void stateCalcAccelNed_i(void) {
if (bit_is_set(state.accel_status, ACCEL_NED_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.accel_status, ACCEL_NED_F)) {
ACCELS_BFP_OF_REAL(state.ned_accel_i, state.ned_accel_f);
}
else if (bit_is_set(state.accel_status, ACCEL_ECEF_I)) {
ned_of_ecef_vect_i(&state.ned_accel_i, &state.ned_origin_i, &state.ecef_accel_i);
}
else if (bit_is_set(state.accel_status, ACCEL_ECEF_F)) {
/* transform ecef_f -> ecef_i -> ned_i , set status bits */
ACCELS_BFP_OF_REAL(state.ecef_accel_i, state.ecef_accel_f);
SetBit(state.accel_status, ACCEL_ECEF_I);
ned_of_ecef_vect_i(&state.ned_accel_i, &state.ned_origin_i, &state.ecef_accel_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
} else { /* ned coordinate system not initialized, set errno */
errno = 2;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.accel_status, ACCEL_NED_I);
}
void stateCalcSpeedNed_i(void) {
if (bit_is_set(state.speed_status, SPEED_NED_I))
return;
int errno = 0;
if (state.ned_initialized_i) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
SPEEDS_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
SetBit(state.speed_status, SPEED_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_I)) {
ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
/* transform ecef_f -> ecef_i -> ned_i , set status bits */
SPEEDS_BFP_OF_REAL(state.ecef_speed_i, state.ecef_speed_f);
SetBit(state.speed_status, SPEED_ECEF_I);
ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
}
else { /* could not get this representation, set errno */
errno = 1;
}
}
else if (state.utm_initialized_f) {
if (bit_is_set(state.speed_status, SPEED_NED_F)) {
SPEEDS_BFP_OF_REAL(state.ned_speed_i, state.ned_speed_f);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
SPEEDS_BFP_OF_REAL(state.enu_speed_i, state.enu_speed_f);
SetBit(state.speed_status, SPEED_ENU_I);
INT32_VECT3_NED_OF_ENU(state.ned_speed_i, state.enu_speed_i);
}
else { /* could not get this representation, set errno */
errno = 2;
}
}
else { /* ned coordinate system not initialized, set errno */
errno = 3;
}
if (errno) {
//struct NedCoor_i _ned_zero = {0};
//return _ned_zero;
}
/* set bit to indicate this representation is computed */
SetBit(state.speed_status, SPEED_NED_I);
}
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 WEAK ins_module_update_gps(struct GpsState *gps_s, float dt __attribute__((unused)))
{
/* copy velocity from GPS */
if (bit_is_set(gps_s->valid_fields, GPS_VALID_VEL_NED_BIT)) {
/* convert speed from cm/s to m/s in BFP with INT32_SPEED_FRAC */
INT32_VECT3_SCALE_2(ins_module.ltp_speed, gps_s->ned_vel,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
}
else if (bit_is_set(gps_s->valid_fields, GPS_VALID_VEL_ECEF_BIT)) {
/* convert ECEF to NED */
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_module.ltp_def, &gps_s->ecef_vel);
/* convert speed from cm/s to m/s in BFP with INT32_SPEED_FRAC */
INT32_VECT3_SCALE_2(ins_module.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
}
/* copy position from GPS */
if (bit_is_set(gps_s->valid_fields, GPS_VALID_POS_ECEF_BIT)) {
/* convert ECEF to NED */
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_module.ltp_def, &gps_s->ecef_pos);
/* convert pos from cm to m in BFP with INT32_POS_FRAC */
INT32_VECT3_SCALE_2(ins_module.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
}
}
void ins_update_gps(void) {
#ifdef USE_GPS
if (booz_gps_state.fix == BOOZ2_GPS_FIX_3D) {
if (!ins_ltp_initialised) {
ltp_def_from_ecef_i(&ins_ltp_def, &booz_gps_state.ecef_pos);
ins_ltp_def.lla.alt = booz_gps_state.lla_pos.alt;
ins_ltp_def.hmsl = booz_gps_state.hmsl;
ins_ltp_initialised = TRUE;
}
ned_of_ecef_point_i(&ins_gps_pos_cm_ned, &ins_ltp_def, &booz_gps_state.ecef_pos);
ned_of_ecef_vect_i(&ins_gps_speed_cm_s_ned, &ins_ltp_def, &booz_gps_state.ecef_vel);
#ifdef USE_HFF
VECT2_ASSIGN(ins_gps_pos_m_ned, ins_gps_pos_cm_ned.x, ins_gps_pos_cm_ned.y);
VECT2_SDIV(ins_gps_pos_m_ned, ins_gps_pos_m_ned, 100.);
VECT2_ASSIGN(ins_gps_speed_m_s_ned, ins_gps_speed_cm_s_ned.x, ins_gps_speed_cm_s_ned.y);
VECT2_SDIV(ins_gps_speed_m_s_ned, ins_gps_speed_m_s_ned, 100.);
if (ins_hf_realign) {
ins_hf_realign = FALSE;
#ifdef SITL
struct FloatVect2 true_pos, true_speed;
VECT2_COPY(true_pos, fdm.ltpprz_pos);
VECT2_COPY(true_speed, fdm.ltpprz_ecef_vel);
b2_hff_realign(true_pos, true_speed);
#else
const struct FloatVect2 zero = {0.0, 0.0};
b2_hff_realign(ins_gps_pos_m_ned, zero);
#endif
}
b2_hff_update_gps();
#ifndef USE_VFF /* vff not used */
ins_ltp_pos.z = (ins_gps_pos_cm_ned.z * INT32_POS_OF_CM_NUM) / INT32_POS_OF_CM_DEN;
ins_ltp_speed.z = (ins_gps_speed_cm_s_ned.z * INT32_SPEED_OF_CM_S_NUM) INT32_SPEED_OF_CM_S_DEN;
#endif /* vff not used */
#endif /* hff used */
#ifndef USE_HFF /* hff not used */
#ifndef USE_VFF /* neither hf nor vf used */
INT32_VECT3_SCALE_3(ins_ltp_pos, ins_gps_pos_cm_ned, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT3_SCALE_3(ins_ltp_speed, ins_gps_speed_cm_s_ned, INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#else /* only vff used */
INT32_VECT2_SCALE_2(ins_ltp_pos, ins_gps_pos_cm_ned, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_ltp_speed, ins_gps_speed_cm_s_ned, INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif
#ifdef USE_GPS_LAG_HACK
VECT2_COPY(d_pos, ins_ltp_speed);
INT32_VECT2_RSHIFT(d_pos, d_pos, 11);
VECT2_ADD(ins_ltp_pos, d_pos);
#endif
#endif /* hff not used */
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);
}
#endif /* USE_GPS */
}
void ins_reset_altitude_ref(void)
{
struct LlaCoor_i lla = {
.lat = state.ned_origin_i.lla.lat,
.lon = state.ned_origin_i.lla.lon,
.alt = gps.lla_pos.alt
};
ltp_def_from_lla_i(&ins_gp.ltp_def, &lla);
ins_gp.ltp_def.hmsl = gps.hmsl;
stateSetLocalOrigin_i(&ins_gp.ltp_def);
}
#include "subsystems/abi.h"
static abi_event gps_ev;
static void gps_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct GpsState *gps_s)
{
if (gps_s->fix == GPS_FIX_3D) {
if (!ins_gp.ltp_initialized) {
ins_reset_local_origin();
}
/* simply scale and copy pos/speed from gps */
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_gp.ltp_def, &gps_s->ecef_pos);
INT32_VECT3_SCALE_2(ins_gp.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
stateSetPositionNed_i(&ins_gp.ltp_pos);
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_gp.ltp_def, &gps_s->ecef_vel);
INT32_VECT3_SCALE_2(ins_gp.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
stateSetSpeedNed_i(&ins_gp.ltp_speed);
}
}
void ins_gps_passthrough_register(void);
{
ins_register_impl(ins_gps_passthrough_init);
AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
}
void ins_update_gps(void) {
if (gps.fix == GPS_FIX_3D) {
if (!ins_impl.ltp_initialized) {
ins_reset_local_origin();
}
/* simply scale and copy pos/speed from gps */
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_impl.ltp_def, &gps.ecef_pos);
INT32_VECT3_SCALE_2(ins_impl.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
stateSetPositionNed_i(&ins_impl.ltp_pos);
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_impl.ltp_def, &gps.ecef_vel);
INT32_VECT3_SCALE_2(ins_impl.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
stateSetSpeedNed_i(&ins_impl.ltp_speed);
}
}
void ins_update_gps(void) {
#if USE_GPS
if (gps.fix == GPS_FIX_3D) {
if (!ins_ltp_initialised) {
ltp_def_from_ecef_i(&ins_ltp_def, &gps.ecef_pos);
ins_ltp_def.lla.alt = gps.lla_pos.alt;
ins_ltp_def.hmsl = gps.hmsl;
ins_ltp_initialised = TRUE;
stateSetLocalOrigin_i(&ins_ltp_def);
}
ned_of_ecef_point_i(&ins_gps_pos_cm_ned, &ins_ltp_def, &gps.ecef_pos);
ned_of_ecef_vect_i(&ins_gps_speed_cm_s_ned, &ins_ltp_def, &gps.ecef_vel);
#if USE_HFF
VECT2_ASSIGN(ins_gps_pos_m_ned, ins_gps_pos_cm_ned.x, ins_gps_pos_cm_ned.y);
VECT2_SDIV(ins_gps_pos_m_ned, ins_gps_pos_m_ned, 100.);
VECT2_ASSIGN(ins_gps_speed_m_s_ned, ins_gps_speed_cm_s_ned.x, ins_gps_speed_cm_s_ned.y);
VECT2_SDIV(ins_gps_speed_m_s_ned, ins_gps_speed_m_s_ned, 100.);
if (ins.hf_realign) {
ins.hf_realign = FALSE;
#ifdef SITL
struct FloatVect2 true_pos, true_speed;
VECT2_COPY(true_pos, fdm.ltpprz_pos);
VECT2_COPY(true_speed, fdm.ltpprz_ecef_vel);
b2_hff_realign(true_pos, true_speed);
#else
const struct FloatVect2 zero = {0.0, 0.0};
b2_hff_realign(ins_gps_pos_m_ned, zero);
#endif
}
b2_hff_update_gps();
#endif /* hff used */
#if !USE_HFF /* hff not used */
INT32_VECT2_SCALE_2(ins_ltp_pos, ins_gps_pos_cm_ned, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_ltp_speed, ins_gps_speed_cm_s_ned, INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* hff not used */
}
#endif /* USE_GPS */
}
void ned_of_lla_vect_i(struct NedCoor_i* ned, struct LtpDef_i* def, struct LlaCoor_i* lla) {
struct EcefCoor_i ecef;
ecef_of_lla_i(&ecef,lla);
ned_of_ecef_vect_i(ned,def,&ecef);
}
void ins_reset_altitude_ref(void)
{
#if USE_GPS
struct LlaCoor_i lla = {
.lat = state.ned_origin_i.lla.lat,
.lon = state.ned_origin_i.lla.lon,
.alt = gps.lla_pos.alt
};
ltp_def_from_lla_i(&ins_impl.ltp_def, &lla);
ins_impl.ltp_def.hmsl = gps.hmsl;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
#endif
ins_impl.vf_reset = TRUE;
}
void ins_propagate(float dt)
{
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel);
struct Int32Vect3 accel_meas_ltp;
int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), &accel_meas_body);
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
if (ins_impl.baro_initialized) {
vff_propagate(z_accel_meas_float, dt);
ins_update_from_vff();
} else { // feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity,
// but vehicle not accelerating in ltp)
ins_impl.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
/* convert and copy result to ins_impl */
ins_update_from_hff();
#else
ins_impl.ltp_accel.x = accel_meas_ltp.x;
ins_impl.ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
ins_ned_to_state();
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
{
if (!ins_impl.baro_initialized && *pressure > 1e-7) {
// wait for a first positive value
ins_impl.qfe = *pressure;
ins_impl.baro_initialized = TRUE;
}
if (ins_impl.baro_initialized) {
if (ins_impl.vf_reset) {
ins_impl.vf_reset = FALSE;
ins_impl.qfe = *pressure;
vff_realign(0.);
ins_update_from_vff();
} else {
ins_impl.baro_z = -pprz_isa_height_of_pressure(*pressure, ins_impl.qfe);
#if USE_VFF_EXTENDED
vff_update_baro(ins_impl.baro_z);
#else
vff_update(ins_impl.baro_z);
#endif
}
ins_ned_to_state();
}
}
#if USE_GPS
void ins_update_gps(void)
{
if (gps.fix == GPS_FIX_3D) {
if (!ins_impl.ltp_initialized) {
ltp_def_from_ecef_i(&ins_impl.ltp_def, &gps.ecef_pos);
ins_impl.ltp_def.lla.alt = gps.lla_pos.alt;
ins_impl.ltp_def.hmsl = gps.hmsl;
ins_impl.ltp_initialized = TRUE;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
}
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_impl.ltp_def, &gps.ecef_pos);
/// @todo maybe use gps.ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_impl.ltp_def, &gps.ecef_vel);
#if INS_USE_GPS_ALT
vff_update_z_conf((float)gps_pos_cm_ned.z / 100.0, INS_VFF_R_GPS);
#endif
#if USE_HFF
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
if (ins_impl.hf_realign) {
ins_impl.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_impl
ins_update_from_hff();
#else /* hff not used */
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_impl.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_impl.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* USE_HFF */
ins_ned_to_state();
}
}
#endif /* USE_GPS */
#if USE_SONAR
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *distance)
{
static float last_offset = 0.;
/* update filter assuming a flat ground */
if (*distance < INS_SONAR_MAX_RANGE && *distance > INS_SONAR_MIN_RANGE
#ifdef INS_SONAR_THROTTLE_THRESHOLD
&& stabilization_cmd[COMMAND_THRUST] < INS_SONAR_THROTTLE_THRESHOLD
#endif
#ifdef INS_SONAR_BARO_THRESHOLD
&& ins_impl.baro_z > -INS_SONAR_BARO_THRESHOLD /* z down */
#endif
&& ins_impl.update_on_agl
&& ins_impl.baro_initialized) {
vff_update_z_conf(-(*distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(*distance));
last_offset = vff.offset;
} else {
/* update offset with last value to avoid divergence */
vff_update_offset(last_offset);
}
}
#endif // USE_SONAR
/** initialize the local origin (ltp_def) from flight plan position */
static void ins_init_origin_from_flightplan(void)
{
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = NAV_LAT0;
llh_nav0.lon = NAV_LON0;
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_impl.ltp_def, &ecef_nav0);
ins_impl.ltp_def.hmsl = NAV_ALT0;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
}
/** copy position and speed to state interface */
static void ins_ned_to_state(void)
{
stateSetPositionNed_i(&ins_impl.ltp_pos);
stateSetSpeedNed_i(&ins_impl.ltp_speed);
stateSetAccelNed_i(&ins_impl.ltp_accel);
#if defined SITL && USE_NPS
if (nps_bypass_ins) {
sim_overwrite_ins();
}
#endif
}
void ins_reset_altitude_ref(void)
{
#if USE_GPS
struct LlaCoor_i lla = {
.lat = state.ned_origin_i.lla.lat,
.lon = state.ned_origin_i.lla.lon,
.alt = gps.lla_pos.alt
};
ltp_def_from_lla_i(&ins_int.ltp_def, &lla);
ins_int.ltp_def.hmsl = gps.hmsl;
stateSetLocalOrigin_i(&ins_int.ltp_def);
#endif
ins_int.vf_reset = TRUE;
}
void ins_int_propagate(struct Int32Vect3 *accel, float dt)
{
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.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);
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
/* Propagate only if we got any measurement during the last INS_MAX_PROPAGATION_STEPS.
* Otherwise halt the propagation to not diverge and only set the acceleration.
* This should only be relevant in the startup phase when the baro is not yet initialized
* and there is no gps fix yet...
*/
if (ins_int.propagation_cnt < INS_MAX_PROPAGATION_STEPS) {
vff_propagate(z_accel_meas_float, dt);
ins_update_from_vff();
} else {
// feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity,
// but vehicle not accelerating in ltp)
ins_int.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
/* convert and copy result to ins_int */
ins_update_from_hff();
#else
ins_int.ltp_accel.x = accel_meas_ltp.x;
ins_int.ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
ins_ned_to_state();
/* increment the propagation counter, while making sure it doesn't overflow */
if (ins_int.propagation_cnt < 100 * INS_MAX_PROPAGATION_STEPS) {
ins_int.propagation_cnt++;
}
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
if (!ins_int.baro_initialized && pressure > 1e-7) {
// wait for a first positive value
ins_int.qfe = pressure;
ins_int.baro_initialized = TRUE;
}
if (ins_int.baro_initialized) {
if (ins_int.vf_reset) {
ins_int.vf_reset = FALSE;
ins_int.qfe = pressure;
vff_realign(0.);
ins_update_from_vff();
} else {
ins_int.baro_z = -pprz_isa_height_of_pressure(pressure, ins_int.qfe);
#if USE_VFF_EXTENDED
vff_update_baro(ins_int.baro_z);
#else
vff_update(ins_int.baro_z);
#endif
}
ins_ned_to_state();
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
}
#if USE_GPS
void ins_int_update_gps(struct GpsState *gps_s)
{
if (gps_s->fix < GPS_FIX_3D) {
return;
}
if (!ins_int.ltp_initialized) {
ins_reset_local_origin();
}
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_int.ltp_def, &gps_s->ecef_pos);
/* calculate body frame position taking BODY_TO_GPS translation (in cm) into account */
#ifdef INS_BODY_TO_GPS_X
/* body2gps translation in body frame */
struct Int32Vect3 b2g_b = {
.x = INS_BODY_TO_GPS_X,
.y = INS_BODY_TO_GPS_Y,
.z = INS_BODY_TO_GPS_Z
};
/* rotate offset given in body frame to navigation/ltp frame using current attitude */
struct Int32Quat q_b2n = *stateGetNedToBodyQuat_i();
QUAT_INVERT(q_b2n, q_b2n);
struct Int32Vect3 b2g_n;
int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);
/* subtract body2gps translation in ltp from gps position */
VECT3_SUB(gps_pos_cm_ned, b2g_n);
#endif
/// @todo maybe use gps_s->ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_int.ltp_def, &gps_s->ecef_vel);
#if INS_USE_GPS_ALT
vff_update_z_conf(((float)gps_pos_cm_ned.z) / 100.0, INS_VFF_R_GPS);
#endif
#if INS_USE_GPS_ALT_SPEED
vff_update_vz_conf(((float)gps_speed_cm_s_ned.z) / 100.0, INS_VFF_VZ_R_GPS);
#endif
#if USE_HFF
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
if (ins_int.hf_realign) {
ins_int.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_int
ins_update_from_hff();
#else /* hff not used */
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_int.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_int.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* USE_HFF */
ins_ned_to_state();
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
#else
void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {}
#endif /* USE_GPS */
#if USE_SONAR
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance)
{
static float last_offset = 0.;
/* update filter assuming a flat ground */
if (distance < INS_SONAR_MAX_RANGE && distance > INS_SONAR_MIN_RANGE
#ifdef INS_SONAR_THROTTLE_THRESHOLD
&& stabilization_cmd[COMMAND_THRUST] < INS_SONAR_THROTTLE_THRESHOLD
#endif
#ifdef INS_SONAR_BARO_THRESHOLD
&& ins_int.baro_z > -INS_SONAR_BARO_THRESHOLD /* z down */
#endif
&& ins_int.update_on_agl
&& ins_int.baro_initialized) {
vff_update_z_conf(-(distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(distance));
last_offset = vff.offset;
} else {
/* update offset with last value to avoid divergence */
vff_update_offset(last_offset);
}
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
#endif // USE_SONAR
/** initialize the local origin (ltp_def) from flight plan position */
static void ins_init_origin_from_flightplan(void)
{
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = NAV_LAT0;
llh_nav0.lon = NAV_LON0;
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_int.ltp_def, &ecef_nav0);
ins_int.ltp_def.hmsl = NAV_ALT0;
stateSetLocalOrigin_i(&ins_int.ltp_def);
}
/** copy position and speed to state interface */
static void ins_ned_to_state(void)
{
stateSetPositionNed_i(&ins_int.ltp_pos);
stateSetSpeedNed_i(&ins_int.ltp_speed);
stateSetAccelNed_i(&ins_int.ltp_accel);
#if defined SITL && USE_NPS
if (nps_bypass_ins) {
sim_overwrite_ins();
}
#endif
}
void gps_skytraq_read_message(void) {
//DEBUG_S1_ON();
if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
gps.ecef_pos.x = SKYTRAQ_NAVIGATION_DATA_ECEFX(gps_skytraq.msg_buf);
gps.ecef_pos.y = SKYTRAQ_NAVIGATION_DATA_ECEFY(gps_skytraq.msg_buf);
gps.ecef_pos.z = SKYTRAQ_NAVIGATION_DATA_ECEFZ(gps_skytraq.msg_buf);
gps.ecef_vel.x = SKYTRAQ_NAVIGATION_DATA_ECEFVX(gps_skytraq.msg_buf);
gps.ecef_vel.y = SKYTRAQ_NAVIGATION_DATA_ECEFVY(gps_skytraq.msg_buf);
gps.ecef_vel.z = SKYTRAQ_NAVIGATION_DATA_ECEFVZ(gps_skytraq.msg_buf);
gps.lla_pos.lat = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LAT(gps_skytraq.msg_buf));
gps.lla_pos.lon = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LON(gps_skytraq.msg_buf));
gps.lla_pos.alt = SKYTRAQ_NAVIGATION_DATA_AEL(gps_skytraq.msg_buf)/10;
gps.hmsl = SKYTRAQ_NAVIGATION_DATA_ASL(gps_skytraq.msg_buf)/10;
// pacc;
// sacc;
// gps.pdop = SKYTRAQ_NAVIGATION_DATA_PDOP(gps_skytraq.msg_buf);
gps.num_sv = SKYTRAQ_NAVIGATION_DATA_NumSV(gps_skytraq.msg_buf);
gps.tow = SKYTRAQ_NAVIGATION_DATA_TOW(gps_skytraq.msg_buf)/10;
switch (SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf)) {
case SKYTRAQ_FIX_3D_DGPS:
case SKYTRAQ_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case SKYTRAQ_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
#if GPS_USE_LATLONG
/* Computes from (lat, long) in the referenced UTM zone */
struct LlaCoor_f lla_f;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
gps.utm_pos.zone = nav_utm_zone0;
#endif
if ( gps.fix == GPS_FIX_3D ) {
if ( distance_too_great( &ref_ltp.ecef, &gps.ecef_pos ) ) {
// just grab current ecef_pos as reference.
ltp_def_from_ecef_i( &ref_ltp, &gps.ecef_pos );
}
// convert ecef velocity vector to NED vector.
ned_of_ecef_vect_i( &gps.ned_vel, &ref_ltp, &gps.ecef_vel );
// ground course in radians
gps.course = ( M_PI_4 + atan2( -gps.ned_vel.y, gps.ned_vel.x )) * 1e7;
// GT: gps.cacc = ... ? what should course accuracy be?
// ground speed
gps.gspeed = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y );
gps.speed_3d = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y + gps.ned_vel.z * gps.ned_vel.z );
// vertical speed (climb)
// solved by gps.ned.z?
}
//DEBUG_S2_TOGGLE();
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
}
//DEBUG_S1_OFF();
}
