/**
*
* @brief Takes binary semaphore.
*
* @param[in] sema pointer to instance of @p struct pios_semaphore
* @param[in] timeout_ms timeout for acquiring the lock in milliseconds
*
* @returns true on success or false on timeout or failure
*
*/
bool PIOS_Semaphore_Take(struct pios_semaphore *sema, uint32_t timeout_ms)
{
PIOS_Assert(sema != NULL);
#if defined(PIOS_INCLUDE_FREERTOS)
portTickType timeout_ticks;
if (timeout_ms == PIOS_SEMAPHORE_TIMEOUT_MAX)
timeout_ticks = portMAX_DELAY;
else
timeout_ticks = MS2TICKS(timeout_ms);
return xSemaphoreTake(sema->sema_handle, timeout_ticks) == pdTRUE;
#else
uint32_t start = PIOS_DELAY_GetRaw();
uint32_t temp_sema_count;
do {
PIOS_IRQ_Disable();
if ((temp_sema_count = sema->sema_count) != 0)
--sema->sema_count;
PIOS_IRQ_Enable();
} while (temp_sema_count == 0 &&
PIOS_DELAY_DiffuS(start) < timeout_ms * 1000);
return temp_sema_count != 0;
#endif
}
/**
* @brief This function returns true if the watchdog would
* have expired
*/
bool PIOS_WDG_Check()
{
if(PIOS_DELAY_DiffuS(wdg_cleared_time) > 250000) {
if(!wdg_expired)
fprintf(stderr, "Watchdog fired!\r\n");
wdg_expired = true;
}
return wdg_expired;
}
/**
* @brief Function called by modules to indicate they are still running
*
* This function will set this flag in the active flags register (which is
* a backup regsiter) and if all the registered flags are set will clear
* the watchdog and set only this flag in the backup register
*
* @param[in] flag the flag to set
* @return true if the watchdog cleared, false if flags are pending
*/
bool PIOS_WDG_UpdateFlag(uint16_t flag)
{
PIOS_WDG_Check();
wdg_updated_flags |= flag;
if( wdg_updated_flags == wdg_registered_flags) {
wdg_last_update_time = PIOS_DELAY_DiffuS(wdg_cleared_time);
wdg_updated_flags = 0;
wdg_cleared_time = PIOS_DELAY_GetRaw();
}
return true;
}
bool PIOS_MPU6000_IRQHandler(void)
{
bool woken = false;
static uint32_t timeval;
mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if (!mpu6000_configured) {
return false;
}
/* Temporary fix for OP-1049. Expected to be superceded for next major release
* by code changes for OP-1039.
* Read interrupt status register to check for FIFO overflow. Must be the
* first read after interrupt, in case the device is configured so that
* any read clears in the status register (PIOS_MPU6000_INT_CLR_ANYRD set in
* interrupt config register) */
int32_t result;
if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(&woken)) < 0) {
return woken;
}
if (result & PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW) {
/* The FIFO has overflowed, so reset it,
* to enable sample sync to be recovered.
* If the reset fails, we are in trouble, but
* we keep trying on subsequent interrupts. */
PIOS_MPU6000_ResetFifoISR(&woken);
/* Return and wait for the next new sample. */
return woken;
}
/* Usual case - FIFO has not overflowed. */
mpu6000_count = PIOS_MPU6000_FifoDepthISR(&woken);
if (mpu6000_count < PIOS_MPU6000_SAMPLES_BYTES) {
return woken;
}
if (PIOS_MPU6000_ClaimBusISR(&woken) != 0) {
return woken;
}
static uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
static uint8_t mpu6000_rec_buf[1 + PIOS_MPU6000_SAMPLES_BYTES];
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(&woken);
mpu6000_fails++;
return woken;
}
PIOS_MPU6000_ReleaseBusISR(&woken);
static struct pios_mpu6000_data data;
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) {
mpu6000_fifo_backup++;
if (PIOS_MPU6000_ClaimBusISR(&woken) != 0) {
return woken;
}
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(&woken);
mpu6000_fails++;
return woken;
}
PIOS_MPU6000_ReleaseBusISR(&woken);
}
// Rotate the sensor to OP convention. The datasheet defines X as towards the right
// and Y as forward. OP convention transposes this. Also the Z is defined negatively
// to our convention
#if defined(PIOS_MPU6000_ACCEL)
// Currently we only support rotations on top so switch X/Y accordingly
switch (dev->cfg->orientation) {
case PIOS_MPU6000_TOP_0DEG:
data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
data.gyro_y = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
break;
case PIOS_MPU6000_TOP_90DEG:
// -1 to bring it back to -32768 +32767 range
data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
data.gyro_y = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
break;
case PIOS_MPU6000_TOP_180DEG:
data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
data.gyro_y = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
data.gyro_x = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
break;
case PIOS_MPU6000_TOP_270DEG:
data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
data.gyro_x = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
break;
}
data.gyro_z = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
data.accel_z = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
#else /* if defined(PIOS_MPU6000_ACCEL) */
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
switch (dev->cfg->orientation) {
case PIOS_MPU6000_TOP_0DEG:
data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
break;
case PIOS_MPU6000_TOP_90DEG:
data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X
break;
case PIOS_MPU6000_TOP_180DEG:
data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
break;
case PIOS_MPU6000_TOP_270DEG:
data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y
data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
break;
}
data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
#endif /* if defined(PIOS_MPU6000_ACCEL) */
signed portBASE_TYPE higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return woken || higherPriorityTaskWoken == pdTRUE;
}
static void SensorsTask(void *parameters)
{
portTickType lastSysTime;
uint32_t accel_samples = 0;
uint32_t gyro_samples = 0;
int32_t accel_accum[3] = {0, 0, 0};
int32_t gyro_accum[3] = {0,0,0};
float gyro_scaling = 0;
float accel_scaling = 0;
static int32_t timeval;
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
UAVObjEvent ev;
settingsUpdatedCb(&ev);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
switch(bdinfo->board_rev) {
case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test();
#endif
#if defined(PIOS_INCLUDE_BMA180)
accel_test = PIOS_BMA180_Test();
#endif
break;
case 0x02:
#if defined(PIOS_INCLUDE_MPU6000)
gyro_test = PIOS_MPU6000_Test();
accel_test = gyro_test;
#endif
break;
default:
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_HMC5883)
mag_test = PIOS_HMC5883_Test();
#else
mag_test = 0;
#endif
if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
vTaskDelay(10);
}
}
// Main task loop
lastSysTime = xTaskGetTickCount();
bool error = false;
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
while (1) {
// TODO: add timeouts to the sensor reads and set an error if the fail
sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if (error) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
error = false;
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
}
for (int i = 0; i < 3; i++) {
accel_accum[i] = 0;
gyro_accum[i] = 0;
}
accel_samples = 0;
gyro_samples = 0;
AccelsData accelsData;
GyrosData gyrosData;
switch(bdinfo->board_rev) {
case 0x01: // L3GD20 + BMA180 board
#if defined(PIOS_INCLUDE_BMA180)
{
struct pios_bma180_data accel;
int32_t read_good;
int32_t count;
count = 0;
while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
if (error) {
// Unfortunately if the BMA180 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstarts
// it.
struct pios_bma180_data data;
PIOS_BMA180_ReadAccels(&data);
continue;
}
while(read_good == 0) {
count++;
accel_accum[1] += accel.x;
accel_accum[0] += accel.y;
accel_accum[2] -= accel.z;
read_good = PIOS_BMA180_ReadFifo(&accel);
}
accel_samples = count;
accel_scaling = PIOS_BMA180_GetScale();
// Get temp from last reading
accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
}
#endif
#if defined(PIOS_INCLUDE_L3GD20)
{
struct pios_l3gd20_data gyro;
gyro_samples = 0;
xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
if(xQueueReceive(gyro_queue, (void *) &gyro, 4) == errQUEUE_EMPTY) {
error = true;
continue;
}
gyro_samples = 1;
gyro_accum[1] += gyro.gyro_x;
gyro_accum[0] += gyro.gyro_y;
gyro_accum[2] -= gyro.gyro_z;
gyro_scaling = PIOS_L3GD20_GetScale();
// Get temp from last reading
gyrosData.temperature = gyro.temperature;
}
#endif
break;
case 0x02: // MPU6000 board
case 0x03: // MPU6000 board
#if defined(PIOS_INCLUDE_MPU6000)
{
struct pios_mpu6000_data mpu6000_data;
xQueueHandle queue = PIOS_MPU6000_GetQueue();
while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
{
gyro_accum[0] += mpu6000_data.gyro_x;
gyro_accum[1] += mpu6000_data.gyro_y;
gyro_accum[2] += mpu6000_data.gyro_z;
accel_accum[0] += mpu6000_data.accel_x;
accel_accum[1] += mpu6000_data.accel_y;
accel_accum[2] += mpu6000_data.accel_z;
gyro_samples ++;
accel_samples ++;
}
if (gyro_samples == 0) {
PIOS_MPU6000_ReadGyros(&mpu6000_data);
error = true;
continue;
}
gyro_scaling = PIOS_MPU6000_GetScale();
accel_scaling = PIOS_MPU6000_GetAccelScale();
gyrosData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
accelsData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
}
#endif /* PIOS_INCLUDE_MPU6000 */
break;
default:
PIOS_DEBUG_Assert(0);
}
// Scale the accels
float accels[3] = {(float) accel_accum[0] / accel_samples,
(float) accel_accum[1] / accel_samples,
(float) accel_accum[2] / accel_samples};
float accels_out[3] = {accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]};
if (rotate) {
rot_mult(R, accels_out, accels);
accelsData.x = accels[0];
accelsData.y = accels[1];
accelsData.z = accels[2];
} else {
accelsData.x = accels_out[0];
accelsData.y = accels_out[1];
accelsData.z = accels_out[2];
}
AccelsSet(&accelsData);
// Scale the gyros
float gyros[3] = {(float) gyro_accum[0] / gyro_samples,
(float) gyro_accum[1] / gyro_samples,
(float) gyro_accum[2] / gyro_samples};
float gyros_out[3] = {gyros[0] * gyro_scaling,
gyros[1] * gyro_scaling,
gyros[2] * gyro_scaling};
if (rotate) {
rot_mult(R, gyros_out, gyros);
gyrosData.x = gyros[0];
gyrosData.y = gyros[1];
gyrosData.z = gyros[2];
} else {
gyrosData.x = gyros_out[0];
gyrosData.y = gyros_out[1];
gyrosData.z = gyros_out[2];
}
if (bias_correct_gyro) {
// Apply bias correction to the gyros from the state estimator
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x -= gyrosBias.x;
gyrosData.y -= gyrosBias.y;
gyrosData.z -= gyrosBias.z;
}
GyrosSet(&gyrosData);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {-(float) values[1] * mag_scale[0] - mag_bias[0],
-(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
if (rotate) {
float mag_out[3];
rot_mult(R, mags, mag_out);
mag.x = mag_out[0];
mag.y = mag_out[1];
mag.z = mag_out[2];
} else {
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
}
// Correct for mag bias and update if the rate is non zero
if(cal.MagBiasNullingRate > 0)
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
}
}
/**
* Read the ADC conversion value (once ADC conversion has completed)
* \return 0 if successfully read the ADC, -1 if conversion time has not elapsed, -2 if failure occurred
*/
int32_t PIOS_MS5611_ReadADC(void)
{
uint8_t Data[3];
Data[0] = 0;
Data[1] = 0;
Data[2] = 0;
if (CurrentRead == MS5611_CONVERSION_TYPE_None) {
return -2;
}
if (conversionDelayUs > PIOS_DELAY_DiffuS(lastConversionStart)) {
return -1;
}
static int64_t deltaTemp;
/* Read and store the 16bit result */
if (CurrentRead == MS5611_CONVERSION_TYPE_TemperatureConv) {
/* Read the temperature conversion */
if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0) {
return -2;
}
RawTemperature = (Data[0] << 16) | (Data[1] << 8) | Data[2];
// Difference between actual and reference temperature
// dT = D2 - TREF = D2 - C5 * 2^8
deltaTemp = ((int32_t)RawTemperature) - (CalibData.C[4] * POW2(8));
// Actual temperature (-40…85°C with 0.01°C resolution)
// TEMP = 20°C + dT * TEMPSENS = 2000 + dT * C6 / 2^23
Temperature = 2000l + ((deltaTemp * CalibData.C[5]) / POW2(23));
} else {
int64_t Offset;
int64_t Sens;
// used for second order temperature compensation
int64_t Offset2 = 0;
int64_t Sens2 = 0;
/* Read the pressure conversion */
if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0) {
return -2;
}
// check if temperature is less than 20°C
if (Temperature < 2000) {
// Apply compensation
// T2 = dT^2 / 2^31
// OFF2 = 5 ⋅ (TEMP – 2000)^2/2
// SENS2 = 5 ⋅ (TEMP – 2000)^2/2^2
int64_t tcorr = (Temperature - 2000) * (Temperature - 2000);
Offset2 = (5 * tcorr) / 2;
Sens2 = (5 * tcorr) / 4;
compensation_t2 = (deltaTemp * deltaTemp) >> 31;
// Apply the "Very low temperature compensation" when temp is less than -15°C
if (Temperature < -1500) {
// OFF2 = OFF2 + 7 ⋅ (TEMP + 1500)^2
// SENS2 = SENS2 + 11 ⋅ (TEMP + 1500)^2 / 2
int64_t tcorr2 = (Temperature + 1500) * (Temperature + 1500);
Offset2 += 7 * tcorr2;
Sens2 += (11 * tcorr2) / 2;
}
} else {
/**
* This method performs a simple simulation of a car
*
* It takes in the ActuatorDesired command to rotate the aircraft and performs
* a simple kinetic model where the throttle increases the energy and drag decreases
* it. Changing altitude moves energy from kinetic to potential.
*
* 1. Update attitude based on ActuatorDesired
* 2. Update position based on velocity
*/
static void simulateModelCar()
{
static double pos[3] = {0,0,0};
static double vel[3] = {0,0,0};
static double ned_accel[3] = {0,0,0};
static float q[4] = {1,0,0,0};
static float rpy[3] = {0,0,0}; // Low pass filtered actuator
static float baro_offset = 0.0f;
float Rbe[3][3];
const float ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = 9.81 * 0.5;
const float K_FRICTION = 0.2;
const float GPS_PERIOD = 0.1;
const float MAG_PERIOD = 1.0 / 75.0;
const float BARO_PERIOD = 1.0 / 20.0;
static uint32_t last_time;
float dT = (PIOS_DELAY_DiffuS(last_time) / 1e6);
if(dT < 1e-3)
dT = 2e-3;
last_time = PIOS_DELAY_GetRaw();
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
float thrust = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) ? actuatorDesired.Throttle * MAX_THRUST : 0;
if (thrust < 0)
thrust = 0;
if (thrust != thrust)
thrust = 0;
// float control_scaling = thrust * thrustToDegs;
// // In rad/s
// rpy[0] = control_scaling * actuatorDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
// rpy[1] = control_scaling * actuatorDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
// rpy[2] = control_scaling * actuatorDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
//
// GyrosData gyrosData; // Skip get as we set all the fields
// gyrosData.x = rpy[0] * 180 / M_PI + rand_gauss();
// gyrosData.y = rpy[1] * 180 / M_PI + rand_gauss();
// gyrosData.z = rpy[2] * 180 / M_PI + rand_gauss();
/**** 1. Update attitude ****/
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
// Need to get roll angle for easy cross coupling
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
rpy[0] = 0; // cannot roll
rpy[1] = 0; // cannot pitch
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rpy[0] + rand_gauss();
gyrosData.y = rpy[1] + rand_gauss();
gyrosData.z = rpy[2] + rand_gauss();
GyrosSet(&gyrosData);
// Predict the attitude forward in time
float qdot[4];
qdot[0] = (-q[1] * rpy[0] - q[2] * rpy[1] - q[3] * rpy[2]) * dT * DEG2RAD / 2;
qdot[1] = (q[0] * rpy[0] - q[3] * rpy[1] + q[2] * rpy[2]) * dT * DEG2RAD / 2;
qdot[2] = (q[3] * rpy[0] + q[0] * rpy[1] - q[1] * rpy[2]) * dT * DEG2RAD / 2;
qdot[3] = (-q[2] * rpy[0] + q[1] * rpy[1] + q[0] * rpy[2]) * dT * DEG2RAD / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
float qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
if(overideAttitude){
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
attitudeActual.q1 = q[0];
attitudeActual.q2 = q[1];
attitudeActual.q3 = q[2];
attitudeActual.q4 = q[3];
AttitudeActualSet(&attitudeActual);
}
/**** 2. Update position based on velocity ****/
// Rbe takes a vector from body to earth. If we take (1,0,0)^T through this and then dot with airspeed
// we get forward airspeed
Quaternion2R(q,Rbe);
double groundspeed[3] = {vel[0], vel[1], vel[2] };
double forwardSpeed = Rbe[0][0] * groundspeed[0] + Rbe[0][1] * groundspeed[1] + Rbe[0][2] * groundspeed[2];
double sidewaysSpeed = Rbe[1][0] * groundspeed[0] + Rbe[1][1] * groundspeed[1] + Rbe[1][2] * groundspeed[2];
/* Compute aerodynamic forces in body referenced frame. Later use more sophisticated equations */
/* TODO: This should become more accurate. Use the force equations to calculate lift from the */
/* various surfaces based on AoA and airspeed. From that compute torques and forces. For later */
double forces[3]; // X, Y, Z
forces[0] = thrust - forwardSpeed * K_FRICTION; // Friction is applied in all directions in NED
forces[1] = 0 - sidewaysSpeed * K_FRICTION * 100; // No side slip
forces[2] = 0;
// Negate force[2] as NED defines down as possitive, aircraft convention is Z up is positive (?)
ned_accel[0] = forces[0] * Rbe[0][0] + forces[1] * Rbe[1][0] - forces[2] * Rbe[2][0];
ned_accel[1] = forces[0] * Rbe[0][1] + forces[1] * Rbe[1][1] - forces[2] * Rbe[2][1];
ned_accel[2] = 0;
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0]);
ned_accel[1] -= K_FRICTION * (vel[1]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;
vel[1] = vel[1] + ned_accel[1] * dT;
vel[2] = vel[2] + ned_accel[2] * dT;
// Predict the position forward in time
pos[0] = pos[0] + vel[0] * dT;
pos[1] = pos[1] + vel[1] * dT;
pos[2] = pos[2] + vel[2] * dT;
// Simulate hitting ground
if(pos[2] > 0) {
pos[2] = 0;
vel[2] = 0;
ned_accel[2] = 0;
}
// Sensor feels gravity (when not acceleration in ned frame e.g. ned_accel[2] = 0)
ned_accel[2] -= GRAVITY;
// Transform the accels back in to body frame
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2] + accel_bias[0];
accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2] + accel_bias[1];
accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2] + accel_bias[2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
if(baro_offset == 0) {
// Hacky initialization
baro_offset = 50;// * rand_gauss();
} else {
// Very small drift process
baro_offset += rand_gauss() / 100;
}
// Update baro periodically
static uint32_t last_baro_time = 0;
if(PIOS_DELAY_DiffuS(last_baro_time) / 1.0e6 > BARO_PERIOD) {
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = -pos[2] + baro_offset;
BaroAltitudeSet(&baroAltitude);
last_baro_time = PIOS_DELAY_GetRaw();
}
HomeLocationData homeLocation;
HomeLocationGet(&homeLocation);
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
// Update GPS periodically
static uint32_t last_gps_time = 0;
if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) {
// Use double precision here as simulating what GPS produces
double T[3];
T[0] = homeLocation.Altitude+6.378137E6f * DEG2RAD;
T[1] = cosf(homeLocation.Latitude / 10e6 * DEG2RAD)*(homeLocation.Altitude+6.378137E6) * DEG2RAD;
T[2] = -1.0;
static float gps_drift[3] = {0,0,0};
gps_drift[0] = gps_drift[0] * 0.95 + rand_gauss() / 10.0;
gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0;
gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6);
gpsPosition.Longitude = homeLocation.Longitude + ((pos[1] + gps_drift[1])/ T[1] * 10.0e6);
gpsPosition.Altitude = homeLocation.Altitude + ((pos[2] + gps_drift[2]) / T[2]);
gpsPosition.Groundspeed = sqrtf(pow(vel[0] + gps_vel_drift[0],2) + pow(vel[1] + gps_vel_drift[1],2));
gpsPosition.Heading = 180 / M_PI * atan2f(vel[1] + gps_vel_drift[1],vel[0] + gps_vel_drift[0]);
gpsPosition.Satellites = 7;
gpsPosition.PDOP = 1;
GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw();
}
// Update GPS Velocity measurements
static uint32_t last_gps_vel_time = 1000; // Delay by a millisecond
if(PIOS_DELAY_DiffuS(last_gps_vel_time) / 1.0e6 > GPS_PERIOD) {
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity);
last_gps_vel_time = PIOS_DELAY_GetRaw();
}
// Update mag periodically
static uint32_t last_mag_time = 0;
if(PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetometerData mag;
mag.x = 100+homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = 100+homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = 100+homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}
AttitudeSimulatedData attitudeSimulated;
AttitudeSimulatedGet(&attitudeSimulated);
attitudeSimulated.q1 = q[0];
attitudeSimulated.q2 = q[1];
attitudeSimulated.q3 = q[2];
attitudeSimulated.q4 = q[3];
Quaternion2RPY(q,&attitudeSimulated.Roll);
attitudeSimulated.Position[0] = pos[0];
attitudeSimulated.Position[1] = pos[1];
attitudeSimulated.Position[2] = pos[2];
attitudeSimulated.Velocity[0] = vel[0];
attitudeSimulated.Velocity[1] = vel[1];
attitudeSimulated.Velocity[2] = vel[2];
AttitudeSimulatedSet(&attitudeSimulated);
}
static void simulateModelQuadcopter()
{
static double pos[3] = {0,0,0};
static double vel[3] = {0,0,0};
static double ned_accel[3] = {0,0,0};
static float q[4] = {1,0,0,0};
static float rpy[3] = {0,0,0}; // Low pass filtered actuator
static float baro_offset = 0.0f;
static float temperature = 20;
float Rbe[3][3];
const float ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = GRAVITY * 2;
const float K_FRICTION = 1;
const float GPS_PERIOD = 0.1;
const float MAG_PERIOD = 1.0 / 75.0;
const float BARO_PERIOD = 1.0 / 20.0;
static uint32_t last_time;
float dT = (PIOS_DELAY_DiffuS(last_time) / 1e6);
if(dT < 1e-3)
dT = 2e-3;
last_time = PIOS_DELAY_GetRaw();
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
float thrust = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) ? actuatorDesired.Throttle * MAX_THRUST : 0;
if (thrust < 0)
thrust = 0;
if (thrust != thrust)
thrust = 0;
// float control_scaling = thrust * thrustToDegs;
// // In rad/s
// rpy[0] = control_scaling * actuatorDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
// rpy[1] = control_scaling * actuatorDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
// rpy[2] = control_scaling * actuatorDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
//
// GyrosData gyrosData; // Skip get as we set all the fields
// gyrosData.x = rpy[0] * 180 / M_PI + rand_gauss();
// gyrosData.y = rpy[1] * 180 / M_PI + rand_gauss();
// gyrosData.z = rpy[2] * 180 / M_PI + rand_gauss();
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
temperature = 20;
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rpy[0] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11; // - powf(temperature - 20,3) * 0.05;;
gyrosData.y = rpy[1] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11;;
gyrosData.z = rpy[2] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11;;
gyrosData.temperature = temperature;
GyrosSet(&gyrosData);
// Predict the attitude forward in time
float qdot[4];
qdot[0] = (-q[1] * rpy[0] - q[2] * rpy[1] - q[3] * rpy[2]) * dT * DEG2RAD / 2;
qdot[1] = (q[0] * rpy[0] - q[3] * rpy[1] + q[2] * rpy[2]) * dT * DEG2RAD / 2;
qdot[2] = (q[3] * rpy[0] + q[0] * rpy[1] - q[1] * rpy[2]) * dT * DEG2RAD / 2;
qdot[3] = (-q[2] * rpy[0] + q[1] * rpy[1] + q[0] * rpy[2]) * dT * DEG2RAD / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
float qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
if(overideAttitude){
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
attitudeActual.q1 = q[0];
attitudeActual.q2 = q[1];
attitudeActual.q3 = q[2];
attitudeActual.q4 = q[3];
AttitudeActualSet(&attitudeActual);
}
static float wind[3] = {0,0,0};
wind[0] = wind[0] * 0.95 + rand_gauss() / 10.0;
wind[1] = wind[1] * 0.95 + rand_gauss() / 10.0;
wind[2] = wind[2] * 0.95 + rand_gauss() / 10.0;
Quaternion2R(q,Rbe);
// Make thrust negative as down is positive
ned_accel[0] = -thrust * Rbe[2][0];
ned_accel[1] = -thrust * Rbe[2][1];
// Gravity causes acceleration of 9.81 in the down direction
ned_accel[2] = -thrust * Rbe[2][2] + GRAVITY;
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[1]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[2]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;
vel[1] = vel[1] + ned_accel[1] * dT;
vel[2] = vel[2] + ned_accel[2] * dT;
// Predict the position forward in time
pos[0] = pos[0] + vel[0] * dT;
pos[1] = pos[1] + vel[1] * dT;
pos[2] = pos[2] + vel[2] * dT;
// Simulate hitting ground
if(pos[2] > 0) {
pos[2] = 0;
vel[2] = 0;
ned_accel[2] = 0;
}
// Sensor feels gravity (when not acceleration in ned frame e.g. ned_accel[2] = 0)
ned_accel[2] -= 9.81;
// Transform the accels back in to body frame
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2] + accel_bias[0];
accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2] + accel_bias[1];
accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2] + accel_bias[2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
if(baro_offset == 0) {
// Hacky initialization
baro_offset = 50;// * rand_gauss();
} else {
// Very small drift process
baro_offset += rand_gauss() / 100;
}
// Update baro periodically
static uint32_t last_baro_time = 0;
if(PIOS_DELAY_DiffuS(last_baro_time) / 1.0e6 > BARO_PERIOD) {
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = -pos[2] + baro_offset;
BaroAltitudeSet(&baroAltitude);
last_baro_time = PIOS_DELAY_GetRaw();
}
HomeLocationData homeLocation;
HomeLocationGet(&homeLocation);
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
// Update GPS periodically
static uint32_t last_gps_time = 0;
if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) {
// Use double precision here as simulating what GPS produces
double T[3];
T[0] = homeLocation.Altitude+6.378137E6f * DEG2RAD;
T[1] = cosf(homeLocation.Latitude / 10e6 * DEG2RAD)*(homeLocation.Altitude+6.378137E6) * DEG2RAD;
T[2] = -1.0;
static float gps_drift[3] = {0,0,0};
gps_drift[0] = gps_drift[0] * 0.95 + rand_gauss() / 10.0;
gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0;
gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6);
gpsPosition.Longitude = homeLocation.Longitude + ((pos[1] + gps_drift[1])/ T[1] * 10.0e6);
gpsPosition.Altitude = homeLocation.Altitude + ((pos[2] + gps_drift[2]) / T[2]);
gpsPosition.Groundspeed = sqrtf(pow(vel[0] + gps_vel_drift[0],2) + pow(vel[1] + gps_vel_drift[1],2));
gpsPosition.Heading = 180 / M_PI * atan2f(vel[1] + gps_vel_drift[1],vel[0] + gps_vel_drift[0]);
gpsPosition.Satellites = 7;
gpsPosition.PDOP = 1;
gpsPosition.Status = GPSPOSITION_STATUS_FIX3D;
GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw();
}
// Update GPS Velocity measurements
static uint32_t last_gps_vel_time = 1000; // Delay by a millisecond
if(PIOS_DELAY_DiffuS(last_gps_vel_time) / 1.0e6 > GPS_PERIOD) {
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity);
last_gps_vel_time = PIOS_DELAY_GetRaw();
}
// Update mag periodically
static uint32_t last_mag_time = 0;
if(PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetometerData mag;
mag.x = homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
// Run the offset compensation algorithm from the firmware
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}
AttitudeSimulatedData attitudeSimulated;
AttitudeSimulatedGet(&attitudeSimulated);
attitudeSimulated.q1 = q[0];
attitudeSimulated.q2 = q[1];
attitudeSimulated.q3 = q[2];
attitudeSimulated.q4 = q[3];
Quaternion2RPY(q,&attitudeSimulated.Roll);
attitudeSimulated.Position[0] = pos[0];
attitudeSimulated.Position[1] = pos[1];
attitudeSimulated.Position[2] = pos[2];
attitudeSimulated.Velocity[0] = vel[0];
attitudeSimulated.Velocity[1] = vel[1];
attitudeSimulated.Velocity[2] = vel[2];
AttitudeSimulatedSet(&attitudeSimulated);
}
/**
* @brief Use the INSGPS fusion algorithm in either indoor or outdoor mode (use GPS)
* @params[in] first_run This is the first run so trigger reinitialization
* @params[in] outdoor_mode If true use the GPS for position, if false weakly pull to (0,0)
* @return 0 for success, -1 for failure
*/
static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
{
UAVObjEvent ev;
GyrosData gyrosData;
AccelsData accelsData;
MagnetometerData magData;
BaroAltitudeData baroData;
GPSPositionData gpsData;
GPSVelocityData gpsVelData;
GyrosBiasData gyrosBias;
static bool mag_updated = false;
static bool baro_updated;
static bool gps_updated;
static bool gps_vel_updated;
static float baroOffset = 0;
static uint32_t ins_last_time = 0;
static bool inited;
float NED[3] = {0.0f, 0.0f, 0.0f};
float vel[3] = {0.0f, 0.0f, 0.0f};
float zeros[3] = {0.0f, 0.0f, 0.0f};
// Perform the update
uint16_t sensors = 0;
float dT;
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) )
{
// Do not set attitude timeout warnings in simulation mode
if (!AttitudeActualReadOnly()){
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
}
if (inited) {
mag_updated = 0;
baro_updated = 0;
gps_updated = 0;
gps_vel_updated = 0;
}
if (first_run) {
inited = false;
init_stage = 0;
mag_updated = 0;
baro_updated = 0;
gps_updated = 0;
gps_vel_updated = 0;
ins_last_time = PIOS_DELAY_GetRaw();
return 0;
}
mag_updated |= (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE);
baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
// Get most recent data
GyrosGet(&gyrosData);
AccelsGet(&accelsData);
MagnetometerGet(&magData);
BaroAltitudeGet(&baroData);
GPSPositionGet(&gpsData);
GPSVelocityGet(&gpsVelData);
GyrosBiasGet(&gyrosBias);
// Discard mag if it has NAN (normally from bad calibration)
mag_updated &= (magData.x == magData.x && magData.y == magData.y && magData.z == magData.z);
// Don't require HomeLocation.Set to be true but at least require a mag configuration (allows easily
// switching between indoor and outdoor mode with Set = false)
mag_updated &= (homeLocation.Be[0] != 0 || homeLocation.Be[1] != 0 || homeLocation.Be[2]);
// Have a minimum requirement for gps usage
gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP <= 4.0f) && (homeLocation.Set == HOMELOCATION_SET_TRUE);
if (!inited)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
else if (outdoor_mode && gpsData.Satellites < 7)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
else
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode)) {
// Don't initialize until all sensors are read
if (init_stage == 0 && !outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float q[4];
float pos[3] = {0.0f, 0.0f, 0.0f};
// Initialize barometric offset to homelocation altitude
baroOffset = -baroData.Altitude;
pos[2] = -(baroData.Altitude + baroOffset);
// Reset the INS algorithm
INSGPSInit();
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
// Initialize the gyro bias from the settings
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData);
// Set initial attitude
AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(pos, zeros, q, zeros, zeros);
INSResetP(Pdiag);
} else if (init_stage == 0 && outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float q[4];
float NED[3];
// Reset the INS algorithm
INSGPSInit();
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
INSSetMagNorth(homeLocation.Be);
// Initialize the gyro bias from the settings
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
// Transform the GPS position into NED coordinates
getNED(&gpsPosition, NED);
// Initialize barometric offset to cirrent GPS NED coordinate
baroOffset = -NED[2] - baroData.Altitude;
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData);
// Set initial attitude
AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(NED, zeros, q, zeros, zeros);
INSResetP(Pdiag);
} else if (init_stage > 0) {
// Run prediction a bit before any corrections
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
GyrosBiasGet(&gyrosBias);
float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f,
(gyrosData.y + gyrosBias.y) * F_PI / 180.0f,
(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
INSStatePrediction(gyros, &accelsData.x, dT);
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = Nav.q[0];
attitude.q2 = Nav.q[1];
attitude.q3 = Nav.q[2];
attitude.q4 = Nav.q[3];
Quaternion2RPY(&attitude.q1,&attitude.Roll);
AttitudeActualSet(&attitude);
}
init_stage++;
if(init_stage > 10)
inited = true;
ins_last_time = PIOS_DELAY_GetRaw();
return 0;
}
if (!inited)
return 0;
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
ins_last_time = PIOS_DELAY_GetRaw();
// This should only happen at start up or at mode switches
if(dT > 0.01f)
dT = 0.01f;
else if(dT <= 0.001f)
dT = 0.001f;
// If the gyro bias setting was updated we should reset
// the state estimate of the EKF
if(gyroBiasSettingsUpdated) {
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
gyroBiasSettingsUpdated = false;
}
// Because the sensor module remove the bias we need to add it
// back in here so that the INS algorithm can track it correctly
float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE) {
gyros[0] += gyrosBias.x * F_PI / 180.0f;
gyros[1] += gyrosBias.y * F_PI / 180.0f;
gyros[2] += gyrosBias.z * F_PI / 180.0f;
}
// Advance the state estimate
INSStatePrediction(gyros, &accelsData.x, dT);
// Copy the attitude into the UAVO
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = Nav.q[0];
attitude.q2 = Nav.q[1];
attitude.q3 = Nav.q[2];
attitude.q4 = Nav.q[3];
Quaternion2RPY(&attitude.q1,&attitude.Roll);
AttitudeActualSet(&attitude);
// Advance the covariance estimate
INSCovariancePrediction(dT);
if(mag_updated)
sensors |= MAG_SENSORS;
if(baro_updated)
sensors |= BARO_SENSOR;
INSSetMagNorth(homeLocation.Be);
if (gps_updated && outdoor_mode)
{
INSSetPosVelVar(revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_POS], revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_VEL]);
sensors |= POS_SENSORS;
if (0) { // Old code to take horizontal velocity from GPS Position update
sensors |= HORIZ_SENSORS;
vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * F_PI / 180.0f);
vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * F_PI / 180.0f);
vel[2] = 0;
}
// Transform the GPS position into NED coordinates
getNED(&gpsData, NED);
// Track barometric altitude offset with a low pass filter
baroOffset = BARO_OFFSET_LOWPASS_ALPHA * baroOffset +
(1.0f - BARO_OFFSET_LOWPASS_ALPHA )
* ( -NED[2] - baroData.Altitude );
} else if (!outdoor_mode) {
INSSetPosVelVar(1e2f, 1e2f);
vel[0] = vel[1] = vel[2] = 0;
NED[0] = NED[1] = 0;
NED[2] = -(baroData.Altitude + baroOffset);
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
sensors |= POS_SENSORS |VERT_SENSORS;
}
if (gps_vel_updated && outdoor_mode) {
sensors |= HORIZ_SENSORS | VERT_SENSORS;
vel[0] = gpsVelData.North;
vel[1] = gpsVelData.East;
vel[2] = gpsVelData.Down;
}
/*
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
if (sensors)
INSCorrection(&magData.x, NED, vel, ( baroData.Altitude + baroOffset ), sensors);
// Copy the position and velocity into the UAVO
PositionActualData positionActual;
PositionActualGet(&positionActual);
positionActual.North = Nav.Pos[0];
positionActual.East = Nav.Pos[1];
positionActual.Down = Nav.Pos[2];
PositionActualSet(&positionActual);
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
velocityActual.North = Nav.Vel[0];
velocityActual.East = Nav.Vel[1];
velocityActual.Down = Nav.Vel[2];
VelocityActualSet(&velocityActual);
if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE && !gyroBiasSettingsUpdated) {
// Copy the gyro bias into the UAVO except when it was updated
// from the settings during the calculation, then consume it
// next cycle
gyrosBias.x = Nav.gyro_bias[0] * 180.0f / F_PI;
gyrosBias.y = Nav.gyro_bias[1] * 180.0f / F_PI;
gyrosBias.z = Nav.gyro_bias[2] * 180.0f / F_PI;
GyrosBiasSet(&gyrosBias);
}
return 0;
}
static int32_t updateAttitudeComplementary(bool first_run)
{
UAVObjEvent ev;
GyrosData gyrosData;
AccelsData accelsData;
static int32_t timeval;
float dT;
static uint8_t init = 0;
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE )
{
// When one of these is updated so should the other
// Do not set attitude timeout warnings in simulation mode
if (!AttitudeActualReadOnly()){
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
}
AccelsGet(&accelsData);
// During initialization and
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(first_run) {
#if defined(PIOS_INCLUDE_HMC5883)
// To initialize we need a valid mag reading
if ( xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE )
return -1;
MagnetometerData magData;
MagnetometerGet(&magData);
#else
MagnetometerData magData;
magData.x = 100;
magData.y = 0;
magData.z = 0;
#endif
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
init = 0;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
timeval = PIOS_DELAY_GetRaw();
return 0;
}
if((init == 0 && xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
init = 0;
} else if (init == 0) {
// Reload settings (all the rates)
AttitudeSettingsGet(&attitudeSettings);
magKp = 0.01f;
init = 1;
}
GyrosGet(&gyrosData);
// Compute the dT using the cpu clock
dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
timeval = PIOS_DELAY_GetRaw();
float q[4];
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
float grot[3];
float accel_err[3];
// Get the current attitude estimate
quat_copy(&attitudeActual.q1, q);
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) &accelsData.x, (const float *) grot, accel_err);
// Account for accel magnitude
accel_mag = accelsData.x*accelsData.x + accelsData.y*accelsData.y + accelsData.z*accelsData.z;
accel_mag = sqrtf(accel_mag);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
if ( xQueueReceive(magQueue, &ev, 0) != pdTRUE )
{
// Rotate gravity to body frame and cross with accels
float brot[3];
float Rbe[3][3];
MagnetometerData mag;
Quaternion2R(q, Rbe);
MagnetometerGet(&mag);
// If the mag is producing bad data don't use it (normally bad calibration)
if (mag.x == mag.x && mag.y == mag.y && mag.z == mag.z) {
rot_mult(Rbe, homeLocation.Be, brot);
float mag_len = sqrtf(mag.x * mag.x + mag.y * mag.y + mag.z * mag.z);
mag.x /= mag_len;
mag.y /= mag_len;
mag.z /= mag_len;
float bmag = sqrtf(brot[0] * brot[0] + brot[1] * brot[1] + brot[2] * brot[2]);
brot[0] /= bmag;
brot[1] /= bmag;
brot[2] /= bmag;
// Only compute if neither vector is null
if (bmag < 1 || mag_len < 1)
mag_err[0] = mag_err[1] = mag_err[2] = 0;
else
CrossProduct((const float *) &mag.x, (const float *) brot, mag_err);
}
} else {
mag_err[0] = mag_err[1] = mag_err[2] = 0;
}
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x -= accel_err[0] * attitudeSettings.AccelKi;
gyrosBias.y -= accel_err[1] * attitudeSettings.AccelKi;
gyrosBias.z -= mag_err[2] * magKi;
GyrosBiasSet(&gyrosBias);
// Correct rates based on error, integral component dealt with in updateSensors
gyrosData.x += accel_err[0] * attitudeSettings.AccelKp / dT;
gyrosData.y += accel_err[1] * attitudeSettings.AccelKp / dT;
gyrosData.z += accel_err[2] * attitudeSettings.AccelKp / dT + mag_err[2] * magKp / dT;
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * F_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
if(q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
// Renomalize
qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1.0e-3f) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
// Flush these queues for avoid errors
xQueueReceive(baroQueue, &ev, 0);
if ( xQueueReceive(gpsQueue, &ev, 0) == pdTRUE && homeLocation.Set == HOMELOCATION_SET_TRUE ) {
float NED[3];
// Transform the GPS position into NED coordinates
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
getNED(&gpsPosition, NED);
PositionActualData positionActual;
PositionActualGet(&positionActual);
positionActual.North = NED[0];
positionActual.East = NED[1];
positionActual.Down = NED[2];
PositionActualSet(&positionActual);
}
if ( xQueueReceive(gpsVelQueue, &ev, 0) == pdTRUE ) {
// Transform the GPS position into NED coordinates
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
velocityActual.North = gpsVelocity.North;
velocityActual.East = gpsVelocity.East;
velocityActual.Down = gpsVelocity.Down;
VelocityActualSet(&velocityActual);
}
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
return 0;
}
/**
* Module task
*/
static void stabilizationTask(void* parameters)
{
UAVObjEvent ev;
uint32_t timeval = PIOS_DELAY_GetRaw();
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
GyrosData gyrosData;
FlightStatusData flightStatus;
float *stabDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
float horizonRateFraction = 0.0f;
// Force refresh of all settings immediately before entering main task loop
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Settings for system identification
uint32_t iteration = 0;
const uint32_t SYSTEM_IDENT_PERIOD = 75;
uint32_t system_ident_timeval = PIOS_DELAY_GetRaw();
float dT_filtered = 0;
// Main task loop
zero_pids();
while(1) {
iteration++;
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if (PIOS_Queue_Receive(queue, &ev, FAILSAFE_TIMEOUT_MS) != true)
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
calculate_pids();
float dT = PIOS_DELAY_DiffuS(timeval) * 1.0e-6f;
timeval = PIOS_DELAY_GetRaw();
// exponential moving averaging (EMA) of dT to reduce jitter; ~200points
// to have more or less equivalent noise reduction to a normal N point moving averaging: alpha = 2 / (N + 1)
// run it only at the beginning for the first samples, to reduce CPU load, and the value should converge to a constant value
if (iteration < 100) {
dT_filtered = dT;
} else if (iteration < 2000) {
dT_filtered = 0.01f * dT + (1.0f - 0.01f) * dT_filtered;
} else if (iteration == 2000) {
gyro_filter_updated = true;
}
if (gyro_filter_updated) {
if (settings.GyroCutoff < 1.0f) {
gyro_alpha = 0;
} else {
gyro_alpha = expf(-2.0f * (float)(M_PI) *
settings.GyroCutoff * dT_filtered);
}
// Compute time constant for vbar decay term
if (settings.VbarTau < 0.001f) {
vbar_decay = 0;
} else {
vbar_decay = expf(-dT_filtered / settings.VbarTau);
}
gyro_filter_updated = false;
}
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
GyrosGet(&gyrosData);
ActuatorDesiredGet(&actuatorDesired);
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredGet(&rateDesired);
#endif
struct TrimmedAttitudeSetpoint {
float Roll;
float Pitch;
float Yaw;
} trimmedAttitudeSetpoint;
// Mux in level trim values, and saturate the trimmed attitude setpoint.
trimmedAttitudeSetpoint.Roll = bound_min_max(
stabDesired.Roll + trimAngles.Roll,
-settings.RollMax + trimAngles.Roll,
settings.RollMax + trimAngles.Roll);
trimmedAttitudeSetpoint.Pitch = bound_min_max(
stabDesired.Pitch + trimAngles.Pitch,
-settings.PitchMax + trimAngles.Pitch,
settings.PitchMax + trimAngles.Pitch);
trimmedAttitudeSetpoint.Yaw = stabDesired.Yaw;
// For horizon mode we need to compute the desire attitude from an unscaled value and apply the
// trim offset. Also track the stick with the most deflection to choose rate blending.
horizonRateFraction = 0.0f;
if (stabDesired.StabilizationMode[ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Roll = bound_min_max(
stabDesired.Roll * settings.RollMax + trimAngles.Roll,
-settings.RollMax + trimAngles.Roll,
settings.RollMax + trimAngles.Roll);
horizonRateFraction = fabsf(stabDesired.Roll);
}
if (stabDesired.StabilizationMode[PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Pitch = bound_min_max(
stabDesired.Pitch * settings.PitchMax + trimAngles.Pitch,
-settings.PitchMax + trimAngles.Pitch,
settings.PitchMax + trimAngles.Pitch);
horizonRateFraction = MAX(horizonRateFraction, fabsf(stabDesired.Pitch));
}
if (stabDesired.StabilizationMode[YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Yaw = stabDesired.Yaw * settings.YawMax;
horizonRateFraction = MAX(horizonRateFraction, fabsf(stabDesired.Yaw));
}
// For weak leveling mode the attitude setpoint is the trim value (drifts back towards "0")
if (stabDesired.StabilizationMode[ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Roll = trimAngles.Roll;
}
if (stabDesired.StabilizationMode[PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Pitch = trimAngles.Pitch;
}
if (stabDesired.StabilizationMode[YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Yaw = 0;
}
// Note we divide by the maximum limit here so the fraction ranges from 0 to 1 depending on
// how much is requested.
horizonRateFraction = bound_sym(horizonRateFraction, HORIZON_MODE_MAX_BLEND) / HORIZON_MODE_MAX_BLEND;
// Calculate the errors in each axis. The local error is used in the following modes:
// ATTITUDE, HORIZON, WEAKLEVELING
float local_attitude_error[3];
local_attitude_error[0] = trimmedAttitudeSetpoint.Roll - attitudeActual.Roll;
local_attitude_error[1] = trimmedAttitudeSetpoint.Pitch - attitudeActual.Pitch;
local_attitude_error[2] = trimmedAttitudeSetpoint.Yaw - attitudeActual.Yaw;
// Wrap yaw error to [-180,180]
local_attitude_error[2] = circular_modulus_deg(local_attitude_error[2]);
static float gyro_filtered[3];
gyro_filtered[0] = gyro_filtered[0] * gyro_alpha + gyrosData.x * (1 - gyro_alpha);
gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyrosData.y * (1 - gyro_alpha);
gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyrosData.z * (1 - gyro_alpha);
// A flag to track which stabilization mode each axis is in
static uint8_t previous_mode[MAX_AXES] = {255,255,255};
bool error = false;
//Run the selected stabilization algorithm on each axis:
for(uint8_t i=0; i< MAX_AXES; i++)
{
// Check whether this axis mode needs to be reinitialized
bool reinit = (stabDesired.StabilizationMode[i] != previous_mode[i]);
// The unscaled input (-1,1)
float *raw_input = &stabDesired.Roll;
previous_mode[i] = stabDesired.StabilizationMode[i];
// Apply the selected control law
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
if(reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ACROPLUS:
// this implementation is based on the Openpilot/Librepilot Acro+ flightmode
// and our existing rate & MWRate flightmodes
if(reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
// The factor for gyro suppression / mixing raw stick input into the output; scaled by raw stick input
float factor = fabsf(raw_input[i]) * settings.AcroInsanityFactor / 100;
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound_sym(raw_input[i] * settings.ManualRate[i], settings.ManualRate[i]);
// Zero integral for aggressive maneuvers, like it is done for MWRate
if ((i < 2 && fabsf(gyro_filtered[i]) > 150.0f) ||
(i == 0 && fabsf(raw_input[i]) > 0.2f)) {
pids[PID_GROUP_RATE + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].i = 0;
}
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = factor * raw_input[i] + (1.0f - factor) * actuatorDesiredAxis[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i], 1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output
rateDesiredAxis[i] = stabDesiredAxis[i];
// Run a virtual flybar stabilization algorithm on this axis
stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &pids[PID_GROUP_VBAR + i], &settings);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
if (reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
float weak_leveling = local_attitude_error[i] * weak_leveling_kp;
weak_leveling = bound_sym(weak_leveling, weak_leveling_max);
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = stabDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if (reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
if (fabsf(stabDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Reset accumulator
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply lock (almost) on no gyro change
axis_lock_accum[i] += (stabDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] = bound_sym(axis_lock_accum[i], max_axis_lock);
// Compute the inner loop
float tmpRateDesired = pid_apply(&pids[PID_GROUP_ATT + i], axis_lock_accum[i], dT);
rateDesiredAxis[i] = bound_sym(tmpRateDesired, settings.MaximumRate[i]);
}
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON:
if(reinit) {
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
// Do not allow outer loop integral to wind up in this mode since the controller
// is often disengaged.
pids[PID_GROUP_ATT + i].iAccumulator = 0;
// Compute the outer loop for the attitude control
float rateDesiredAttitude = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
// Compute the desire rate for a rate control
float rateDesiredRate = raw_input[i] * settings.ManualRate[i];
// Blend from one rate to another. The maximum of all stick positions is used for the
// amount so that when one axis goes completely to rate the other one does too. This
// prevents doing flips while one axis tries to stay in attitude mode.
rateDesiredAxis[i] = rateDesiredAttitude * (1.0f-horizonRateFraction) + rateDesiredRate * horizonRateFraction;
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_MWRATE:
{
if(reinit) {
pids[PID_GROUP_MWR + i].iAccumulator = 0;
}
/*
Conversion from MultiWii PID settings to our units.
Kp = Kp_mw * 4 / 80 / 500
Kd = Kd_mw * looptime * 1e-6 * 4 * 3 / 32 / 500
Ki = Ki_mw * 4 / 125 / 64 / (looptime * 1e-6) / 500
These values will just be approximate and should help
you get started.
*/
// The unscaled input (-1,1) - note in MW this is from (-500,500)
float *raw_input = &stabDesired.Roll;
// dynamic PIDs are scaled both by throttle and stick position
float scale = (i == 0 || i == 1) ? mwrate_settings.RollPitchRate : mwrate_settings.YawRate;
float pid_scale = (100.0f - scale * fabsf(raw_input[i])) / 100.0f;
float dynP8 = pids[PID_GROUP_MWR + i].p * pid_scale;
float dynD8 = pids[PID_GROUP_MWR + i].d * pid_scale;
// these terms are used by the integral loop this proportional term is scaled by throttle (this is different than MW
// that does not apply scale
float cfgP8 = pids[PID_GROUP_MWR + i].p;
float cfgI8 = pids[PID_GROUP_MWR + i].i;
// Dynamically adjust PID settings
struct pid mw_pid;
mw_pid.p = 0; // use zero Kp here because of strange setpoint. applied later.
mw_pid.d = dynD8;
mw_pid.i = cfgI8;
mw_pid.iLim = pids[PID_GROUP_MWR + i].iLim;
mw_pid.iAccumulator = pids[PID_GROUP_MWR + i].iAccumulator;
mw_pid.lastErr = pids[PID_GROUP_MWR + i].lastErr;
mw_pid.lastDer = pids[PID_GROUP_MWR + i].lastDer;
// Zero integral for aggressive maneuvers
if ((i < 2 && fabsf(gyro_filtered[i]) > 150.0f) ||
(i == 0 && fabsf(raw_input[i]) > 0.2f)) {
mw_pid.iAccumulator = 0;
mw_pid.i = 0;
}
// Apply controller as if we want zero change, then add stick input afterwards
actuatorDesiredAxis[i] = pid_apply_setpoint(&mw_pid, raw_input[i] / cfgP8, gyro_filtered[i], dT);
actuatorDesiredAxis[i] += raw_input[i]; // apply input
actuatorDesiredAxis[i] -= dynP8 * gyro_filtered[i]; // apply Kp term
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
// Store PID accumulators for next cycle
pids[PID_GROUP_MWR + i].iAccumulator = mw_pid.iAccumulator;
pids[PID_GROUP_MWR + i].lastErr = mw_pid.lastErr;
pids[PID_GROUP_MWR + i].lastDer = mw_pid.lastDer;
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_SYSTEMIDENT:
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
static uint32_t ident_iteration = 0;
static float ident_offsets[3] = {0};
if (PIOS_DELAY_DiffuS(system_ident_timeval) / 1000.0f > SYSTEM_IDENT_PERIOD && SystemIdentHandle()) {
ident_iteration++;
system_ident_timeval = PIOS_DELAY_GetRaw();
SystemIdentData systemIdent;
SystemIdentGet(&systemIdent);
const float SCALE_BIAS = 7.1f;
float roll_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_ROLL]);
float pitch_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_PITCH]);
float yaw_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_YAW]);
if (roll_scale > 0.25f)
roll_scale = 0.25f;
if (pitch_scale > 0.25f)
pitch_scale = 0.25f;
if (yaw_scale > 0.25f)
yaw_scale = 0.2f;
switch(ident_iteration & 0x07) {
case 0:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = yaw_scale;
break;
case 1:
ident_offsets[0] = roll_scale;
ident_offsets[1] = 0;
ident_offsets[2] = 0;
break;
case 2:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = -yaw_scale;
break;
case 3:
ident_offsets[0] = -roll_scale;
ident_offsets[1] = 0;
ident_offsets[2] = 0;
break;
case 4:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = yaw_scale;
break;
case 5:
ident_offsets[0] = 0;
ident_offsets[1] = pitch_scale;
ident_offsets[2] = 0;
break;
case 6:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = -yaw_scale;
break;
case 7:
ident_offsets[0] = 0;
ident_offsets[1] = -pitch_scale;
ident_offsets[2] = 0;
break;
}
}
if (i == ROLL || i == PITCH) {
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] += ident_offsets[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
} else {
// Get the desired rate. yaw is always in rate mode in system ident.
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop only for yaw
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] += ident_offsets[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_COORDINATEDFLIGHT:
switch (i) {
case YAW:
if (reinit) {
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
}
//If we are not in roll attitude mode, trigger an error
if (stabDesired.StabilizationMode[ROLL] != STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
{
error = true;
break ;
}
if (fabsf(stabDesired.Yaw) < COORDINATED_FLIGHT_MAX_YAW_THRESHOLD) { //If yaw is within the deadband...
if (fabsf(stabDesired.Roll) > COORDINATED_FLIGHT_MIN_ROLL_THRESHOLD) { // We're requesting more roll than the threshold
float accelsDataY;
AccelsyGet(&accelsDataY);
//Reset integral if we have changed roll to opposite direction from rudder. This implies that we have changed desired turning direction.
if ((stabDesired.Roll > 0 && actuatorDesiredAxis[YAW] < 0) ||
(stabDesired.Roll < 0 && actuatorDesiredAxis[YAW] > 0)){
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
}
// Coordinate flight can simply be seen as ensuring that there is no lateral acceleration in the
// body frame. As such, we use the (noisy) accelerometer data as our measurement. Ideally, at
// some point in the future we will estimate acceleration and then we can use the estimated value
// instead of the measured value.
float errorSlip = -accelsDataY;
float command = pid_apply(&pids[PID_COORDINATED_FLIGHT_YAW], errorSlip, dT);
actuatorDesiredAxis[YAW] = bound_sym(command ,1.0);
// Reset axis-lock integrals
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
} else if (fabsf(stabDesired.Roll) <= COORDINATED_FLIGHT_MIN_ROLL_THRESHOLD) { // We're requesting less roll than the threshold
// Axis lock on no gyro change
axis_lock_accum[YAW] += (0 - gyro_filtered[YAW]) * dT;
rateDesiredAxis[YAW] = pid_apply(&pids[PID_ATT_YAW], axis_lock_accum[YAW], dT);
rateDesiredAxis[YAW] = bound_sym(rateDesiredAxis[YAW], settings.MaximumRate[YAW]);
actuatorDesiredAxis[YAW] = pid_apply_setpoint(&pids[PID_RATE_YAW], rateDesiredAxis[YAW], gyro_filtered[YAW], dT);
actuatorDesiredAxis[YAW] = bound_sym(actuatorDesiredAxis[YAW],1.0f);
// Reset coordinated-flight integral
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
}
} else { //... yaw is outside the deadband. Pass the manual input directly to the actuator.
actuatorDesiredAxis[YAW] = bound_sym(stabDesiredAxis[YAW], 1.0);
// Reset all integrals
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
}
break;
case ROLL:
case PITCH:
default:
//Coordinated Flight has no effect in these modes. Trigger a configuration error.
error = true;
break;
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_POI:
// The sanity check enforces this is only selectable for Yaw
// for a gimbal you can select pitch too.
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
float error;
float angle;
if (CameraDesiredHandle()) {
switch(i) {
case PITCH:
CameraDesiredDeclinationGet(&angle);
error = circular_modulus_deg(angle - attitudeActual.Pitch);
break;
case ROLL:
{
uint8_t roll_fraction = 0;
#ifdef GIMBAL
if (BrushlessGimbalSettingsHandle()) {
BrushlessGimbalSettingsRollFractionGet(&roll_fraction);
}
#endif /* GIMBAL */
// For ROLL POI mode we track the FC roll angle (scaled) to
// allow keeping some motion
CameraDesiredRollGet(&angle);
angle *= roll_fraction / 100.0f;
error = circular_modulus_deg(angle - attitudeActual.Roll);
}
break;
case YAW:
CameraDesiredBearingGet(&angle);
error = circular_modulus_deg(angle - attitudeActual.Yaw);
break;
default:
error = true;
}
} else
error = true;
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], error, dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.PoiMaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
actuatorDesiredAxis[i] = bound_sym(stabDesiredAxis[i],1.0f);
break;
default:
error = true;
break;
}
}
if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredSet(&rateDesired);
#endif
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
actuatorDesired.Throttle = stabDesired.Throttle;
if(flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_MANUAL) {
ActuatorDesiredSet(&actuatorDesired);
} else {
// Force all axes to reinitialize when engaged
for(uint8_t i=0; i< MAX_AXES; i++)
previous_mode[i] = 255;
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0))
{
// Force all axes to reinitialize when engaged
for(uint8_t i=0; i< MAX_AXES; i++)
previous_mode[i] = 255;
}
// Clear or set alarms. Done like this to prevent toggling each cycle
// and hammering system alarms
if (error)
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_ERROR);
else
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}