static void traj_step_phi_2nd_order_update(void) {
if (aos.time > 15) {
const float omega = RadOfDeg(100);
const float xi = 0.9;
struct FloatRates raccel;
RATES_ASSIGN(raccel, -2.*xi*omega*aos.imu_rates.p - omega*omega*(aos.ltp_to_imu_euler.phi - RadOfDeg(5)), 0., 0.);
FLOAT_RATES_INTEGRATE_FI(aos.imu_rates, raccel, aos.dt);
FLOAT_QUAT_INTEGRATE(aos.ltp_to_imu_quat, aos.imu_rates, aos.dt);
FLOAT_EULERS_OF_QUAT(aos.ltp_to_imu_euler, aos.ltp_to_imu_quat);
}
}
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;
uint32_t now_ts = get_sys_time_usec();
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);
}
//RunOnceEvery(10,imu_krooz_downlink_raw());
}
static void store_filter_output(int i)
{
#ifdef OUTPUT_IN_BODY_FRAME
QUAT_FLOAT_OF_BFP(output[i].quat_est, ahrs_impl.ltp_to_body_quat);
RATES_FLOAT_OF_BFP(output[i].rate_est, ahrs_impl.body_rate);
#else
struct FloatEulers eul_f;
EULERS_FLOAT_OF_BFP(eul_f, ahrs_impl.ltp_to_imu_euler);
FLOAT_QUAT_OF_EULERS(output[i].quat_est, eul_f);
RATES_FLOAT_OF_BFP(output[i].rate_est, ahrs_impl.imu_rate);
#endif /* OUTPUT_IN_BODY_FRAME */
RATES_ASSIGN(output[i].bias_est, 0., 0., 0.);
// memset(output[i].P, ahrs_impl.P, sizeof(ahrs_impl.P));
}
static void traj_step_phi_2nd_order_update(void)
{
if (aos.time > 15) {
const float omega = RadOfDeg(100);
const float xi = 0.9;
struct FloatRates raccel;
RATES_ASSIGN(raccel, -2.*xi * omega * aos.imu_rates.p - omega * omega * (aos.ltp_to_imu_euler.phi - RadOfDeg(5)), 0.,
0.);
float_rates_integrate_fi(&aos.imu_rates, &raccel, aos.dt);
float_quat_integrate(&aos.ltp_to_imu_quat, &aos.imu_rates, aos.dt);
float_eulers_of_quat(&aos.ltp_to_imu_euler, &aos.ltp_to_imu_quat);
}
}
void imu_init(void) {
/* initialises neutrals */
RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
#if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
#else
#if USE_MAGNETOMETER
INFO("Magnetometer neutrals are set to zero, you should calibrate!")
#endif
INT_VECT3_ZERO(imu.mag_neutral);
#endif
/*
Compute quaternion and rotation matrix
for conversions between body and imu frame
*/
struct Int32Eulers body_to_imu_eulers =
{ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
INT32_QUAT_OF_EULERS(imu.body_to_imu_quat, body_to_imu_eulers);
INT32_QUAT_NORMALIZE(imu.body_to_imu_quat);
INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
#if DOWNLINK
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#if USE_IMU_FLOAT
#else // !USE_IMU_FLOAT
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_RAW", send_gyro_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_SCALED", send_gyro_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_CURRENT_CALIBRATION", send_mag_calib);
#endif // !USE_IMU_FLOAT
#endif // DOWNLINK
imu_impl_init();
}
void imu_init(void)
{
#ifdef IMU_POWER_GPIO
gpio_setup_output(IMU_POWER_GPIO);
IMU_POWER_GPIO_ON(IMU_POWER_GPIO);
#endif
/* initialises neutrals */
RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
#if defined IMU_MAG_X_NEUTRAL && defined IMU_MAG_Y_NEUTRAL && defined IMU_MAG_Z_NEUTRAL
VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
#else
#if USE_MAGNETOMETER
INFO("Magnetometer neutrals are set to zero, you should calibrate!")
#endif
INT_VECT3_ZERO(imu.mag_neutral);
#endif
struct FloatEulers body_to_imu_eulers =
{IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_THETA, IMU_BODY_TO_IMU_PSI};
orientationSetEulers_f(&imu.body_to_imu, &body_to_imu_eulers);
#if USE_IMU_FLOAT
orientationSetEulers_f(&imuf.body_to_imu, &body_to_imu_eulers);
#endif
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#if !USE_IMU_FLOAT
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_RAW", send_gyro_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_SCALED", send_gyro_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
#endif // !USE_IMU_FLOAT
#endif // DOWNLINK
imu_impl_init();
}
void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// MPU-60X0
mpu60x0_i2c_init(&imu_krooz.mpu, &(IMU_KROOZ_I2C_DEV), MPU60X0_ADDR);
// change the default configuration
imu_krooz.mpu.config.smplrt_div = KROOZ_SMPLRT_DIV;
imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
imu_krooz.mpu.config.drdy_int_enable = true;
hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);
// Init median filters
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
InitMedianFilterVect3Int(median_accel);
#endif
InitMedianFilterVect3Int(median_mag);
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.hmc_eoc = false;
imu_krooz.mpu_eoc = false;
imu_krooz.ad7689_trans.slave_idx = IMU_KROOZ_SPI_SLAVE_IDX;
imu_krooz.ad7689_trans.select = SPISelectUnselect;
imu_krooz.ad7689_trans.cpol = SPICpolIdleLow;
imu_krooz.ad7689_trans.cpha = SPICphaEdge1;
imu_krooz.ad7689_trans.dss = SPIDss8bit;
imu_krooz.ad7689_trans.bitorder = SPIMSBFirst;
imu_krooz.ad7689_trans.cdiv = SPIDiv16;
imu_krooz.ad7689_trans.output_length = sizeof(imu_krooz.ad7689_spi_tx_buffer);
imu_krooz.ad7689_trans.output_buf = (uint8_t *) imu_krooz.ad7689_spi_tx_buffer;
imu_krooz.ad7689_trans.input_length = sizeof(imu_krooz.ad7689_spi_rx_buffer);
imu_krooz.ad7689_trans.input_buf = (uint8_t *) imu_krooz.ad7689_spi_rx_buffer;
imu_krooz.ad7689_trans.before_cb = NULL;
imu_krooz.ad7689_trans.after_cb = NULL;
axis_cnt = 0;
axis_nb = 2;
imu_krooz_sd_arch_init();
}
/**
* 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_bebop_event(void)
{
uint32_t now_ts = get_sys_time_usec();
/* MPU-60x0 event taks */
mpu60x0_i2c_event(&imu_bebop.mpu);
if (imu_bebop.mpu.data_available) {
/* default orientation of the MPU is upside down sor corrigate this here */
RATES_ASSIGN(imu.gyro_unscaled, imu_bebop.mpu.data_rates.rates.p, -imu_bebop.mpu.data_rates.rates.q,
-imu_bebop.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y,
-imu_bebop.mpu.data_accel.vect.z);
imu_bebop.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);
}
/* AKM8963 event task */
ak8963_event(&imu_bebop.ak);
if (imu_bebop.ak.data_available) {
#if BEBOP_VERSION2
struct Int32Vect3 mag_temp;
// In the second bebop version the magneto is turned 90 degrees
VECT3_ASSIGN(mag_temp, -imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
// Rotate the magneto
struct Int32RMat *imu_to_mag_rmat = orientationGetRMat_i(&imu_to_mag_bebop);
int32_rmat_vmult(&imu.mag_unscaled, imu_to_mag_rmat, &mag_temp);
#else //BEBOP regular first verion
VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
#endif
imu_bebop.ak.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
}
}
void imu_umarim_event( void )
{
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event();
if (itg3200_data_available) {
RATES_ASSIGN(imu.gyro_unscaled, itg3200_data.p, itg3200_data.q, itg3200_data.r);
itg3200_data_available = FALSE;
gyr_valid = TRUE;
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_event();
if (adxl345_data_available) {
// Be careful with orientation of the ADXL (ITG axes are taken as default reference)
VECT3_ASSIGN(imu.accel_unscaled, adxl345_data.y, -adxl345_data.x, adxl345_data.z);
adxl345_data_available = FALSE;
acc_valid = TRUE;
}
}
int main(int argc, char *argv[])
{
(void) signal(SIGINT, main_exit);
//set IMU neutrals
RATES_ASSIGN(imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
VECT3_ASSIGN(imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return -1;
}
/* Initalize the event library */
event_init();
control_init();
estimator_init();
// file_logger_init("my_log.data");
gcs_com_init();
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
//main_parse_cmd_line(argc, argv);
event_dispatch();
//should never occur!
printf("goodbye! (%d)\n", foo);
return 0;
}
void imu_navgo_event( void )
{
// If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(&imu_navgo.itg);
if (imu_navgo.itg.data_available) {
RATES_ASSIGN(imu.gyro_unscaled, -imu_navgo.itg.data.rates.q, imu_navgo.itg.data.rates.p, imu_navgo.itg.data.rates.r);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
imu_navgo.itg.data_available = FALSE;
imu_navgo.gyr_valid = TRUE;
}
// If the adxl345 I2C transaction has succeeded: convert the data
adxl345_i2c_event(&imu_navgo.adxl);
if (imu_navgo.adxl.data_available) {
VECT3_ASSIGN(imu.accel_unscaled, imu_navgo.adxl.data.vect.y, -imu_navgo.adxl.data.vect.x, imu_navgo.adxl.data.vect.z);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
#endif
imu_navgo.adxl.data_available = FALSE;
imu_navgo.acc_valid = TRUE;
}
// HMC58XX event task
hmc58xx_event(&imu_navgo.hmc);
if (imu_navgo.hmc.data_available) {
VECT3_COPY(imu.mag_unscaled, imu_navgo.hmc.data.vect);
#if NAVGO_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
#endif
imu_navgo.hmc.data_available = FALSE;
imu_navgo.mag_valid = TRUE;
}
}
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
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);
#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 imu_impl_init( void )
{
/////////////////////////////////////////////////////////////////////
// MPU-60X0
mpu60x0_i2c_init(&imu_krooz.mpu, &(IMU_KROOZ_I2C_DEV), MPU60X0_ADDR);
// change the default configuration
imu_krooz.mpu.config.smplrt_div = KROOZ_SMPLRT_DIV;
imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
imu_krooz.mpu.config.drdy_int_enable = TRUE;
hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);
// Init median filters
#if IMU_KROOZ_USE_GYRO_MEDIAN_FILTER
InitMedianFilterRatesInt(median_gyro);
#endif
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
InitMedianFilterVect3Int(median_accel);
#endif
InitMedianFilterVect3Int(median_mag);
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 = FALSE;
imu_krooz.acc_valid = FALSE;
imu_krooz.mag_valid = FALSE;
imu_krooz.hmc_eoc = FALSE;
imu_krooz.mpu_eoc = FALSE;
imu_krooz_sd_arch_init();
}
static void ahrs_do_update_accel(void) {
int i, j, k;
#ifdef BAFL_DEBUG2
printf("Accel update.\n");
#endif
/* P_prio = P */
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_Pprio[i][j] = bafl_P[i][j];
}
}
/*
* set up measurement matrix
*
* g = 9.81
* gx = [ 0 -g 0
* g 0 0
* 0 0 0 ]
* H = [ 0 0 0 ]
* [ -Cnb*gx 0 0 0 ]
* [ 0 0 0 ]
*
* */
bafl_H[0][0] = -RMAT_ELMT(bafl_dcm, 0, 1) * BAFL_g;
bafl_H[0][1] = RMAT_ELMT(bafl_dcm, 0, 0) * BAFL_g;
bafl_H[1][0] = -RMAT_ELMT(bafl_dcm, 1, 1) * BAFL_g;
bafl_H[1][1] = RMAT_ELMT(bafl_dcm, 1, 0) * BAFL_g;
bafl_H[2][0] = -RMAT_ELMT(bafl_dcm, 2, 1) * BAFL_g;
bafl_H[2][1] = RMAT_ELMT(bafl_dcm, 2, 0) * BAFL_g;
/* rest is zero
bafl_H[0][2] = 0.;
bafl_H[1][2] = 0.;
bafl_H[2][2] = 0.;*/
/**********************************************
* compute Kalman gain K
*
* K = P_prio * H_T * inv(S)
* S = H * P_prio * HT + R
*
* K = P_prio * HT * inv(H * P_prio * HT + R)
*
**********************************************/
/* covariance residual S = H * P_prio * HT + R */
/* temp_S(3x6) = H(3x6) * P_prio(6x6)
* last 4 columns of H are zero
*/
for (i = 0; i < 3; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_tempS[i][j] = bafl_H[i][0] * bafl_Pprio[0][j];
bafl_tempS[i][j] += bafl_H[i][1] * bafl_Pprio[1][j];
}
}
/* S(3x3) = temp_S(3x6) * HT(6x3) + R(3x3)
*
* bottom 4 rows of HT are zero
*/
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
bafl_S[i][j] = bafl_tempS[i][0] * bafl_H[j][0]; /* H[j][0] = HT[0][j] */
bafl_S[i][j] += bafl_tempS[i][1] * bafl_H[j][1]; /* H[j][0] = HT[0][j] */
}
bafl_S[i][i] += bafl_R_accel;
}
/* invert S
*/
FLOAT_MAT33_INVERT(bafl_invS, bafl_S);
/* temp_K(6x3) = P_prio(6x6) * HT(6x3)
*
* bottom 4 rows of HT are zero
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < 3; j++) {
/* not computing zero elements */
bafl_tempK[i][j] = bafl_Pprio[i][0] * bafl_H[j][0]; /* H[j][0] = HT[0][j] */
bafl_tempK[i][j] += bafl_Pprio[i][1] * bafl_H[j][1]; /* H[j][1] = HT[1][j] */
}
}
/* K(6x3) = temp_K(6x3) * invS(3x3)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < 3; j++) {
bafl_K[i][j] = bafl_tempK[i][0] * bafl_invS[0][j];
bafl_K[i][j] += bafl_tempK[i][1] * bafl_invS[1][j];
bafl_K[i][j] += bafl_tempK[i][2] * bafl_invS[2][j];
}
}
/**********************************************
* Update filter state.
*
* The a priori filter state is zero since the errors are corrected after each update.
*
* X = X_prio + K (y - H * X_prio)
* X = K * y
**********************************************/
/*printf("R = ");
for (i = 0; i < 3; i++) {
printf("[");
for (j = 0; j < 3; j++) {
printf("%f\t", RMAT_ELMT(bafl_dcm, i, j));
}
printf("]\n ");
}
printf("\n");*/
/* innovation
* y = Cnb * -[0; 0; g] - accel
*/
bafl_ya.x = -RMAT_ELMT(bafl_dcm, 0, 2) * BAFL_g - bafl_accel_measure.x;
bafl_ya.y = -RMAT_ELMT(bafl_dcm, 1, 2) * BAFL_g - bafl_accel_measure.y;
bafl_ya.z = -RMAT_ELMT(bafl_dcm, 2, 2) * BAFL_g - bafl_accel_measure.z;
/* X(6) = K(6x3) * y(3)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
bafl_X[i] = bafl_K[i][0] * bafl_ya.x;
bafl_X[i] += bafl_K[i][1] * bafl_ya.y;
bafl_X[i] += bafl_K[i][2] * bafl_ya.z;
}
/**********************************************
* Update the filter covariance.
*
* P = P_prio - K * H * P_prio
* P = ( I - K * H ) * P_prio
*
**********************************************/
/* temp(6x6) = I(6x6) - K(6x3)*H(3x6)
*
* last 4 columns of H are zero
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
if (i == j) {
bafl_tempP[i][j] = 1.;
} else {
bafl_tempP[i][j] = 0.;
}
if (j < 2) { /* omit the parts where H is zero */
for (k = 0; k < 3; k++) {
bafl_tempP[i][j] -= bafl_K[i][k] * bafl_H[k][j];
}
}
}
}
/* P(6x6) = temp(6x6) * P_prio(6x6)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_P[i][j] = bafl_tempP[i][0] * bafl_Pprio[0][j];
for (k = 1; k < BAFL_SSIZE; k++) {
bafl_P[i][j] += bafl_tempP[i][k] * bafl_Pprio[k][j];
}
}
}
#ifdef LKF_PRINT_P
printf("Pua=");
for (i = 0; i < 6; i++) {
printf("[");
for (j = 0; j < 6; j++) {
printf("%f\t", bafl_P[i][j]);
}
printf("]\n ");
}
printf("\n");
#endif
/**********************************************
* Correct errors.
*
*
**********************************************/
/* Error quaternion.
*/
QUAT_ASSIGN(bafl_q_a_err, 1.0, bafl_X[0]/2, bafl_X[1]/2, bafl_X[2]/2);
FLOAT_QUAT_INVERT(bafl_q_a_err, bafl_q_a_err);
/* normalize
* Is this needed? Or is the approximation good enough?*/
float q_sq;
q_sq = bafl_q_a_err.qx * bafl_q_a_err.qx + bafl_q_a_err.qy * bafl_q_a_err.qy + bafl_q_a_err.qz * bafl_q_a_err.qz;
if (q_sq > 1) { /* this should actually never happen */
FLOAT_QUAT_SMUL(bafl_q_a_err, bafl_q_a_err, 1 / sqrtf(1 + q_sq));
printf("Accel error quaternion q_sq > 1!!\n");
} else {
bafl_q_a_err.qi = sqrtf(1 - q_sq);
}
/* correct attitude
*/
FLOAT_QUAT_COMP(bafl_qtemp, bafl_q_a_err, bafl_quat);
FLOAT_QUAT_COPY(bafl_quat, bafl_qtemp);
/* correct gyro bias
*/
RATES_ASSIGN(bafl_b_a_err, bafl_X[3], bafl_X[4], bafl_X[5]);
RATES_SUB(bafl_bias, bafl_b_a_err);
/*
* compute all representations
*/
/* maintain rotation matrix representation */
FLOAT_RMAT_OF_QUAT(bafl_dcm, bafl_quat);
/* maintain euler representation */
FLOAT_EULERS_OF_RMAT(bafl_eulers, bafl_dcm);
AHRS_TO_BFP();
AHRS_LTP_TO_BODY();
}
void aspirin2_subsystem_event( void )
{
int32_t x, y, z;
// If the itg3200 I2C transaction has succeeded: convert the data
if (aspirin2_mpu60x0.status == I2CTransSuccess)
{
#define MPU_OFFSET_GYRO 9
x = (int16_t) ((aspirin2_mpu60x0.buf[0+MPU_OFFSET_GYRO] << 8) | aspirin2_mpu60x0.buf[1+MPU_OFFSET_GYRO]);
y = (int16_t) ((aspirin2_mpu60x0.buf[2+MPU_OFFSET_GYRO] << 8) | aspirin2_mpu60x0.buf[3+MPU_OFFSET_GYRO]);
z = (int16_t) ((aspirin2_mpu60x0.buf[4+MPU_OFFSET_GYRO] << 8) | aspirin2_mpu60x0.buf[5+MPU_OFFSET_GYRO]);
RATES_ASSIGN(imu.gyro_unscaled, x, y, z);
#define MPU_OFFSET_ACC 1
x = (int16_t) ((aspirin2_mpu60x0.buf[0+MPU_OFFSET_ACC] << 8) | aspirin2_mpu60x0.buf[1+MPU_OFFSET_ACC]);
y = (int16_t) ((aspirin2_mpu60x0.buf[2+MPU_OFFSET_ACC] << 8) | aspirin2_mpu60x0.buf[3+MPU_OFFSET_ACC]);
z = (int16_t) ((aspirin2_mpu60x0.buf[4+MPU_OFFSET_ACC] << 8) | aspirin2_mpu60x0.buf[5+MPU_OFFSET_ACC]);
VECT3_ASSIGN(imu.accel_unscaled, x, y, z);
// Is this is new data
if (aspirin2_mpu60x0.buf[0] & 0x01)
{
gyr_valid = TRUE;
acc_valid = TRUE;
}
else
{
}
aspirin2_mpu60x0.status = I2CTransDone; // remove the I2CTransSuccess status, otherwise data ready will be triggered again without new data
}
/*
// If the adxl345 I2C transaction has succeeded: convert the data
if (ppzuavimu_adxl345.status == I2CTransSuccess)
{
x = (int16_t) ((ppzuavimu_adxl345.buf[1] << 8) | ppzuavimu_adxl345.buf[0]);
y = (int16_t) ((ppzuavimu_adxl345.buf[3] << 8) | ppzuavimu_adxl345.buf[2]);
z = (int16_t) ((ppzuavimu_adxl345.buf[5] << 8) | ppzuavimu_adxl345.buf[4]);
#ifdef ASPIRIN_IMU
VECT3_ASSIGN(imu.accel_unscaled, x, -y, -z);
#else // PPZIMU
VECT3_ASSIGN(imu.accel_unscaled, -x, y, -z);
#endif
acc_valid = TRUE;
ppzuavimu_adxl345.status = I2CTransDone;
}
// If the hmc5843 I2C transaction has succeeded: convert the data
if (ppzuavimu_hmc5843.status == I2CTransSuccess)
{
x = (int16_t) ((ppzuavimu_hmc5843.buf[0] << 8) | ppzuavimu_hmc5843.buf[1]);
y = (int16_t) ((ppzuavimu_hmc5843.buf[2] << 8) | ppzuavimu_hmc5843.buf[3]);
z = (int16_t) ((ppzuavimu_hmc5843.buf[4] << 8) | ppzuavimu_hmc5843.buf[5]);
#ifdef ASPIRIN_IMU
VECT3_ASSIGN(imu.mag_unscaled, x, -y, -z);
#else // PPZIMU
VECT3_ASSIGN(imu.mag_unscaled, -y, -x, -z);
#endif
mag_valid = TRUE;
ppzuavimu_hmc5843.status = I2CTransDone;
}
*/
}
void imu_aspirin2_event(void)
{
uint32_t now_ts = get_sys_time_usec();
mpu60x0_spi_event(&imu_aspirin2.mpu);
if (imu_aspirin2.mpu.data_available) {
#if !ASPIRIN_2_DISABLE_MAG
/* 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);
#endif
/* Handle axis assignement for Lisa/S integrated Aspirin like IMU. */
#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);
#if !ASPIRIN_2_DISABLE_MAG
VECT3_COPY(imu.mag_unscaled, mag);
#endif
#endif
#else
/* Handle axis assignement for Lisa/M or Lisa/MX V2.1 integrated Aspirin like
* IMU.
*/
#ifdef LISA_M_OR_MX_21
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);
#if !ASPIRIN_2_DISABLE_MAG
VECT3_ASSIGN(imu.mag_unscaled, -mag.y, mag.x, mag.z);
#endif
#else
/* Handle real Aspirin IMU axis assignement. */
#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);
#if !ASPIRIN_2_DISABLE_MAG
VECT3_ASSIGN(imu.mag_unscaled, -mag.x, -mag.y, mag.z);
#endif
#else
RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
#if !ASPIRIN_2_DISABLE_MAG
VECT3_ASSIGN(imu.mag_unscaled, mag.y, -mag.x, mag.z)
#endif
#endif
#endif
#endif
imu_aspirin2.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.accel);
#if !ASPIRIN_2_DISABLE_MAG
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.mag);
#endif
}
}
static void ahrs_do_update_mag(void) {
int i, j, k;
#ifdef BAFL_DEBUG2
printf("Mag update.\n");
#endif
MAGS_FLOAT_OF_BFP(bafl_mag, imu.mag);
/* P_prio = P */
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_Pprio[i][j] = bafl_P[i][j];
}
}
/*
* set up measurement matrix
*
* h = [236.; -2.; 396.];
* hx = [ h(2); -h(1); 0]; //only psi (phi and theta = 0)
* Hm = Cnb * hx;
* H = [ 0 0 0 0 0
* 0 0 Cnb*hx 0 0 0
* 0 0 0 0 0 ];
* */
/*bafl_H[0][2] = RMAT_ELMT(bafl_dcm, 0, 0) * bafl_h.y - RMAT_ELMT(bafl_dcm, 0, 1) * bafl_h.x;
bafl_H[1][2] = RMAT_ELMT(bafl_dcm, 1, 0) * bafl_h.y - RMAT_ELMT(bafl_dcm, 1, 1) * bafl_h.x;
bafl_H[2][2] = RMAT_ELMT(bafl_dcm, 2, 0) * bafl_h.y - RMAT_ELMT(bafl_dcm, 2, 1) * bafl_h.x;*/
bafl_H[0][2] = -RMAT_ELMT(bafl_dcm, 0, 1);
bafl_H[1][2] = -RMAT_ELMT(bafl_dcm, 1, 1);
bafl_H[2][2] = -RMAT_ELMT(bafl_dcm, 2, 1);
//rest is zero
/**********************************************
* compute Kalman gain K
*
* K = P_prio * H_T * inv(S)
* S = H * P_prio * HT + R
*
* K = P_prio * HT * inv(H * P_prio * HT + R)
*
**********************************************/
/* covariance residual S = H * P_prio * HT + R */
/* temp_S(3x6) = H(3x6) * P_prio(6x6)
*
* only third column of H is non-zero
*/
for (i = 0; i < 3; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_tempS[i][j] = bafl_H[i][2] * bafl_Pprio[2][j];
}
}
/* S(3x3) = temp_S(3x6) * HT(6x3) + R(3x3)
*
* only third row of HT is non-zero
*/
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
bafl_S[i][j] = bafl_tempS[i][2] * bafl_H[j][2]; /* H[j][2] = HT[2][j] */
}
bafl_S[i][i] += bafl_R_mag;
}
/* invert S
*/
FLOAT_MAT33_INVERT(bafl_invS, bafl_S);
/* temp_K(6x3) = P_prio(6x6) * HT(6x3)
*
* only third row of HT is non-zero
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < 3; j++) {
/* not computing zero elements */
bafl_tempK[i][j] = bafl_Pprio[i][2] * bafl_H[j][2]; /* H[j][2] = HT[2][j] */
}
}
/* K(6x3) = temp_K(6x3) * invS(3x3)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < 3; j++) {
bafl_K[i][j] = bafl_tempK[i][0] * bafl_invS[0][j];
bafl_K[i][j] += bafl_tempK[i][1] * bafl_invS[1][j];
bafl_K[i][j] += bafl_tempK[i][2] * bafl_invS[2][j];
}
}
/**********************************************
* Update filter state.
*
* The a priori filter state is zero since the errors are corrected after each update.
*
* X = X_prio + K (y - H * X_prio)
* X = K * y
**********************************************/
/* innovation
* y = Cnb * [hx; hy; hz] - mag
*/
FLOAT_RMAT_VECT3_MUL(bafl_ym, bafl_dcm, bafl_h); //can be optimized
FLOAT_VECT3_SUB(bafl_ym, bafl_mag);
/* X(6) = K(6x3) * y(3)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
bafl_X[i] = bafl_K[i][0] * bafl_ym.x;
bafl_X[i] += bafl_K[i][1] * bafl_ym.y;
bafl_X[i] += bafl_K[i][2] * bafl_ym.z;
}
/**********************************************
* Update the filter covariance.
*
* P = P_prio - K * H * P_prio
* P = ( I - K * H ) * P_prio
*
**********************************************/
/* temp(6x6) = I(6x6) - K(6x3)*H(3x6)
*
* last 3 columns of H are zero
*/
for (i = 0; i < 6; i++) {
for (j = 0; j < 6; j++) {
if (i == j) {
bafl_tempP[i][j] = 1.;
} else {
bafl_tempP[i][j] = 0.;
}
if (j == 2) { /* omit the parts where H is zero */
for (k = 0; k < 3; k++) {
bafl_tempP[i][j] -= bafl_K[i][k] * bafl_H[k][j];
}
}
}
}
/* P(6x6) = temp(6x6) * P_prio(6x6)
*/
for (i = 0; i < BAFL_SSIZE; i++) {
for (j = 0; j < BAFL_SSIZE; j++) {
bafl_P[i][j] = bafl_tempP[i][0] * bafl_Pprio[0][j];
for (k = 1; k < BAFL_SSIZE; k++) {
bafl_P[i][j] += bafl_tempP[i][k] * bafl_Pprio[k][j];
}
}
}
#ifdef LKF_PRINT_P
printf("Pum=");
for (i = 0; i < 6; i++) {
printf("[");
for (j = 0; j < 6; j++) {
printf("%f\t", bafl_P[i][j]);
}
printf("]\n ");
}
printf("\n");
#endif
/**********************************************
* Correct errors.
*
*
**********************************************/
/* Error quaternion.
*/
QUAT_ASSIGN(bafl_q_m_err, 1.0, bafl_X[0]/2, bafl_X[1]/2, bafl_X[2]/2);
FLOAT_QUAT_INVERT(bafl_q_m_err, bafl_q_m_err);
/* normalize */
float q_sq;
q_sq = bafl_q_m_err.qx * bafl_q_m_err.qx + bafl_q_m_err.qy * bafl_q_m_err.qy + bafl_q_m_err.qz * bafl_q_m_err.qz;
if (q_sq > 1) { /* this should actually never happen */
FLOAT_QUAT_SMUL(bafl_q_m_err, bafl_q_m_err, 1 / sqrtf(1 + q_sq));
printf("mag error quaternion q_sq > 1!!\n");
} else {
bafl_q_m_err.qi = sqrtf(1 - q_sq);
}
/* correct attitude
*/
FLOAT_QUAT_COMP(bafl_qtemp, bafl_q_m_err, bafl_quat);
FLOAT_QUAT_COPY(bafl_quat, bafl_qtemp);
/* correct gyro bias
*/
RATES_ASSIGN(bafl_b_m_err, bafl_X[3], bafl_X[4], bafl_X[5]);
RATES_SUB(bafl_bias, bafl_b_m_err);
/*
* compute all representations
*/
/* maintain rotation matrix representation */
FLOAT_RMAT_OF_QUAT(bafl_dcm, bafl_quat);
/* maintain euler representation */
FLOAT_EULERS_OF_RMAT(bafl_eulers, bafl_dcm);
AHRS_TO_BFP();
AHRS_LTP_TO_BODY();
}
void aos_init(int traj_nb)
{
aos.traj = &traj[traj_nb];
aos.time = 0;
aos.dt = 1. / AHRS_PROPAGATE_FREQUENCY;
aos.traj->ts = 0;
aos.traj->ts = 1.; // default to one second
/* default state */
EULERS_ASSIGN(aos.ltp_to_imu_euler, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
float_quat_of_eulers(&aos.ltp_to_imu_quat, &aos.ltp_to_imu_euler);
RATES_ASSIGN(aos.imu_rates, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
FLOAT_VECT3_ZERO(aos.ltp_pos);
FLOAT_VECT3_ZERO(aos.ltp_vel);
FLOAT_VECT3_ZERO(aos.ltp_accel);
FLOAT_VECT3_ZERO(aos.ltp_jerk);
aos.traj->init_fun();
imu_init();
ahrs_init();
#ifdef PERFECT_SENSORS
RATES_ASSIGN(aos.gyro_bias, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
RATES_ASSIGN(aos.gyro_noise, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
VECT3_ASSIGN(aos.accel_noise, 0., 0., 0.);
aos.heading_noise = 0.;
#else
RATES_ASSIGN(aos.gyro_bias, RadOfDeg(1.), RadOfDeg(2.), RadOfDeg(3.));
RATES_ASSIGN(aos.gyro_noise, RadOfDeg(1.), RadOfDeg(1.), RadOfDeg(1.));
VECT3_ASSIGN(aos.accel_noise, .5, .5, .5);
aos.heading_noise = RadOfDeg(3.);
#endif
#ifdef FORCE_ALIGNEMENT
// DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("# oas quat", aos.ltp_to_imu_quat);
aos_compute_sensors();
// DISPLAY_FLOAT_RATES_DEG("# oas gyro_bias", aos.gyro_bias);
// DISPLAY_FLOAT_RATES_DEG("# oas imu_rates", aos.imu_rates);
VECT3_COPY(ahrs_aligner.lp_accel, imu.accel);
VECT3_COPY(ahrs_aligner.lp_mag, imu.mag);
RATES_COPY(ahrs_aligner.lp_gyro, imu.gyro);
// DISPLAY_INT32_RATES_AS_FLOAT_DEG("# ahrs_aligner.lp_gyro", ahrs_aligner.lp_gyro);
ahrs_align();
// DISPLAY_FLOAT_RATES_DEG("# ahrs_impl.gyro_bias", ahrs_impl.gyro_bias);
#endif
#ifdef DISABLE_ALIGNEMENT
printf("# DISABLE_ALIGNEMENT\n");
#endif
#ifdef DISABLE_PROPAGATE
printf("# DISABLE_PROPAGATE\n");
#endif
#ifdef DISABLE_ACCEL_UPDATE
printf("# DISABLE_ACCEL_UPDATE\n");
#endif
#ifdef DISABLE_MAG_UPDATE
printf("# DISABLE_MAG_UPDATE\n");
#endif
printf("# AHRS_TYPE %s\n", ahrs_type_str[AHRS_TYPE]);
printf("# AHRS_PROPAGATE_FREQUENCY %d\n", AHRS_PROPAGATE_FREQUENCY);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
printf("# AHRS_PROPAGATE_LOW_PASS_RATES\n");
#endif
#if AHRS_MAG_UPDATE_YAW_ONLY
printf("# AHRS_MAG_UPDATE_YAW_ONLY\n");
#endif
#if AHRS_GRAVITY_UPDATE_COORDINATED_TURN
printf("# AHRS_GRAVITY_UPDATE_COORDINATED_TURN\n");
#endif
#if AHRS_GRAVITY_UPDATE_NORM_HEURISTIC
printf("# AHRS_GRAVITY_UPDATE_NORM_HEURISTIC\n");
#endif
#ifdef PERFECT_SENSORS
printf("# PERFECT_SENSORS\n");
#endif
#if AHRS_USE_GPS_HEADING
printf("# AHRS_USE_GPS_HEADING\n");
#endif
#if USE_AHRS_GPS_ACCELERATIONS
printf("# USE_AHRS_GPS_ACCELERATIONS\n");
#endif
printf("# tajectory : %s\n", aos.traj->name);
};