,
ins_impl.state.quat.qi,
ins_impl.state.quat.qx,
ins_impl.state.quat.qy,
ins_impl.state.quat.qz,
ins_impl.state.bias.p,
ins_impl.state.bias.q,
ins_impl.state.bias.r,
ins_impl.state.speed.x,
ins_impl.state.speed.y,
ins_impl.state.speed.z,
ins_impl.state.pos.x,
ins_impl.state.pos.y,
ins_impl.state.pos.z,
ins_impl.state.hb,
ins_impl.state.as);
}
}
#endif
}
void stabilization_attitude_run(bool_t enable_integrator) {
/*
* Update reference
*/
stabilization_attitude_ref_update();
/*
* Compute errors for feedback
*/
/* attitude error */
struct FloatQuat att_err;
struct FloatQuat* att_quat = stateGetNedToBodyQuat_f();
FLOAT_QUAT_INV_COMP(att_err, *att_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
FLOAT_QUAT_WRAP_SHORTEST(att_err);
/* rate error */
struct FloatRates rate_err;
struct FloatRates* body_rate = stateGetBodyRates_f();
RATES_DIFF(rate_err, stab_att_ref_rate, *body_rate);
/* rate_d error */
struct FloatRates body_rate_d;
RATES_DIFF(body_rate_d, *body_rate, last_body_rate);
RATES_COPY(last_body_rate, *body_rate);
/* integrated error */
if (enable_integrator) {
struct FloatQuat new_sum_err, scaled_att_err;
/* update accumulator */
scaled_att_err.qi = att_err.qi;
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
FLOAT_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
FLOAT_QUAT_NORMALIZE(new_sum_err);
FLOAT_QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
FLOAT_EULERS_OF_QUAT(stabilization_att_sum_err_eulers, stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers );
}
attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx], &stab_att_ref_accel);
attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains[gain_idx], &att_err, &rate_err, &body_rate_d, &stabilization_att_sum_err_quat);
stabilization_cmd[COMMAND_ROLL] = stabilization_att_fb_cmd[COMMAND_ROLL] + stabilization_att_ff_cmd[COMMAND_ROLL];
stabilization_cmd[COMMAND_PITCH] = stabilization_att_fb_cmd[COMMAND_PITCH] + stabilization_att_ff_cmd[COMMAND_PITCH];
stabilization_cmd[COMMAND_YAW] = stabilization_att_fb_cmd[COMMAND_YAW] + stabilization_att_ff_cmd[COMMAND_YAW];
#ifdef HAS_SURFACE_COMMANDS
stabilization_cmd[COMMAND_ROLL_SURFACE] = stabilization_att_fb_cmd[COMMAND_ROLL_SURFACE] + stabilization_att_ff_cmd[COMMAND_ROLL_SURFACE];
stabilization_cmd[COMMAND_PITCH_SURFACE] = stabilization_att_fb_cmd[COMMAND_PITCH_SURFACE] + stabilization_att_ff_cmd[COMMAND_PITCH_SURFACE];
stabilization_cmd[COMMAND_YAW_SURFACE] = stabilization_att_fb_cmd[COMMAND_YAW_SURFACE] + stabilization_att_ff_cmd[COMMAND_YAW_SURFACE];
#endif
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
