void stabilization_rate_run(bool_t in_flight)
{
/* compute feed-back command */
struct Int32Rates _error;
struct Int32Rates *body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, stabilization_rate_sp, (*body_rate));
if (in_flight) {
/* update integrator */
//divide the sum_err_increment to make sure it doesn't accumulate to the max too fast
struct Int32Rates sum_err_increment;
RATES_SDIV(sum_err_increment, _error, 5);
RATES_ADD(stabilization_rate_sum_err, sum_err_increment);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
} else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 6);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 6);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 6);
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
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);
}
static inline void on_gyro_accel_event( void ) {
#ifdef AHRS_CPU_LED
LED_ON(AHRS_CPU_LED);
#endif
// Run aligner on raw data as it also makes averages.
if (ahrs.status == AHRS_UNINIT) {
ImuScaleGyro(imu);
ImuScaleAccel(imu);
ahrs_aligner_run();
if (ahrs_aligner.status == AHRS_ALIGNER_LOCKED)
ahrs_align();
return;
}
#if PERIODIC_FREQUENCY == 60
ImuScaleGyro(imu);
ImuScaleAccel(imu);
ahrs_propagate();
ahrs_update_accel();
ahrs_update_fw_estimator();
#else //PERIODIC_FREQUENCY
static uint8_t _reduced_propagation_rate = 0;
static uint8_t _reduced_correction_rate = 0;
static struct Int32Vect3 acc_avg;
static struct Int32Rates gyr_avg;
RATES_ADD(gyr_avg, imu.gyro_unscaled);
VECT3_ADD(acc_avg, imu.accel_unscaled);
_reduced_propagation_rate++;
if (_reduced_propagation_rate < (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY))
{
}
else
{
_reduced_propagation_rate = 0;
RATES_SDIV(imu.gyro_unscaled, gyr_avg, (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY) );
INT_RATES_ZERO(gyr_avg);
ImuScaleGyro(imu);
ahrs_propagate();
_reduced_correction_rate++;
if (_reduced_correction_rate >= (AHRS_PROPAGATE_FREQUENCY / AHRS_CORRECT_FREQUENCY))
{
_reduced_correction_rate = 0;
VECT3_SDIV(imu.accel_unscaled, acc_avg, (PERIODIC_FREQUENCY / AHRS_CORRECT_FREQUENCY) );
INT_VECT3_ZERO(acc_avg);
ImuScaleAccel(imu);
ahrs_update_accel();
ahrs_update_fw_estimator();
}
}
#endif //PERIODIC_FREQUENCY
#ifdef AHRS_CPU_LED
LED_OFF(AHRS_CPU_LED);
#endif
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
new_ins_attitude = 1;
#endif
}
