void nav_init(void)
{
waypoints_init();
nav_block = 0;
nav_stage = 0;
nav_altitude = POS_BFP_OF_REAL(SECURITY_HEIGHT);
nav_flight_altitude = nav_altitude;
flight_altitude = SECURITY_ALT;
VECT3_COPY(navigation_target, waypoints[WP_HOME].enu_i);
VECT3_COPY(navigation_carrot, waypoints[WP_HOME].enu_i);
horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
vertical_mode = VERTICAL_MODE_ALT;
nav_roll = 0;
nav_pitch = 0;
nav_heading = 0;
nav_radius = DEFAULT_CIRCLE_RADIUS;
nav_throttle = 0;
nav_climb = 0;
nav_leg_progress = 0;
nav_leg_length = 1;
too_far_from_home = FALSE;
dist2_to_home = 0;
dist2_to_wp = 0;
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_NAV_STATUS", send_nav_status);
register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
#endif
}
void ins_update_gps(void) {
if (gps_state.fix == GPS_FIX_3D) {
if (!ins.ltp_initialised) {
ltp_def_from_ecef_i(&ins.ltp_def, &gps_state.ecef_pos);
ins.ltp_initialised = TRUE;
}
ned_of_ecef_point_i(&ins.gps_pos_cm_ned, &ins.ltp_def, &gps_state.ecef_pos);
ned_of_ecef_vect_i(&ins.gps_speed_cm_s_ned, &ins.ltp_def, &gps_state.ecef_speed);
#ifdef USE_HFF
b2ins_update_gps();
VECT2_SDIV(ins.ltp_pos, (1<<(B2INS_POS_LTP_FRAC-INT32_POS_FRAC)), b2ins_pos_ltp);
VECT2_SDIV(ins.ltp_speed, (1<<(B2INS_SPEED_LTP_FRAC-INT32_SPEED_FRAC)), b2ins_speed_ltp);
#else
INT32_VECT3_SCALE_2(b2ins_meas_gps_pos_ned, ins.gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT3_SCALE_2(b2ins_meas_gps_speed_ned, ins.gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
VECT3_COPY(ins.ltp_pos, b2ins_meas_gps_pos_ned);
VECT3_COPY(ins.ltp_speed, b2ins_meas_gps_speed_ned);
#endif
INT32_VECT3_ENU_OF_NED(ins.enu_pos, ins.ltp_pos);
INT32_VECT3_ENU_OF_NED(ins.enu_speed, ins.ltp_speed);
INT32_VECT3_ENU_OF_NED(ins.enu_accel, ins.ltp_accel);
}
}
void imu_aspirin_event(void)
{
adxl345_spi_event(&imu_aspirin.acc_adxl);
if (imu_aspirin.acc_adxl.data_available) {
VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
imu_aspirin.acc_adxl.data_available = FALSE;
imu_aspirin.accel_valid = TRUE;
}
/* If the itg3200 I2C transaction has succeeded: convert the data */
itg3200_event(&imu_aspirin.gyro_itg);
if (imu_aspirin.gyro_itg.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
imu_aspirin.gyro_itg.data_available = FALSE;
imu_aspirin.gyro_valid = TRUE;
}
/* HMC58XX event task */
hmc58xx_event(&imu_aspirin.mag_hmc);
if (imu_aspirin.mag_hmc.data_available) {
#ifdef IMU_ASPIRIN_VERSION_1_0
VECT3_COPY(imu.mag_unscaled, imu_aspirin.mag_hmc.data.vect);
#else // aspirin 1.5 with hmc5883
imu.mag_unscaled.x = imu_aspirin.mag_hmc.data.vect.y;
imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x;
imu.mag_unscaled.z = imu_aspirin.mag_hmc.data.vect.z;
#endif
imu_aspirin.mag_hmc.data_available = FALSE;
imu_aspirin.mag_valid = TRUE;
}
}
void nps_sensor_gps_run_step(struct NpsSensorGps* gps, double time) {
if (time < gps->next_update)
return;
/*
* simulate speed sensor
*/
struct DoubleVect3 cur_speed_reading;
VECT3_COPY(cur_speed_reading, fdm.ecef_ecef_vel);
/* add a gaussian noise */
double_vect3_add_gaussian_noise(&cur_speed_reading, &gps->speed_noise_std_dev);
/* store that for later and retrieve a previously stored data */
UpdateSensorLatency(time, &cur_speed_reading, &gps->speed_history, gps->speed_latency, &gps->ecef_vel);
/*
* simulate position sensor
*/
/* compute gps error readings */
struct DoubleVect3 pos_error;
VECT3_COPY(pos_error, gps->pos_bias_initial);
/* add a gaussian noise */
double_vect3_add_gaussian_noise(&pos_error, &gps->pos_noise_std_dev);
/* update random walk bias and add it to error*/
double_vect3_update_random_walk(&gps->pos_bias_random_walk_value, &gps->pos_bias_random_walk_std_dev, NPS_GPS_DT, 5.);
VECT3_ADD(pos_error, gps->pos_bias_random_walk_value);
/* add error to current pos reading */
struct DoubleVect3 cur_pos_reading;
VECT3_COPY(cur_pos_reading, fdm.ecef_pos);
VECT3_ADD(cur_pos_reading, pos_error);
/* store that for later and retrieve a previously stored data */
UpdateSensorLatency(time, &cur_pos_reading, &gps->pos_history, gps->pos_latency, &gps->ecef_pos);
/*
* simulate lla pos
*/
/* convert current ecef reading to lla */
struct LlaCoor_d cur_lla_reading;
lla_of_ecef_d(&cur_lla_reading, (EcefCoor_d*) &cur_pos_reading);
/* store that for later and retrieve a previously stored data */
UpdateSensorLatency(time, &cur_lla_reading, &gps->lla_history, gps->pos_latency, &gps->lla_pos);
double cur_hmsl_reading = fdm.hmsl;
UpdateSensorLatency_Single(time, &cur_hmsl_reading, &gps->hmsl_history, gps->pos_latency, &gps->hmsl);
gps->next_update += NPS_GPS_DT;
gps->data_available = TRUE;
}
void sim_overwrite_ins(void) {
struct NedCoor_f ltp_pos;
VECT3_COPY(ltp_pos, fdm.ltpprz_pos);
stateSetPositionNed_f(<p_pos);
struct NedCoor_f ltp_speed;
VECT3_COPY(ltp_speed, fdm.ltpprz_ecef_vel);
stateSetSpeedNed_f(<p_speed);
struct NedCoor_f ltp_accel;
VECT3_COPY(ltp_accel, fdm.ltpprz_ecef_accel);
stateSetAccelNed_f(<p_accel);
}
void imu_aspirin2_event(void)
{
mpu60x0_spi_event(&imu_aspirin2.mpu);
if (imu_aspirin2.mpu.data_available) {
/* HMC5883 has xzy order of axes in returned data */
struct Int32Vect3 mag;
mag.x = Int16FromBuf(imu_aspirin2.mpu.data_ext, 0);
mag.z = Int16FromBuf(imu_aspirin2.mpu.data_ext, 2);
mag.y = Int16FromBuf(imu_aspirin2.mpu.data_ext, 4);
#ifdef LISA_M_LONGITUDINAL_X
RATES_ASSIGN(imu.gyro_unscaled,
imu_aspirin2.mpu.data_rates.rates.q,
-imu_aspirin2.mpu.data_rates.rates.p,
imu_aspirin2.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled,
imu_aspirin2.mpu.data_accel.vect.y,
-imu_aspirin2.mpu.data_accel.vect.x,
imu_aspirin2.mpu.data_accel.vect.z);
VECT3_ASSIGN(imu.mag_unscaled, -mag.x, -mag.y, mag.z);
#else
#ifdef LISA_S
#ifdef LISA_S_UPSIDE_DOWN
RATES_ASSIGN(imu.gyro_unscaled,
imu_aspirin2.mpu.data_rates.rates.p,
-imu_aspirin2.mpu.data_rates.rates.q,
-imu_aspirin2.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled,
imu_aspirin2.mpu.data_accel.vect.x,
-imu_aspirin2.mpu.data_accel.vect.y,
-imu_aspirin2.mpu.data_accel.vect.z);
VECT3_ASSIGN(imu.mag_unscaled, mag.x, -mag.y, -mag.z);
#else
RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
VECT3_COPY(imu.mag_unscaled, mag);
#endif
#else
RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
VECT3_ASSIGN(imu.mag_unscaled, mag.y, -mag.x, mag.z)
#endif
#endif
imu_aspirin2.mpu.data_available = FALSE;
imu_aspirin2.gyro_valid = TRUE;
imu_aspirin2.accel_valid = TRUE;
imu_aspirin2.mag_valid = TRUE;
}
}
void nav_init_stage(void)
{
VECT3_COPY(nav_last_point, *stateGetPositionEnu_i());
stage_time = 0;
nav_circle_radians = 0;
//horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
}
/**
* Handle all the events of the Navstik IMU components.
* When there is data available convert it to the correct axis and save it in the imu structure.
*/
void imu_navstik_event(void)
{
uint32_t now_ts = get_sys_time_usec();
/* MPU-60x0 event taks */
mpu60x0_i2c_event(&imu_navstik.mpu);
if (imu_navstik.mpu.data_available) {
/* default orientation as should be printed on the pcb, z-down, ICs down */
RATES_COPY(imu.gyro_unscaled, imu_navstik.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_navstik.mpu.data_accel.vect);
imu_navstik.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
}
/* HMC58XX event task */
hmc58xx_event(&imu_navstik.hmc);
if (imu_navstik.hmc.data_available) {
imu.mag_unscaled.x = imu_navstik.hmc.data.vect.y;
imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x;
imu.mag_unscaled.z = imu_navstik.hmc.data.vect.z;
imu_navstik.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
}
}
void nps_sensor_gyro_run_step(struct NpsSensorGyro* gyro, double time, struct DoubleRMat* body_to_imu) {
if (time < gyro->next_update)
return;
/* transform body rates to IMU frame */
struct DoubleVect3* rate_body = (struct DoubleVect3*)(&fdm.body_inertial_rotvel);
struct DoubleVect3 rate_imu;
MAT33_VECT3_MUL(rate_imu, *body_to_imu, *rate_body );
/* compute gyros readings */
MAT33_VECT3_MUL(gyro->value, gyro->sensitivity, rate_imu);
VECT3_ADD(gyro->value, gyro->neutral);
/* compute gyro error readings */
struct DoubleVect3 gyro_error;
VECT3_COPY(gyro_error, gyro->bias_initial);
double_vect3_add_gaussian_noise(&gyro_error, &gyro->noise_std_dev);
double_vect3_update_random_walk(&gyro->bias_random_walk_value, &gyro->bias_random_walk_std_dev,
NPS_GYRO_DT, 5.);
VECT3_ADD(gyro_error, gyro->bias_random_walk_value);
struct DoubleVect3 gain = {NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR};
VECT3_EW_MUL(gyro_error, gyro_error, gain);
VECT3_ADD(gyro->value, gyro_error);
/* round signal to account for adc discretisation */
DOUBLE_VECT3_ROUND(gyro->value);
/* saturate */
VECT3_BOUND_CUBE(gyro->value, gyro->min, gyro->max);
gyro->next_update += NPS_GYRO_DT;
gyro->data_available = TRUE;
}
void imu_mpu_hmc_event(void)
{
uint32_t now_ts = get_sys_time_usec();
mpu60x0_spi_event(&imu_mpu_hmc.mpu);
if (imu_mpu_hmc.mpu.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_mpu_hmc.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_mpu_hmc.mpu.data_accel.vect);
imu_mpu_hmc.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.accel);
}
/* HMC58XX event task */
hmc58xx_event(&imu_mpu_hmc.hmc);
if (imu_mpu_hmc.hmc.data_available) {
/* mag rotated by 90deg around z axis relative to MPU */
imu.mag_unscaled.x = imu_mpu_hmc.hmc.data.vect.y;
imu.mag_unscaled.y = -imu_mpu_hmc.hmc.data.vect.x;
imu.mag_unscaled.z = imu_mpu_hmc.hmc.data.vect.z;
imu_mpu_hmc.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.mag);
}
}
void mag_hmc58xx_module_event(void)
{
hmc58xx_event(&mag_hmc58xx);
if (mag_hmc58xx.data_available) {
#if MODULE_HMC58XX_UPDATE_AHRS
// current timestamp
uint32_t now_ts = get_sys_time_usec();
// set channel order
struct Int32Vect3 mag = {
(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_X]),
(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Y]),
(int32_t)(mag_hmc58xx.data.value[HMC58XX_CHAN_Z])
};
// unscaled vector
VECT3_COPY(imu.mag_unscaled, mag);
// scale vector
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(MAG_HMC58XX_SENDER_ID, now_ts, &imu.mag);
#endif
#if MODULE_HMC58XX_SYNC_SEND
mag_hmc58xx_report();
#endif
#if MODULE_HMC58XX_UPDATE_AHRS || MODULE_HMC58XX_SYNC_SEND
mag_hmc58xx.data_available = FALSE;
#endif
}
}
void imu_periodic( void )
{
// Start reading the latest gyroscope data
if (!imu_krooz.mpu.config.initialized)
mpu60x0_i2c_start_configure(&imu_krooz.mpu);
if (!imu_krooz.hmc.initialized)
hmc58xx_start_configure(&imu_krooz.hmc);
if (imu_krooz.meas_nb) {
RATES_ASSIGN(imu.gyro_unscaled, -imu_krooz.rates_sum.q / imu_krooz.meas_nb, imu_krooz.rates_sum.p / imu_krooz.meas_nb, imu_krooz.rates_sum.r / imu_krooz.meas_nb);
VECT3_ASSIGN(imu.accel_unscaled, -imu_krooz.accel_sum.y / imu_krooz.meas_nb, imu_krooz.accel_sum.x / imu_krooz.meas_nb, imu_krooz.accel_sum.z / imu_krooz.meas_nb);
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
VECT3_SMUL(imu_krooz.accel_filtered, imu_krooz.accel_filtered, IMU_KROOZ_ACCEL_AVG_FILTER);
VECT3_ADD(imu_krooz.accel_filtered, imu.accel_unscaled);
VECT3_SDIV(imu_krooz.accel_filtered, imu_krooz.accel_filtered, (IMU_KROOZ_ACCEL_AVG_FILTER + 1));
VECT3_COPY(imu.accel_unscaled, imu_krooz.accel_filtered);
RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
imu_krooz.meas_nb = 0;
imu_krooz.gyr_valid = TRUE;
imu_krooz.acc_valid = TRUE;
}
//RunOnceEvery(10,imu_krooz_downlink_raw());
}
void ltp_def_from_ecef_i(struct LtpDef_i* def, struct EcefCoor_i* ecef) {
/* store the origin of the tangeant plane */
VECT3_COPY(def->ecef, *ecef);
/* compute the lla representation of the origin */
lla_of_ecef_i(&def->lla, &def->ecef);
/* store the rotation matrix */
#if 1
int32_t sin_lat = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sinf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cosf(RAD_OF_EM7RAD((float)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#else
int32_t sin_lat = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t cos_lat = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lat)), HIGH_RES_TRIG_FRAC));
int32_t sin_lon = rint(BFP_OF_REAL(sin(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
int32_t cos_lon = rint(BFP_OF_REAL(cos(RAD_OF_EM7RAD((double)def->lla.lon)), HIGH_RES_TRIG_FRAC));
#endif
def->ltp_of_ecef.m[0] = -sin_lon;
def->ltp_of_ecef.m[1] = cos_lon;
def->ltp_of_ecef.m[2] = 0; /* this element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_ENU */
def->ltp_of_ecef.m[3] = (int32_t)((-(int64_t)sin_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[4] = (int32_t)((-(int64_t)sin_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[5] = cos_lat;
def->ltp_of_ecef.m[6] = (int32_t)(( (int64_t)cos_lat*(int64_t)cos_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[7] = (int32_t)(( (int64_t)cos_lat*(int64_t)sin_lon)>>HIGH_RES_TRIG_FRAC);
def->ltp_of_ecef.m[8] = sin_lat;
}
void imu_mpu9250_event(void)
{
uint32_t now_ts = get_sys_time_usec();
// If the MPU9250 I2C transaction has succeeded: convert the data
mpu9250_i2c_event(&imu_mpu9250.mpu);
if (imu_mpu9250.mpu.data_available) {
// set channel order
struct Int32Vect3 accel = {
IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
};
struct Int32Rates rates = {
IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
};
// unscaled vector
VECT3_COPY(imu.accel_unscaled, accel);
RATES_COPY(imu.gyro_unscaled, rates);
imu_mpu9250.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
}
#if IMU_MPU9250_READ_MAG
// Test if mag data are updated
if (imu_mpu9250.mpu.akm.data_available) {
struct Int32Vect3 mag = {
IMU_MPU9250_X_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
IMU_MPU9250_Y_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
-IMU_MPU9250_Z_SIGN *(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
};
VECT3_COPY(imu.mag_unscaled, mag);
imu_mpu9250.mpu.akm.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);
}
#endif
}
void imu_mpu9250_event(void)
{
uint32_t now_ts = get_sys_time_usec();
// If the MPU9250 SPI transaction has succeeded: convert the data
mpu9250_spi_event(&imu_mpu9250.mpu);
if (imu_mpu9250.mpu.data_available) {
// set channel order
struct Int32Vect3 accel = {
IMU_MPU9250_X_SIGN * (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
IMU_MPU9250_Y_SIGN * (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
IMU_MPU9250_Z_SIGN * (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
};
struct Int32Rates rates = {
IMU_MPU9250_X_SIGN * (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
IMU_MPU9250_Y_SIGN * (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
IMU_MPU9250_Z_SIGN * (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
};
// unscaled vector
VECT3_COPY(imu.accel_unscaled, accel);
RATES_COPY(imu.gyro_unscaled, rates);
#if IMU_MPU9250_READ_MAG
if (!bit_is_set(imu_mpu9250.mpu.data_ext[6], 3)) { //mag valid just HOFL == 0
/** FIXME: assumes that we get new mag data each time instead of reading drdy bit */
struct Int32Vect3 mag;
mag.x = (IMU_MPU9250_X_SIGN) * Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Y);
mag.y = (IMU_MPU9250_Y_SIGN) * Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_X);
mag.z = -(IMU_MPU9250_Z_SIGN) * Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Z);
VECT3_COPY(imu.mag_unscaled, mag);
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);
}
#endif
imu_mpu9250.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
}
}
bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
{
rectangle_survey_sweep_num = 0;
nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2));
nav_survey_east = Max(WaypointX(wp1), WaypointX(wp2));
nav_survey_south = Min(WaypointY(wp1), WaypointY(wp2));
nav_survey_north = Max(WaypointY(wp1), WaypointY(wp2));
survey_orientation = so;
if (survey_orientation == NS) {
if (fabsf(stateGetPositionEnu_f()->x - nav_survey_west) < fabsf(stateGetPositionEnu_f()->x - nav_survey_east)) {
survey_from.x = survey_to.x = nav_survey_west + grid / 4.;
} else {
survey_from.x = survey_to.x = nav_survey_east - grid / 4.;
grid = -grid;
}
if (fabsf(stateGetPositionEnu_f()->y - nav_survey_south) > fabsf(stateGetPositionEnu_f()->y - nav_survey_north)) {
survey_to.y = nav_survey_south;
survey_from.y = nav_survey_north;
} else {
survey_from.y = nav_survey_south;
survey_to.y = nav_survey_north;
}
} else { /* survey_orientation == WE */
if (fabsf(stateGetPositionEnu_f()->y - nav_survey_south) < fabsf(stateGetPositionEnu_f()->y - nav_survey_north)) {
survey_from.y = survey_to.y = nav_survey_south + grid / 4.;
} else {
survey_from.y = survey_to.y = nav_survey_north - grid / 4.;
grid = -grid;
}
if (fabsf(stateGetPositionEnu_f()->x - nav_survey_west) > fabsf(stateGetPositionEnu_f()->x - nav_survey_east)) {
survey_to.x = nav_survey_west;
survey_from.x = nav_survey_east;
} else {
survey_from.x = nav_survey_west;
survey_to.x = nav_survey_east;
}
}
nav_survey_shift = grid;
survey_uturn = FALSE;
nav_survey_rectangle_active = FALSE;
//go to start position
ENU_BFP_OF_REAL(survey_from_i, survey_from);
horizontal_mode = HORIZONTAL_MODE_ROUTE;
VECT3_COPY(navigation_target, survey_from_i);
LINE_STOP_FUNCTION;
NavVerticalAltitudeMode(waypoints[wp1].enu_f.z, 0.);
if (survey_orientation == NS) {
nav_set_heading_deg(0);
} else {
nav_set_heading_deg(90);
}
return FALSE;
}
void imu_drotek2_event(void)
{
uint32_t now_ts = get_sys_time_usec();
// If the MPU6050 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_drotek2.mpu);
if (imu_drotek2.mpu.data_available) {
#if IMU_DROTEK_2_ORIENTATION_IC_UP
/* change orientation, so if ICs face up, z-axis is down */
imu.gyro_unscaled.p = imu_drotek2.mpu.data_rates.rates.p;
imu.gyro_unscaled.q = -imu_drotek2.mpu.data_rates.rates.q;
imu.gyro_unscaled.r = -imu_drotek2.mpu.data_rates.rates.r;
imu.accel_unscaled.x = imu_drotek2.mpu.data_accel.vect.x;
imu.accel_unscaled.y = -imu_drotek2.mpu.data_accel.vect.y;
imu.accel_unscaled.z = -imu_drotek2.mpu.data_accel.vect.z;
#else
/* default orientation as should be printed on the pcb, z-down, ICs down */
RATES_COPY(imu.gyro_unscaled, imu_drotek2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_drotek2.mpu.data_accel.vect);
#endif
imu_drotek2.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_DROTEK_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_DROTEK_ID, now_ts, &imu.accel);
}
/* HMC58XX event task */
hmc58xx_event(&imu_drotek2.hmc);
if (imu_drotek2.hmc.data_available) {
#if IMU_DROTEK_2_ORIENTATION_IC_UP
imu.mag_unscaled.x = imu_drotek2.hmc.data.vect.x;
imu.mag_unscaled.y = -imu_drotek2.hmc.data.vect.y;
imu.mag_unscaled.z = -imu_drotek2.hmc.data.vect.z;
#else
VECT3_COPY(imu.mag_unscaled, imu_drotek2.hmc.data.vect);
#endif
imu_drotek2.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_DROTEK_ID, now_ts, &imu.mag);
}
}
void WEAK imu_scale_accel(struct Imu* _imu)
{
VECT3_COPY(_imu->accel_prev, _imu->accel);
_imu->accel.x = ((_imu->accel_unscaled.x - _imu->accel_neutral.x) * IMU_ACCEL_X_SIGN *
IMU_ACCEL_X_SENS_NUM) / IMU_ACCEL_X_SENS_DEN;
_imu->accel.y = ((_imu->accel_unscaled.y - _imu->accel_neutral.y) * IMU_ACCEL_Y_SIGN *
IMU_ACCEL_Y_SENS_NUM) / IMU_ACCEL_Y_SENS_DEN;
_imu->accel.z = ((_imu->accel_unscaled.z - _imu->accel_neutral.z) * IMU_ACCEL_Z_SIGN *
IMU_ACCEL_Z_SENS_NUM) / IMU_ACCEL_Z_SENS_DEN;
}
void WEAK imu_scale_accel(struct Imu *_imu)
{
#ifdef TREF
VECT3_COPY(_imu->accel_prev, _imu->accel);
_imu->accel.x = ((_imu->accel_unscaled.x + (TREF-_imu->temp_unscaled)*DXA - _imu->accel_neutral.x) * IMU_ACCEL_X_SIGN *
IMU_ACCEL_X_SENS_NUM) / IMU_ACCEL_X_SENS_DEN;
_imu->accel.y = ((_imu->accel_unscaled.y + (TREF-_imu->temp_unscaled)*DYA - _imu->accel_neutral.y) * IMU_ACCEL_Y_SIGN *
IMU_ACCEL_Y_SENS_NUM) / IMU_ACCEL_Y_SENS_DEN;
_imu->accel.z = ((_imu->accel_unscaled.z + (TREF-_imu->temp_unscaled)*DZA - _imu->accel_neutral.z) * IMU_ACCEL_Z_SIGN *
IMU_ACCEL_Z_SENS_NUM) / IMU_ACCEL_Z_SENS_DEN;
#else
VECT3_COPY(_imu->accel_prev, _imu->accel);
_imu->accel.x = ((_imu->accel_unscaled.x - _imu->accel_neutral.x) * IMU_ACCEL_X_SIGN *
IMU_ACCEL_X_SENS_NUM) / IMU_ACCEL_X_SENS_DEN;
_imu->accel.y = ((_imu->accel_unscaled.y - _imu->accel_neutral.y) * IMU_ACCEL_Y_SIGN *
IMU_ACCEL_Y_SENS_NUM) / IMU_ACCEL_Y_SENS_DEN;
_imu->accel.z = ((_imu->accel_unscaled.z - _imu->accel_neutral.z) * IMU_ACCEL_Z_SIGN *
IMU_ACCEL_Z_SENS_NUM) / IMU_ACCEL_Z_SENS_DEN;
#endif // TREF
}
void WEAK ins_module_propagate(struct Int32Vect3 *accel, float dt __attribute__((unused)))
{
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&ins_module.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, accel);
struct Int32Vect3 accel_meas_ltp;
int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), &accel_meas_body);
VECT3_COPY(ins_module.ltp_accel, accel_meas_ltp);
}
void ltp_def_from_ecef_i(struct LtpDef_i *def, struct EcefCoor_i *ecef)
{
/* store the origin of the tangent plane */
VECT3_COPY(def->ecef, *ecef);
/* compute the lla representation of the origin */
lla_of_ecef_i(&def->lla, &def->ecef);
/* store the rotation matrix */
ltp_of_ecef_rmat_from_lla_i(&def->ltp_of_ecef, &def->lla);
}
void imu_mpu_spi_event(void)
{
mpu60x0_spi_event(&imu_mpu_spi.mpu);
if (imu_mpu_spi.mpu.data_available) {
RATES_COPY(imu.gyro_unscaled, imu_mpu_spi.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_mpu_spi.mpu.data_accel.vect);
imu_mpu_spi.mpu.data_available = FALSE;
imu_mpu_spi.gyro_valid = TRUE;
imu_mpu_spi.accel_valid = TRUE;
}
}
inline static void h_ctl_cl_loop(void)
{
#if H_CTL_CL_LOOP_INCREASE_FLAPS_WITH_LOADFACTOR
#if (!defined SITL || defined USE_NPS)
struct Int32Vect3 accel_meas_body, accel_ned;
struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
struct NedCoor_i *accel_tmp = stateGetAccelNed_i();
VECT3_COPY(accel_ned, (*accel_tmp));
accel_ned.z -= ACCEL_BFP_OF_REAL(9.81f);
int32_rmat_vmult(&accel_meas_body, ned_to_body_rmat, &accel_ned);
float nz = -ACCEL_FLOAT_OF_BFP(accel_meas_body.z) / 9.81f;
// max load factor to be taken into acount
// to prevent negative flap movement du to negative acceleration
Bound(nz, 1.f, 2.f);
#else
float nz = 1.f;
#endif
#endif
// Compute a corrected airspeed corresponding to the current load factor nz
// with Cz the lift coef at 1g, Czn the lift coef at n g, both at the same speed V,
// the corrected airspeed Vn is so that nz = Czn/Cz = V^2 / Vn^2,
// thus Vn = V / sqrt(nz)
#if H_CTL_CL_LOOP_USE_AIRSPEED_SETPOINT
float corrected_airspeed = v_ctl_auto_airspeed_setpoint;
#else
float corrected_airspeed = stateGetAirspeed_f();
#endif
#if H_CTL_CL_LOOP_INCREASE_FLAPS_WITH_LOADFACTOR
corrected_airspeed /= sqrtf(nz);
#endif
Bound(corrected_airspeed, STALL_AIRSPEED, RACE_AIRSPEED);
float cmd = 0.f;
// deadband around NOMINAL_AIRSPEED, rest linear
if (corrected_airspeed > NOMINAL_AIRSPEED + H_CTL_CL_DEADBAND) {
cmd = (corrected_airspeed - NOMINAL_AIRSPEED) * (H_CTL_CL_FLAPS_RACE - H_CTL_CL_FLAPS_NOMINAL) / (RACE_AIRSPEED - NOMINAL_AIRSPEED);
}
else if (corrected_airspeed < NOMINAL_AIRSPEED - H_CTL_CL_DEADBAND) {
cmd = (corrected_airspeed - NOMINAL_AIRSPEED) * (H_CTL_CL_FLAPS_STALL - H_CTL_CL_FLAPS_NOMINAL) / (STALL_AIRSPEED - NOMINAL_AIRSPEED);
}
// no control in manual mode
if (pprz_mode == PPRZ_MODE_MANUAL) {
cmd = 0.f;
}
// bound max flap angle
Bound(cmd, H_CTL_CL_FLAPS_RACE, H_CTL_CL_FLAPS_STALL);
// from percent to pprz
cmd = cmd * MAX_PPRZ;
h_ctl_flaps_setpoint = TRIM_PPRZ(cmd);
}
/***************************************************************************************
*decode the gps data packet
***************************************************************************************/
static void decode_gpspacket(struct NpsFdm *fdm, byte *buffer)
{
/* gps velocity (1e2 m/s to m/s */
struct NedCoor_d vel;
vel.x = (double)LongOfBuf(buffer, 3) * 1.0e-2;
vel.y = (double)LongOfBuf(buffer, 7) * 1.0e-2;
vel.z = (double)LongOfBuf(buffer, 11) * 1.0e-2;
fdm->ltp_ecef_vel = vel;
ecef_of_ned_vect_d(&fdm->ecef_ecef_vel, <pdef, &vel);
/* No airspeed from CRRCSIM?
* use ground speed for now, since we also don't know wind
*/
struct DoubleVect3 ltp_airspeed;
VECT3_COPY(ltp_airspeed, vel);
fdm.airspeed = double_vect3_norm(<p_airspeed);
/* gps position (1e7 deg to rad and 1e3 m to m) */
struct LlaCoor_d pos;
pos.lon = (double)LongOfBuf(buffer, 15) * 1.74533e-9;
pos.lat = (double)LongOfBuf(buffer, 19) * 1.74533e-9;
pos.alt = (double)LongOfBuf(buffer, 23) * 1.0e-3;
pos.lat += ltpdef.lla.lat;
pos.lon += ltpdef.lla.lon;
pos.alt += ltpdef.lla.alt;
fdm->lla_pos = pos;
ecef_of_lla_d(&fdm->ecef_pos, &pos);
fdm->hmsl = pos.alt - NAV_MSL0 / 1000.;
fdm->pressure = pprz_isa_pressure_of_altitude(fdm->hmsl);
/* gps time */
fdm->time = (double)UShortOfBuf(buffer, 27);
/* in LTP pprz */
ned_of_ecef_point_d(&fdm->ltpprz_pos, <pdef, &fdm->ecef_pos);
fdm->lla_pos_pprz = pos;
ned_of_ecef_vect_d(&fdm->ltpprz_ecef_vel, <pdef, &fdm->ecef_ecef_vel);
#if NPS_CRRCSIM_DEBUG
printf("decode gps | pos %f %f %f | vel %f %f %f | time %f\n",
57.3 * fdm->lla_pos.lat,
57.3 * fdm->lla_pos.lon,
fdm->lla_pos.alt,
fdm->ltp_ecef_vel.x,
fdm->ltp_ecef_vel.y,
fdm->ltp_ecef_vel.z,
fdm->time);
#endif
}
inline static void h_ctl_yaw_loop(void)
{
#if H_CTL_YAW_TRIM_NY
// Actual Acceleration from IMU:
#if (!defined SITL || defined USE_NPS)
struct Int32Vect3 accel_meas_body, accel_ned;
struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
struct NedCoor_i *accel_tmp = stateGetAccelNed_i();
VECT3_COPY(accel_ned, (*accel_tmp));
accel_ned.z -= ACCEL_BFP_OF_REAL(9.81f);
int32_rmat_vmult(&accel_meas_body, ned_to_body_rmat, &accel_ned);
float ny = -ACCEL_FLOAT_OF_BFP(accel_meas_body.y) / 9.81f; // Lateral load factor (in g)
#else
float ny = 0.f;
#endif
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
h_ctl_yaw_ny_sum_err = 0.;
} else {
if (h_ctl_yaw_ny_igain > 0.) {
// only update when: phi<60degrees and ny<2g
if (fabsf(stateGetNedToBodyEulers_f()->phi) < 1.05 && fabsf(ny) < 2.) {
h_ctl_yaw_ny_sum_err += ny * H_CTL_REF_DT;
// max half rudder deflection for trim
BoundAbs(h_ctl_yaw_ny_sum_err, MAX_PPRZ / (2. * h_ctl_yaw_ny_igain));
}
} else {
h_ctl_yaw_ny_sum_err = 0.;
}
}
#endif
#ifdef USE_AIRSPEED
float Vo = stateGetAirspeed_f();
Bound(Vo, STALL_AIRSPEED, RACE_AIRSPEED);
#else
float Vo = NOMINAL_AIRSPEED;
#endif
h_ctl_ref.yaw_rate = h_ctl_yaw_rate_setpoint // set by RC
+ 9.81f / Vo * sinf(h_ctl_roll_setpoint); // for turns
float d_err = h_ctl_ref.yaw_rate - stateGetBodyRates_f()->r;
float cmd = + h_ctl_yaw_dgain * d_err
#if H_CTL_YAW_TRIM_NY
+ h_ctl_yaw_ny_igain * h_ctl_yaw_ny_sum_err
#endif
;
cmd /= airspeed_ratio2;
h_ctl_rudder_setpoint = TRIM_PPRZ(cmd);
}
void nav_init(void) {
// convert to
const struct EnuCoor_f wp_tmp_float[NB_WAYPOINT] = WAYPOINTS_ENU;
// init int32 waypoints
uint8_t i = 0;
for (i = 0; i < nb_waypoint; i++) {
waypoints[i].x = POS_BFP_OF_REAL(wp_tmp_float[i].x);
waypoints[i].y = POS_BFP_OF_REAL(wp_tmp_float[i].y);
waypoints[i].z = POS_BFP_OF_REAL(wp_tmp_float[i].z);
}
nav_block = 0;
nav_stage = 0;
nav_altitude = POS_BFP_OF_REAL(SECURITY_HEIGHT);
nav_flight_altitude = nav_altitude;
flight_altitude = SECURITY_ALT;
VECT3_COPY(navigation_target, waypoints[WP_HOME]);
VECT3_COPY(navigation_carrot, waypoints[WP_HOME]);
horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
vertical_mode = VERTICAL_MODE_ALT;
nav_roll = 0;
nav_pitch = 0;
nav_heading = 0;
nav_radius = DEFAULT_CIRCLE_RADIUS;
nav_throttle = 0;
nav_climb = 0;
nav_leg_progress = 0;
nav_leg_length = 1;
too_far_from_home = FALSE;
dist2_to_home = 0;
dist2_to_wp = 0;
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_NAV_STATUS", send_nav_status);
register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
#endif
}
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 imu_mpu9250_event(void)
{
// If the MPU9250 I2C transaction has succeeded: convert the data
mpu9250_i2c_event(&imu_mpu9250.mpu);
if (imu_mpu9250.mpu.data_available) {
// set channel order
struct Int32Vect3 accel = {
(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
(int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
};
struct Int32Rates rates = {
(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
(int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
};
// unscaled vector
VECT3_COPY(imu.accel_unscaled, accel);
RATES_COPY(imu.gyro_unscaled, rates);
imu_mpu9250.mpu.data_available = FALSE;
imu_mpu9250.gyro_valid = TRUE;
imu_mpu9250.accel_valid = TRUE;
}
// Test if mag data are updated
if (imu_mpu9250.mpu.akm.data_available) {
struct Int32Vect3 mag = {
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Y]),
(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_X]),
-(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
};
VECT3_COPY(imu.mag_unscaled, mag);
imu_mpu9250.mag_valid = TRUE;
imu_mpu9250.mpu.akm.data_available = FALSE;
}
}
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 imu_mpu_spi_event(void)
{
mpu60x0_spi_event(&imu_mpu_spi.mpu);
if (imu_mpu_spi.mpu.data_available) {
uint32_t now_ts = get_sys_time_usec();
RATES_COPY(imu.gyro_unscaled, imu_mpu_spi.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_mpu_spi.mpu.data_accel.vect);
imu_mpu_spi.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_MPU6000_ID, now_ts, &imu.accel);
}
}