/** Transformation **/
Quaterniond ecef2body_from_pprz_ned2body(Vector3d ecef_pos, struct DoubleQuat q_ned2body){
Quaterniond ecef2body;
struct LtpDef_d current_ltp;
struct EcefCoor_d ecef_pos_pprz;
struct DoubleQuat q_ecef2enu,
q_ecef2ned,
q_ecef2body;
VECTOR_AS_VECT3(ecef_pos_pprz, ecef_pos);
ltp_def_from_ecef_d(¤t_ltp, &ecef_pos_pprz);
DOUBLE_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
QUAT_ENU_FROM_TO_NED(q_ecef2enu, q_ecef2ned);
//FLOAT_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c)
// a = ecef b = ned c = body
FLOAT_QUAT_COMP_INV_NORM_SHORTEST(q_ecef2body, q_ecef2ned, q_ned2body);
#ifdef EKNAV_FROM_LOG_DEBUG
printf("Right after initialization:\n");
DISPLAY_DOUBLE_QUAT("\t ned2body quaternion:", q_ned2body);
DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ned2body);
DISPLAY_DOUBLE_QUAT("\tecef2enu quaternion:", q_ecef2enu);
DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2enu);
DISPLAY_DOUBLE_QUAT("\tecef2ned quaternion:", q_ecef2ned);
DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2ned);
DISPLAY_DOUBLE_QUAT("\tecef2body quaternion:", q_ecef2body);
DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2body);
#endif /* EKNAV_FROM_LOG_DEBUG */
return DOUBLEQUAT_AS_QUATERNIOND(q_ecef2body);
}
static void set_reference_direction(void){
struct NedCoor_d ref_dir_ned;
struct EcefCoor_d pos_0_ecef_pprz,
ref_dir_ecef;
EARTHS_GEOMAGNETIC_FIELD_NORMED(ref_dir_ned);
struct LtpDef_d current_ltp;
VECTOR_AS_VECT3(pos_0_ecef_pprz, pos_0_ecef);
ltp_def_from_ecef_d(¤t_ltp, &pos_0_ecef_pprz);
ecef_of_ned_vect_d(&ref_dir_ecef, ¤t_ltp, &ref_dir_ned);
// THIS SOMEWHERE ELSE!
DoubleQuat initial_orientation;
FLOAT_QUAT_ZERO(initial_orientation);
ENU_NED_transformation(current_ltp.ltp_of_ecef);
DOUBLE_QUAT_OF_RMAT(initial_orientation, current_ltp.ltp_of_ecef);
ins.avg_state.orientation = DOUBLEQUAT_AS_QUATERNIOND(initial_orientation);
// THIS SOMEWHERE ELSE! (END)
// old transformation:
//struct DoubleRMat ned2ecef;
//NED_TO_ECEF_MAT(pos_0_lla, ned2ecef.m);
//RMAT_VECT3_MUL(ref_dir_ecef, ned2ecef, ref_dir_ned);
reference_direction = VECT3_AS_VECTOR3D(ref_dir_ecef).normalized();
//reference_direction = Vector3d(1, 0, 0);
std::cout <<"reference direction NED : " << VECT3_AS_VECTOR3D(ref_dir_ned).transpose() << std::endl;
std::cout <<"reference direction ECEF: " << reference_direction.transpose() << std::endl;
}
static void set_reference_direction(void){
struct NedCoor_d ref_dir_ned;
struct EcefCoor_d pos_0_ecef_pprz,
ref_dir_ecef;
EARTHS_GEOMAGNETIC_FIELD_NORMED(ref_dir_ned);
VECTOR_AS_VECT3(pos_0_ecef_pprz, pos_0_ecef);
ltp_def_from_ecef_d(¤t_ltp, &pos_0_ecef_pprz);
ecef_of_ned_vect_d(&ref_dir_ecef, ¤t_ltp, &ref_dir_ned);
reference_direction = VECT3_AS_VECTOR3D(ref_dir_ecef).normalized();
}
static struct raw_log_entry first_entry_after_initialisation(int file_descriptor){
int imu_measurements = 0, // => Gyro + Accel
magnetometer_measurements = 0,
baro_measurements = 0,
gps_measurements = 0; // only the position
struct DoubleMat33 attitude_profile_matrix, sigmaB; // the attitude profile matrix is often called "B"
struct Orientation_Measurement gravity,
magneto,
fake;
struct DoubleQuat q_ned2body, sigma_q;
/* Prepare the attitude profile matrix */
FLOAT_MAT33_ZERO(attitude_profile_matrix);
FLOAT_MAT33_ZERO(sigmaB);
// for faster converging, but probably more rounding error
#define MEASUREMENT_WEIGHT_SCALE 10
/* set the gravity measurement */
VECT3_ASSIGN(gravity.reference_direction, 0,0,-1);
gravity.weight_of_the_measurement = MEASUREMENT_WEIGHT_SCALE/(double)(imu_frequency); // originally 1/(imu_frequency*gravity.norm()
//gravity.weight_of_the_measurement = 1;
/* set the magneto - measurement */
EARTHS_GEOMAGNETIC_FIELD_NORMED(magneto.reference_direction);
magneto.weight_of_the_measurement = MEASUREMENT_WEIGHT_SCALE/(double)(mag_frequency); // originally 1/(mag_frequency*reference_direction.norm()
//magneto.weight_of_the_measurement = 1;
uint8_t read_ok;
#if WITH_GPS
struct raw_log_entry e = next_GPS(file_descriptor);
#else /* WITH_GPS */
struct raw_log_entry e = read_raw_log_entry(file_descriptor, &read_ok);
pos_0_ecef = Vector3d(4627578.56, 119659.25, 4373248.00);
pos_cov_0 = Vector3d::Ones()*100;
speed_0_ecef = Vector3d::Zero();
speed_cov_0 = Vector3d::Ones();
#endif /* WITH_GPS */
#ifdef EKNAV_FROM_LOG_DEBUG
int imu_ready = 0,
mag_ready = 0,
baro_ready = 0,
gps_ready = 0;
#endif /* EKNAV_FROM_LOG_DEBUG */
for(read_ok = 1; (read_ok) && NOT_ENOUGH_MEASUREMENTS(imu_measurements, magnetometer_measurements, baro_measurements, gps_measurements); e = read_raw_log_entry(file_descriptor, &read_ok)){
if(IMU_READY(e.message.valid_sensors)){
imu_measurements++;
// update the estimated bias
bias_0 = NEW_MEAN(bias_0, RATES_BFP_AS_VECTOR3D(e.message.gyro), imu_measurements);
// update the attitude profile matrix
ACCELS_FLOAT_OF_BFP(gravity.measured_direction,e.message.accel);
add_orientation_measurement(&attitude_profile_matrix, gravity);
}
if(MAG_READY(e.message.valid_sensors)){
magnetometer_measurements++;
// update the attitude profile matrix
MAGS_FLOAT_OF_BFP(magneto.measured_direction,e.message.mag);
add_orientation_measurement(&attitude_profile_matrix, magneto);
// now, generate fake measurement with the last gravity measurement
fake = fake_orientation_measurement(gravity, magneto);
add_orientation_measurement(&attitude_profile_matrix, fake);
}
if(BARO_READY(e.message.valid_sensors)){
baro_measurements++;
// TODO: Fix it!
//NEW_MEAN(baro_0_height, BARO_FLOAT_OF_BFP(e.message.pressure_absolute), baro_measurements);
baro_0_height = (baro_0_height*(baro_measurements-1)+BARO_FLOAT_OF_BFP(e.message.pressure_absolute))/baro_measurements;
}
if(GPS_READY(e.message.valid_sensors)){
gps_measurements++;
// update the estimated bias
pos_0_ecef = NEW_MEAN(pos_0_ecef, VECT3_AS_VECTOR3D(e.message.ecef_pos)/100, gps_measurements);
speed_0_ecef = NEW_MEAN(speed_0_ecef, VECT3_AS_VECTOR3D(e.message.ecef_vel)/100, gps_measurements);
}
#ifdef EKNAV_FROM_LOG_DEBUG
if(imu_ready==0){
if(!NOT_ENOUGH_IMU_MEASUREMENTS(imu_measurements)){
printf("IMU READY %3i %3i %3i %3i\n", imu_measurements, magnetometer_measurements, baro_measurements, gps_measurements);
imu_ready = 1;
}
}
if(mag_ready==0){
if(!NOT_ENOUGH_MAGNETIC_FIELD_MEASUREMENTS(magnetometer_measurements)){
printf("MAG READY %3i %3i %3i %3i\n", imu_measurements, magnetometer_measurements, baro_measurements, gps_measurements);
mag_ready = 1;
}
}
if(baro_ready==0){
if(!NOT_ENOUGH_BARO_MEASUREMENTS(baro_measurements)){
printf("BARO READY %3i %3i %3i %3i\n", imu_measurements, magnetometer_measurements, baro_measurements, gps_measurements);
baro_ready = 1;
}
}
if(gps_ready==0){
if(!NOT_ENOUGH_GPS_MEASUREMENTS(gps_measurements)){
printf("GPS READY %3i %3i %3i %3i\n", imu_measurements, magnetometer_measurements, baro_measurements, gps_measurements);
gps_ready = 1;
}
}
#endif /* EKNAV_FROM_LOG_DEBUG */
}
// setting the covariance
gravity.weight_of_the_measurement *= imu_measurements;
VECTOR_AS_VECT3(gravity.measured_direction, accelerometer_noise);
magneto.weight_of_the_measurement *= magnetometer_measurements;
VECTOR_AS_VECT3(magneto.measured_direction, magnetometer_noise);
add_set_of_three_measurements(&sigmaB, gravity, magneto);
#ifdef EKNAV_FROM_LOG_DEBUG
DISPLAY_FLOAT_RMAT(" B", attitude_profile_matrix);
DISPLAY_FLOAT_RMAT("sigmaB", sigmaB);
#endif /* EKNAV_FROM_LOG_DEBUG */
// setting the initial orientation
q_ned2body = estimated_attitude(attitude_profile_matrix, 1000, 1e-6, sigmaB, &sigma_q);
orientation_0 = ecef2body_from_pprz_ned2body(pos_0_ecef,q_ned2body);
baro_0_height += pos_0_ecef.norm();
struct DoubleEulers sigma_eu = sigma_euler_from_sigma_q(q_ned2body, sigma_q);
orientation_cov_0 = EULER_AS_VECTOR3D(sigma_eu);
#if WITH_GPS
pos_cov_0 = 10*gps_pos_noise / gps_measurements;
speed_cov_0 = 10*gps_speed_noise / gps_measurements;
#endif // WITH_GPS
return e;
}
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 */
}