/* measure psi by projecting magnetic vector in local tangeant plan */ __attribute__((always_inline)) static inline void get_psi_measurement_from_mag(int32_t *psi_meas, int32_t phi_est, int32_t theta_est, struct Int32Vect3 *mag) { int32_t sphi; PPRZ_ITRIG_SIN(sphi, phi_est); int32_t cphi; PPRZ_ITRIG_COS(cphi, phi_est); int32_t stheta; PPRZ_ITRIG_SIN(stheta, theta_est); int32_t ctheta; PPRZ_ITRIG_COS(ctheta, theta_est); int32_t sphi_stheta = (sphi * stheta) >> INT32_TRIG_FRAC; int32_t cphi_stheta = (cphi * stheta) >> INT32_TRIG_FRAC; //int32_t sphi_ctheta = (sphi*ctheta)>>INT32_TRIG_FRAC; //int32_t cphi_ctheta = (cphi*ctheta)>>INT32_TRIG_FRAC; const int32_t mn = ctheta * mag->x + sphi_stheta * mag->y + cphi_stheta * mag->z; const int32_t me = 0 * mag->x + cphi * mag->y - sphi * mag->z; //const int32_t md = // -stheta * mag->x + // sphi_ctheta * mag->y + // cphi_ctheta * mag->z; float m_psi = -atan2(me, mn); *psi_meas = ((m_psi - ahrs_ice.mag_offset) * (float)(1 << (INT32_ANGLE_FRAC)) * F_UPDATE); }
void stabilization_attitude_set_failsafe_setpoint(void) { /* set failsafe to zero roll/pitch and current heading */ int32_t heading2 = stabilization_attitude_get_heading_i() / 2; PPRZ_ITRIG_COS(stab_att_sp_quat.qi, heading2); stab_att_sp_quat.qx = 0; stab_att_sp_quat.qy = 0; PPRZ_ITRIG_SIN(stab_att_sp_quat.qz, heading2); }
void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading) { /* Rotate horizontal commands to body frame by psi */ int32_t psi = stateGetNedToBodyEulers_i()->psi; int32_t s_psi, c_psi; PPRZ_ITRIG_SIN(s_psi, psi); PPRZ_ITRIG_COS(c_psi, psi); stab_att_sp_euler.phi = (-s_psi * cmd->x + c_psi * cmd->y) >> INT32_TRIG_FRAC; stab_att_sp_euler.theta = -(c_psi * cmd->x + s_psi * cmd->y) >> INT32_TRIG_FRAC; stab_att_sp_euler.psi = heading; }
/* measures phi and theta assuming no dynamic acceleration ?!! */ __attribute__ ((always_inline)) static inline void get_phi_theta_measurement_fom_accel(int32_t* phi_meas, int32_t* theta_meas, struct Int32Vect3 accel) { INT32_ATAN2(*phi_meas, -accel.y, -accel.z); int32_t cphi; PPRZ_ITRIG_COS(cphi, *phi_meas); int32_t cphi_ax = -INT_MULT_RSHIFT(cphi, accel.x, INT32_TRIG_FRAC); INT32_ATAN2(*theta_meas, -cphi_ax, -accel.z); *phi_meas *= F_UPDATE; *theta_meas *= F_UPDATE; }
/** Read attitude setpoint from RC as euler angles. * @param[in] in_flight true if in flight * @param[out] sp attitude setpoint as euler angles */ void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) { sp->phi = ((int32_t) radio_control.values[RADIO_ROLL] * SP_MAX_PHI / MAX_PPRZ); sp->theta = ((int32_t) radio_control.values[RADIO_PITCH] * SP_MAX_THETA / MAX_PPRZ); if (in_flight) { if (YAW_DEADBAND_EXCEEDED()) { sp->psi += ((int32_t) radio_control.values[RADIO_YAW] * SP_MAX_R / MAX_PPRZ / RC_UPDATE_FREQ); INT32_ANGLE_NORMALIZE(sp->psi); } #ifdef STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT // Make sure the yaw setpoint does not differ too much from the real yaw // to prevent a sudden switch at 180 deg int32_t delta_psi = sp->psi - stateGetNedToBodyEulers_i()->psi; int32_t delta_limit = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT); INT32_ANGLE_NORMALIZE(delta_psi); if (delta_psi > delta_limit){ sp->psi = stateGetNedToBodyEulers_i()->psi + delta_limit; } else if (delta_psi < -delta_limit){ sp->psi = stateGetNedToBodyEulers_i()->psi - delta_limit; } INT32_ANGLE_NORMALIZE(sp->psi); #endif //Care Free mode if (guidance_h_mode == GUIDANCE_H_MODE_CARE_FREE) { //care_free_heading has been set to current psi when entering care free mode. int32_t cos_psi; int32_t sin_psi; int32_t temp_theta; int32_t care_free_delta_psi_i; care_free_delta_psi_i = sp->psi - ANGLE_BFP_OF_REAL(care_free_heading); INT32_ANGLE_NORMALIZE(care_free_delta_psi_i); PPRZ_ITRIG_SIN(sin_psi, care_free_delta_psi_i); PPRZ_ITRIG_COS(cos_psi, care_free_delta_psi_i); temp_theta = INT_MULT_RSHIFT(cos_psi, sp->theta, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->phi, INT32_ANGLE_FRAC); sp->phi = INT_MULT_RSHIFT(cos_psi, sp->phi, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->theta, INT32_ANGLE_FRAC); sp->theta = temp_theta; } } else { /* if not flying, use current yaw as setpoint */ sp->psi = stateGetNedToBodyEulers_i()->psi; } }
void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading) { // stab_att_sp_euler.psi still used in ref.. stab_att_sp_euler.psi = heading; // compute sp_euler phi/theta for debugging/telemetry /* Rotate horizontal commands to body frame by psi */ int32_t psi = stateGetNedToBodyEulers_i()->psi; int32_t s_psi, c_psi; PPRZ_ITRIG_SIN(s_psi, psi); PPRZ_ITRIG_COS(c_psi, psi); stab_att_sp_euler.phi = (-s_psi * cmd->x + c_psi * cmd->y) >> INT32_TRIG_FRAC; stab_att_sp_euler.theta = -(c_psi * cmd->x + s_psi * cmd->y) >> INT32_TRIG_FRAC; quat_from_earth_cmd_i(&stab_att_sp_quat, cmd, heading); }
void nav_circle(struct EnuCoor_i * wp_center, int32_t radius) { if (radius == 0) { VECT2_COPY(navigation_target, *wp_center); dist2_to_wp = get_dist2_to_point(wp_center); } else { struct Int32Vect2 pos_diff; VECT2_DIFF(pos_diff, *stateGetPositionEnu_i(), *wp_center); // go back to half metric precision or values are too large //INT32_VECT2_RSHIFT(pos_diff,pos_diff,INT32_POS_FRAC/2); // store last qdr int32_t last_qdr = nav_circle_qdr; // compute qdr nav_circle_qdr = int32_atan2(pos_diff.y, pos_diff.x); // increment circle radians if (nav_circle_radians != 0) { int32_t angle_diff = nav_circle_qdr - last_qdr; INT32_ANGLE_NORMALIZE(angle_diff); nav_circle_radians += angle_diff; } else { // Smallest angle to increment at next step nav_circle_radians = 1; } // direction of rotation int8_t sign_radius = radius > 0 ? 1 : -1; // absolute radius int32_t abs_radius = abs(radius); // carrot_angle int32_t carrot_angle = ((CARROT_DIST<<INT32_ANGLE_FRAC) / abs_radius); Bound(carrot_angle, (INT32_ANGLE_PI / 16), INT32_ANGLE_PI_4); carrot_angle = nav_circle_qdr - sign_radius * carrot_angle; int32_t s_carrot, c_carrot; PPRZ_ITRIG_SIN(s_carrot, carrot_angle); PPRZ_ITRIG_COS(c_carrot, carrot_angle); // compute setpoint VECT2_ASSIGN(pos_diff, abs_radius * c_carrot, abs_radius * s_carrot); INT32_VECT2_RSHIFT(pos_diff, pos_diff, INT32_TRIG_FRAC); VECT2_SUM(navigation_target, *wp_center, pos_diff); } nav_circle_center = *wp_center; nav_circle_radius = radius; horizontal_mode = HORIZONTAL_MODE_CIRCLE; }
/** Read attitude setpoint from RC as euler angles * @param[in] coordinated_turn true if in horizontal mode forward * @param[in] in_carefree true if in carefree mode * @param[in] in_flight true if in flight * @param[out] sp attitude setpoint as euler angles */ void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) { const int32_t max_rc_phi = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI); const int32_t max_rc_theta = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA); const int32_t max_rc_r = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R); sp->phi = (int32_t) ((radio_control.values[RADIO_ROLL] * max_rc_phi) / MAX_PPRZ); sp->theta = (int32_t) ((radio_control.values[RADIO_PITCH] * max_rc_theta) / MAX_PPRZ); if (in_flight) { /* do not advance yaw setpoint if within a small deadband around stick center or if throttle is zero */ if (YAW_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) { sp->psi += (int32_t) ((radio_control.values[RADIO_YAW] * max_rc_r) / MAX_PPRZ / RC_UPDATE_FREQ); INT32_ANGLE_NORMALIZE(sp->psi); } if (coordinated_turn) { //Coordinated turn //feedforward estimate angular rotation omega = g*tan(phi)/v //Take v = 9.81/1.3 m/s int32_t omega; const int32_t max_phi = ANGLE_BFP_OF_REAL(RadOfDeg(85.0)); if(abs(sp->phi) < max_phi) omega = ANGLE_BFP_OF_REAL(1.3*tanf(ANGLE_FLOAT_OF_BFP(sp->phi))); else //max 60 degrees roll, then take constant omega omega = ANGLE_BFP_OF_REAL(1.3*1.72305* ((sp->phi > 0) - (sp->phi < 0))); sp->psi += omega/RC_UPDATE_FREQ; } #ifdef STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT // Make sure the yaw setpoint does not differ too much from the real yaw // to prevent a sudden switch at 180 deg const int32_t delta_limit = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT); int32_t heading = stabilization_attitude_get_heading_i(); int32_t delta_psi = sp->psi - heading; INT32_ANGLE_NORMALIZE(delta_psi); if (delta_psi > delta_limit){ sp->psi = heading + delta_limit; } else if (delta_psi < -delta_limit){ sp->psi = heading - delta_limit; } INT32_ANGLE_NORMALIZE(sp->psi); #endif //Care Free mode if (in_carefree) { //care_free_heading has been set to current psi when entering care free mode. int32_t cos_psi; int32_t sin_psi; int32_t temp_theta; int32_t care_free_delta_psi_i; care_free_delta_psi_i = sp->psi - ANGLE_BFP_OF_REAL(care_free_heading); INT32_ANGLE_NORMALIZE(care_free_delta_psi_i); PPRZ_ITRIG_SIN(sin_psi, care_free_delta_psi_i); PPRZ_ITRIG_COS(cos_psi, care_free_delta_psi_i); temp_theta = INT_MULT_RSHIFT(cos_psi, sp->theta, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->phi, INT32_ANGLE_FRAC); sp->phi = INT_MULT_RSHIFT(cos_psi, sp->phi, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->theta, INT32_ANGLE_FRAC); sp->theta = temp_theta; } } else { /* if not flying, use current yaw as setpoint */ sp->psi = stateGetNedToBodyEulers_i()->psi; } }
/** Read attitude setpoint from RC as euler angles * @param[in] coordinated_turn true if in horizontal mode forward * @param[in] in_carefree true if in carefree mode * @param[in] in_flight true if in flight * @param[out] sp attitude setpoint as euler angles */ void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool in_flight, bool in_carefree, bool coordinated_turn) { /* last time this function was called, used to calculate yaw setpoint update */ static float last_ts = 0.f; sp->phi = get_rc_roll(); sp->theta = get_rc_pitch(); if (in_flight) { /* calculate dt for yaw integration */ float dt = get_sys_time_float() - last_ts; /* make sure nothing drastically weird happens, bound dt to 0.5sec */ Bound(dt, 0, 0.5); /* do not advance yaw setpoint if within a small deadband around stick center or if throttle is zero */ if (YAW_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) { sp->psi += get_rc_yaw() * dt; INT32_ANGLE_NORMALIZE(sp->psi); } if (coordinated_turn) { //Coordinated turn //feedforward estimate angular rotation omega = g*tan(phi)/v int32_t omega; const int32_t max_phi = ANGLE_BFP_OF_REAL(RadOfDeg(60.0)); if (abs(sp->phi) < max_phi) { omega = ANGLE_BFP_OF_REAL(9.81 / COORDINATED_TURN_AIRSPEED * tanf(ANGLE_FLOAT_OF_BFP(sp->phi))); } else { //max 60 degrees roll omega = ANGLE_BFP_OF_REAL(9.81 / COORDINATED_TURN_AIRSPEED * 1.72305 * ((sp->phi > 0) - (sp->phi < 0))); } sp->psi += omega * dt; } #ifdef STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT // Make sure the yaw setpoint does not differ too much from the real yaw // to prevent a sudden switch at 180 deg const int32_t delta_limit = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_PSI_DELTA_LIMIT); int32_t heading = stabilization_attitude_get_heading_i(); int32_t delta_psi = sp->psi - heading; INT32_ANGLE_NORMALIZE(delta_psi); if (delta_psi > delta_limit) { sp->psi = heading + delta_limit; } else if (delta_psi < -delta_limit) { sp->psi = heading - delta_limit; } INT32_ANGLE_NORMALIZE(sp->psi); #endif //Care Free mode if (in_carefree) { //care_free_heading has been set to current psi when entering care free mode. int32_t cos_psi; int32_t sin_psi; int32_t temp_theta; int32_t care_free_delta_psi_i; care_free_delta_psi_i = sp->psi - ANGLE_BFP_OF_REAL(care_free_heading); INT32_ANGLE_NORMALIZE(care_free_delta_psi_i); PPRZ_ITRIG_SIN(sin_psi, care_free_delta_psi_i); PPRZ_ITRIG_COS(cos_psi, care_free_delta_psi_i); temp_theta = INT_MULT_RSHIFT(cos_psi, sp->theta, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->phi, INT32_ANGLE_FRAC); sp->phi = INT_MULT_RSHIFT(cos_psi, sp->phi, INT32_ANGLE_FRAC) - INT_MULT_RSHIFT(sin_psi, sp->theta, INT32_ANGLE_FRAC); sp->theta = temp_theta; } } else { /* if not flying, use current yaw as setpoint */ sp->psi = stateGetNedToBodyEulers_i()->psi; } /* update timestamp for dt calculation */ last_ts = get_sys_time_float(); }
void gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp) { VECT2_ADD(gh_pos_ref, gh_speed_ref); VECT2_ADD(gh_speed_ref, gh_accel_ref); // compute the "speed part" of accel = -2*zeta*omega*speed -omega^2(pos - pos_sp) struct Int32Vect2 speed; INT32_VECT2_RSHIFT(speed, gh_speed_ref, (GH_SPEED_REF_FRAC - GH_ACCEL_REF_FRAC)); VECT2_SMUL(speed, speed, -2*GH_ZETA_OMEGA); INT32_VECT2_RSHIFT(speed, speed, GH_ZETA_OMEGA_FRAC); // compute pos error in pos_sp resolution struct Int32Vect2 pos_err; INT32_VECT2_RSHIFT(pos_err, gh_pos_ref, (GH_POS_REF_FRAC - INT32_POS_FRAC)); VECT2_DIFF(pos_err, pos_err, pos_sp); // convert to accel resolution INT32_VECT2_RSHIFT(pos_err, pos_err, (INT32_POS_FRAC - GH_ACCEL_REF_FRAC)); // compute the "pos part" of accel struct Int32Vect2 pos; VECT2_SMUL(pos, pos_err, (-GH_OMEGA_2)); INT32_VECT2_RSHIFT(pos, pos, GH_OMEGA_2_FRAC); // sum accel VECT2_SUM(gh_accel_ref, speed, pos); /* Compute route reference before saturation */ // use metric precision or values are too large INT32_ATAN2(route_ref, -pos_err.y, -pos_err.x); /* Compute North and East route components */ PPRZ_ITRIG_SIN(s_route_ref, route_ref); PPRZ_ITRIG_COS(c_route_ref, route_ref); c_route_ref = abs(c_route_ref); s_route_ref = abs(s_route_ref); /* Compute maximum acceleration*/ gh_max_accel_ref.x = INT_MULT_RSHIFT((int32_t)GH_MAX_ACCEL, c_route_ref, INT32_TRIG_FRAC); gh_max_accel_ref.y = INT_MULT_RSHIFT((int32_t)GH_MAX_ACCEL, s_route_ref, INT32_TRIG_FRAC); /* Compute maximum speed*/ gh_max_speed_ref.x = INT_MULT_RSHIFT((int32_t)GH_MAX_SPEED, c_route_ref, INT32_TRIG_FRAC); gh_max_speed_ref.y = INT_MULT_RSHIFT((int32_t)GH_MAX_SPEED, s_route_ref, INT32_TRIG_FRAC); /* restore gh_speed_ref range (Q14.17) */ INT32_VECT2_LSHIFT(gh_max_speed_ref, gh_max_speed_ref, (GH_SPEED_REF_FRAC - GH_MAX_SPEED_REF_FRAC)); /* Saturate accelerations */ if (gh_accel_ref.x <= -gh_max_accel_ref.x) { gh_accel_ref.x = -gh_max_accel_ref.x; } else if (gh_accel_ref.x >= gh_max_accel_ref.x) { gh_accel_ref.x = gh_max_accel_ref.x; } if (gh_accel_ref.y <= -gh_max_accel_ref.y) { gh_accel_ref.y = -gh_max_accel_ref.y; } else if (gh_accel_ref.y >= gh_max_accel_ref.y) { gh_accel_ref.y = gh_max_accel_ref.y; } /* Saturate speed and adjust acceleration accordingly */ if (gh_speed_ref.x <= -gh_max_speed_ref.x) { gh_speed_ref.x = -gh_max_speed_ref.x; if (gh_accel_ref.x < 0) gh_accel_ref.x = 0; } else if (gh_speed_ref.x >= gh_max_speed_ref.x) { gh_speed_ref.x = gh_max_speed_ref.x; if (gh_accel_ref.x > 0) gh_accel_ref.x = 0; } if (gh_speed_ref.y <= -gh_max_speed_ref.y) { gh_speed_ref.y = -gh_max_speed_ref.y; if (gh_accel_ref.y < 0) gh_accel_ref.y = 0; } else if (gh_speed_ref.y >= gh_max_speed_ref.y) { gh_speed_ref.y = gh_max_speed_ref.y; if (gh_accel_ref.y > 0) gh_accel_ref.y = 0; } }
void gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp) { /* WARNING: SPEED SATURATION UNTESTED */ VECT2_ADD(gh_pos_ref, gh_speed_ref); VECT2_ADD(gh_speed_ref, gh_accel_ref); // compute speed error struct Int32Vect2 speed_err; INT32_VECT2_RSHIFT(speed_err, speed_sp, (INT32_SPEED_FRAC - GH_SPEED_REF_FRAC)); VECT2_DIFF(speed_err, gh_speed_ref, speed_err); // convert to accel resolution INT32_VECT2_RSHIFT(speed_err, speed_err, (GH_SPEED_REF_FRAC - GH_ACCEL_REF_FRAC)); // compute accel from speed_sp VECT2_SMUL(gh_accel_ref, speed_err, -GH_REF_INV_THAU); INT32_VECT2_RSHIFT(gh_accel_ref, gh_accel_ref, GH_REF_INV_THAU_FRAC); /* Compute route reference before saturation */ // use metric precision or values are too large INT32_ATAN2(route_ref, -speed_sp.y, -speed_sp.x); /* Compute North and East route components */ PPRZ_ITRIG_SIN(s_route_ref, route_ref); PPRZ_ITRIG_COS(c_route_ref, route_ref); c_route_ref = abs(c_route_ref); s_route_ref = abs(s_route_ref); /* Compute maximum acceleration*/ gh_max_accel_ref.x = INT_MULT_RSHIFT((int32_t)GH_MAX_ACCEL, c_route_ref, INT32_TRIG_FRAC); gh_max_accel_ref.y = INT_MULT_RSHIFT((int32_t)GH_MAX_ACCEL, s_route_ref, INT32_TRIG_FRAC); /* Compute maximum speed*/ gh_max_speed_ref.x = INT_MULT_RSHIFT((int32_t)GH_MAX_SPEED, c_route_ref, INT32_TRIG_FRAC); gh_max_speed_ref.y = INT_MULT_RSHIFT((int32_t)GH_MAX_SPEED, s_route_ref, INT32_TRIG_FRAC); /* restore gh_speed_ref range (Q14.17) */ INT32_VECT2_LSHIFT(gh_max_speed_ref, gh_max_speed_ref, (GH_SPEED_REF_FRAC - GH_MAX_SPEED_REF_FRAC)); /* Saturate accelerations */ if (gh_accel_ref.x <= -gh_max_accel_ref.x) { gh_accel_ref.x = -gh_max_accel_ref.x; } else if (gh_accel_ref.x >= gh_max_accel_ref.x) { gh_accel_ref.x = gh_max_accel_ref.x; } if (gh_accel_ref.y <= -gh_max_accel_ref.y) { gh_accel_ref.y = -gh_max_accel_ref.y; } else if (gh_accel_ref.y >= gh_max_accel_ref.y) { gh_accel_ref.y = gh_max_accel_ref.y; } /* Saturate speed and adjust acceleration accordingly */ if (gh_speed_ref.x <= -gh_max_speed_ref.x) { gh_speed_ref.x = -gh_max_speed_ref.x; if (gh_accel_ref.x < 0) gh_accel_ref.x = 0; } else if (gh_speed_ref.x >= gh_max_speed_ref.x) { gh_speed_ref.x = gh_max_speed_ref.x; if (gh_accel_ref.x > 0) gh_accel_ref.x = 0; } if (gh_speed_ref.y <= -gh_max_speed_ref.y) { gh_speed_ref.y = -gh_max_speed_ref.y; if (gh_accel_ref.y < 0) gh_accel_ref.y = 0; } else if (gh_speed_ref.y >= gh_max_speed_ref.y) { gh_speed_ref.y = gh_max_speed_ref.y; if (gh_accel_ref.y > 0) gh_accel_ref.y = 0; } }