void ahrs_propagate(void) { /* unbias gyro */ struct Int32Rates omega; RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias); /* low pass rate */ #ifdef AHRS_PROPAGATE_LOW_PASS_RATES RATES_SMUL(ahrs.imu_rate, ahrs.imu_rate,2); RATES_ADD(ahrs.imu_rate, omega); RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 3); #else RATES_COPY(ahrs.imu_rate, omega); #endif /* add correction */ RATES_ADD(omega, ahrs_impl.rate_correction); /* and zeros it */ INT_RATES_ZERO(ahrs_impl.rate_correction); /* integrate quaternion */ INT32_QUAT_INTEGRATE_FI(ahrs.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY); INT32_QUAT_NORMALIZE(ahrs.ltp_to_imu_quat); compute_imu_euler_and_rmat_from_quat(); compute_body_orientation(); }
void ahrs_propagate(void) { /* unbias gyro */ struct Int32Rates omega; RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias); /* low pass rate */ //#ifdef AHRS_PROPAGATE_LOW_PASS_RATES if (gyro_lowpass_filter > 1) { RATES_SMUL(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter-1); RATES_ADD(ahrs_impl.imu_rate, omega); RATES_SDIV(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter); //#else } else { RATES_COPY(ahrs_impl.imu_rate, omega); //#endif } /* add correction */ RATES_ADD(omega, ahrs_impl.rate_correction); /* and zeros it */ INT_RATES_ZERO(ahrs_impl.rate_correction); /* integrate quaternion */ INT32_QUAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY); INT32_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat); set_body_state_from_quat(); }