static void test_2(void)
{
struct Int32Vect3 v1 = { 5000, 5000, 5000 };
DISPLAY_INT32_VECT3("v1", v1);
struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)};
DISPLAY_FLOAT_EULERS("euler_f", euler_f);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, euler_f);
DISPLAY_INT32_EULERS("euler_i", euler_i);
struct Int32Quat quat_i;
int32_quat_of_eulers(&quat_i, &euler_i);
DISPLAY_INT32_QUAT("quat_i", quat_i);
int32_quat_normalize(&quat_i);
DISPLAY_INT32_QUAT("quat_i_n", quat_i);
struct Int32Vect3 v2;
int32_quat_vmult(&v2, &quat_i, &v1);
DISPLAY_INT32_VECT3("v2", v2);
struct Int32RMat rmat_i;
int32_rmat_of_quat(&rmat_i, &quat_i);
DISPLAY_INT32_RMAT("rmat_i", rmat_i);
struct Int32Vect3 v3;
INT32_RMAT_VMULT(v3, rmat_i, v1);
DISPLAY_INT32_VECT3("v3", v3);
struct Int32RMat rmat_i2;
int32_rmat_of_eulers(&rmat_i2, &euler_i);
DISPLAY_INT32_RMAT("rmat_i2", rmat_i2);
struct Int32Vect3 v4;
INT32_RMAT_VMULT(v4, rmat_i2, v1);
DISPLAY_INT32_VECT3("v4", v4);
struct FloatQuat quat_f;
float_quat_of_eulers(&quat_f, &euler_f);
DISPLAY_FLOAT_QUAT("quat_f", quat_f);
struct FloatVect3 v5;
VECT3_COPY(v5, v1);
DISPLAY_FLOAT_VECT3("v5", v5);
struct FloatVect3 v6;
float_quat_vmult(&v6, &quat_f, &v5);
DISPLAY_FLOAT_VECT3("v6", v6);
}
static void test_2(void) {
struct Int32Vect3 v1 = { 5000, 5000, 5000 };
DISPLAY_INT32_VECT3("v1", v1);
struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)};
DISPLAY_FLOAT_EULERS("euler_f", euler_f);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, euler_f);
DISPLAY_INT32_EULERS("euler_i", euler_i);
struct Int32Quat quat_i;
INT32_QUAT_OF_EULERS(quat_i, euler_i);
DISPLAY_INT32_QUAT("quat_i", quat_i);
INT32_QUAT_NORMALIZE(quat_i);
DISPLAY_INT32_QUAT("quat_i_n", quat_i);
struct Int32Vect3 v2;
INT32_QUAT_VMULT(v2, quat_i, v1);
DISPLAY_INT32_VECT3("v2", v2);
struct Int32RMat rmat_i;
INT32_RMAT_OF_QUAT(rmat_i, quat_i);
DISPLAY_INT32_RMAT("rmat_i", rmat_i);
struct Int32Vect3 v3;
INT32_RMAT_VMULT(v3, rmat_i, v1);
DISPLAY_INT32_VECT3("v3", v3);
struct Int32RMat rmat_i2;
INT32_RMAT_OF_EULERS(rmat_i2, euler_i);
DISPLAY_INT32_RMAT("rmat_i2", rmat_i2);
struct Int32Vect3 v4;
INT32_RMAT_VMULT(v4, rmat_i2, v1);
DISPLAY_INT32_VECT3("v4", v4);
struct FloatQuat quat_f;
FLOAT_QUAT_OF_EULERS(quat_f, euler_f);
DISPLAY_FLOAT_QUAT("quat_f", quat_f);
struct FloatVect3 v5;
VECT3_COPY(v5, v1);
DISPLAY_FLOAT_VECT3("v5", v5);
struct FloatVect3 v6;
FLOAT_QUAT_VMULT(v6, quat_f, v5);
DISPLAY_FLOAT_VECT3("v6", v6);
}
void ahrs_update_accel(void) {
// c2 = ltp z-axis in imu-frame
struct Int32Vect3 c2 = { RMAT_ELMT(ahrs.ltp_to_imu_rmat, 0,2),
RMAT_ELMT(ahrs.ltp_to_imu_rmat, 1,2),
RMAT_ELMT(ahrs.ltp_to_imu_rmat, 2,2)};
struct Int32Vect3 residual;
struct Int32Vect3 pseudo_gravity_measurement;
if (ahrs_impl.correct_gravity && ahrs_impl.ltp_vel_norm_valid) {
/*
* centrifugal acceleration in body frame
* a_c_body = omega x (omega x r)
* (omega x r) = tangential velocity in body frame
* a_c_body = omega x vel_tangential_body
* assumption: tangential velocity only along body x-axis
*/
// FIXME: check overflows !
const struct Int32Vect3 vel_tangential_body = {(ahrs_impl.ltp_vel_norm>>INT32_ACCEL_FRAC), 0.0, 0.0};
struct Int32Vect3 acc_c_body;
VECT3_RATES_CROSS_VECT3(acc_c_body, ahrs.body_rate, vel_tangential_body);
INT32_VECT3_RSHIFT(acc_c_body, acc_c_body, INT32_SPEED_FRAC+INT32_RATE_FRAC-INT32_ACCEL_FRAC-INT32_ACCEL_FRAC);
/* convert centrifucal acceleration from body to imu frame */
struct Int32Vect3 acc_c_imu;
INT32_RMAT_VMULT(acc_c_imu, imu.body_to_imu_rmat, acc_c_body);
/* and subtract it from imu measurement to get a corrected measurement of the gravitiy vector */
INT32_VECT3_DIFF(pseudo_gravity_measurement, imu.accel, acc_c_imu);
} else {
static inline void ahrs_update_mag_2d(void) {
const struct Int32Vect2 expected_ltp = {MAG_BFP_OF_REAL(AHRS_H_X),
MAG_BFP_OF_REAL(AHRS_H_Y)};
struct Int32Vect3 measured_ltp;
INT32_RMAT_TRANSP_VMULT(measured_ltp, ahrs.ltp_to_imu_rmat, imu.mag);
struct Int32Vect3 residual_ltp =
{ 0,
0,
(measured_ltp.x * expected_ltp.y - measured_ltp.y * expected_ltp.x)/(1<<5)};
struct Int32Vect3 residual_imu;
INT32_RMAT_VMULT(residual_imu, ahrs.ltp_to_imu_rmat, residual_ltp);
// residual_ltp FRAC = 2 * MAG_FRAC = 22
// rate_correction FRAC = RATE_FRAC = 12
// 2^12 / 2^22 * 2.5 = 1/410
// ahrs_impl.rate_correction.p += residual_imu.x*(1<<5)/410;
// ahrs_impl.rate_correction.q += residual_imu.y*(1<<5)/410;
// ahrs_impl.rate_correction.r += residual_imu.z*(1<<5)/410;
ahrs_impl.rate_correction.p += residual_imu.x/16;
ahrs_impl.rate_correction.q += residual_imu.y/16;
ahrs_impl.rate_correction.r += residual_imu.z/16;
// residual_ltp FRAC = 2 * MAG_FRAC = 22
// high_rez_bias = RATE_FRAC+28 = 40
// 2^40 / 2^22 * 2.5e-3 = 655
// ahrs_impl.high_rez_bias.p -= residual_imu.x*(1<<5)*655;
// ahrs_impl.high_rez_bias.q -= residual_imu.y*(1<<5)*655;
// ahrs_impl.high_rez_bias.r -= residual_imu.z*(1<<5)*655;
ahrs_impl.high_rez_bias.p -= residual_imu.x*1024;
ahrs_impl.high_rez_bias.q -= residual_imu.y*1024;
ahrs_impl.high_rez_bias.r -= residual_imu.z*1024;
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
static inline void ahrs_update_mag_full(void) {
const struct Int32Vect3 expected_ltp = {MAG_BFP_OF_REAL(AHRS_H_X),
MAG_BFP_OF_REAL(AHRS_H_Y),
MAG_BFP_OF_REAL(AHRS_H_Z)};
struct Int32Vect3 expected_imu;
INT32_RMAT_VMULT(expected_imu, ahrs.ltp_to_imu_rmat, expected_ltp);
struct Int32Vect3 residual;
INT32_VECT3_CROSS_PRODUCT(residual, imu.mag, expected_imu);
ahrs_impl.rate_correction.p += residual.x/32/16;
ahrs_impl.rate_correction.q += residual.y/32/16;
ahrs_impl.rate_correction.r += residual.z/32/16;
ahrs_impl.high_rez_bias.p += -residual.x/32*1024;
ahrs_impl.high_rez_bias.q += -residual.y/32*1024;
ahrs_impl.high_rez_bias.r += -residual.z/32*1024;
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
