static void simulateModelAgnostic()
{
float Rbe[3][3];
float q[4];
// Simulate accels based on current attitude
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
Quaternion2R(q,Rbe);
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = -GRAVITY * Rbe[0][2];
accelsData.y = -GRAVITY * Rbe[1][2];
accelsData.z = -GRAVITY * Rbe[2][2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rateDesired.Roll + rand_gauss();
gyrosData.y = rateDesired.Pitch + rand_gauss();
gyrosData.z = rateDesired.Yaw + rand_gauss();
// Apply bias correction to the gyros
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x += gyrosBias.x;
gyrosData.y += gyrosBias.y;
gyrosData.z += gyrosBias.z;
GyrosSet(&gyrosData);
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = 1;
BaroAltitudeSet(&baroAltitude);
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = 0;
gpsPosition.Longitude = 0;
gpsPosition.Altitude = 0;
GPSPositionSet(&gpsPosition);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
MagnetometerData mag;
mag.x = 400;
mag.y = 0;
mag.z = 800;
MagnetometerSet(&mag);
}
static void simulateConstant()
{
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = 0;
accelsData.y = 0;
accelsData.z = -GRAVITY;
accelsData.temperature = 0;
AccelsSet(&accelsData);
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = 0;
gyrosData.y = 0;
gyrosData.z = 0;
// Apply bias correction to the gyros
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x += gyrosBias.x;
gyrosData.y += gyrosBias.y;
gyrosData.z += gyrosBias.z;
GyrosSet(&gyrosData);
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = 1;
BaroAltitudeSet(&baroAltitude);
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = 0;
gpsPosition.Longitude = 0;
gpsPosition.Altitude = 0;
GPSPositionSet(&gpsPosition);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
MagnetometerData mag;
mag.x = 400;
mag.y = 0;
mag.z = 800;
MagnetometerSet(&mag);
}
/**
* Initialise the module. Called before the start function
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AirspeedActualInitialize();
AirspeedSensorInitialize();
AttitudeSettingsInitialize();
PositionActualInitialize();
VelocityActualInitialize();
RevoSettingsInitialize();
RevoCalibrationInitialize();
EKFConfigurationInitialize();
EKFStateVarianceInitialize();
FlightStatusInitialize();
// Initialize this here while we aren't setting the homelocation in GPS
HomeLocationInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1.0f;
attitude.q2 = 0.0f;
attitude.q3 = 0.0f;
attitude.q4 = 0.0f;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = 0.0f;
gyrosBias.y = 0.0f;
gyrosBias.z = 0.0f;
GyrosBiasSet(&gyrosBias);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
RevoSettingsConnectCallback(&settingsUpdatedCb);
RevoCalibrationConnectCallback(&settingsUpdatedCb);
HomeLocationConnectCallback(&settingsUpdatedCb);
EKFConfigurationConnectCallback(&settingsUpdatedCb);
FlightStatusConnectCallback(&settingsUpdatedCb);
return 0;
}
static void settingsUpdatedCb(UAVObjEvent * ev)
{
if (ev == NULL || ev->obj == RevoCalibrationHandle()) {
RevoCalibrationGet(&revoCalibration);
/* When the revo calibration is updated, update the GyroBias object */
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyrosBias.y = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Y];
gyrosBias.z = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Z];
GyrosBiasSet(&gyrosBias);
gyroBiasSettingsUpdated = true;
// In case INS currently running
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
}
if(ev == NULL || ev->obj == HomeLocationHandle()) {
HomeLocationGet(&homeLocation);
// Compute matrix to convert deltaLLA to NED
float lat, alt;
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
alt = homeLocation.Altitude;
T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f;
}
if (ev == NULL || ev->obj == AttitudeSettingsHandle())
AttitudeSettingsGet(&attitudeSettings);
if (ev == NULL || ev->obj == RevoSettingsHandle())
RevoSettingsGet(&revoSettings);
}
static void SensorsTask(void *parameters)
{
portTickType lastSysTime;
uint32_t accel_samples = 0;
uint32_t gyro_samples = 0;
int32_t accel_accum[3] = {0, 0, 0};
int32_t gyro_accum[3] = {0,0,0};
float gyro_scaling = 0;
float accel_scaling = 0;
static int32_t timeval;
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
UAVObjEvent ev;
settingsUpdatedCb(&ev);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
switch(bdinfo->board_rev) {
case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test();
#endif
#if defined(PIOS_INCLUDE_BMA180)
accel_test = PIOS_BMA180_Test();
#endif
break;
case 0x02:
#if defined(PIOS_INCLUDE_MPU6000)
gyro_test = PIOS_MPU6000_Test();
accel_test = gyro_test;
#endif
break;
default:
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_HMC5883)
mag_test = PIOS_HMC5883_Test();
#else
mag_test = 0;
#endif
if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
vTaskDelay(10);
}
}
// Main task loop
lastSysTime = xTaskGetTickCount();
bool error = false;
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
while (1) {
// TODO: add timeouts to the sensor reads and set an error if the fail
sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if (error) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
error = false;
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
}
for (int i = 0; i < 3; i++) {
accel_accum[i] = 0;
gyro_accum[i] = 0;
}
accel_samples = 0;
gyro_samples = 0;
AccelsData accelsData;
GyrosData gyrosData;
switch(bdinfo->board_rev) {
case 0x01: // L3GD20 + BMA180 board
#if defined(PIOS_INCLUDE_BMA180)
{
struct pios_bma180_data accel;
int32_t read_good;
int32_t count;
count = 0;
while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
if (error) {
// Unfortunately if the BMA180 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstarts
// it.
struct pios_bma180_data data;
PIOS_BMA180_ReadAccels(&data);
continue;
}
while(read_good == 0) {
count++;
accel_accum[1] += accel.x;
accel_accum[0] += accel.y;
accel_accum[2] -= accel.z;
read_good = PIOS_BMA180_ReadFifo(&accel);
}
accel_samples = count;
accel_scaling = PIOS_BMA180_GetScale();
// Get temp from last reading
accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
}
#endif
#if defined(PIOS_INCLUDE_L3GD20)
{
struct pios_l3gd20_data gyro;
gyro_samples = 0;
xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
if(xQueueReceive(gyro_queue, (void *) &gyro, 4) == errQUEUE_EMPTY) {
error = true;
continue;
}
gyro_samples = 1;
gyro_accum[1] += gyro.gyro_x;
gyro_accum[0] += gyro.gyro_y;
gyro_accum[2] -= gyro.gyro_z;
gyro_scaling = PIOS_L3GD20_GetScale();
// Get temp from last reading
gyrosData.temperature = gyro.temperature;
}
#endif
break;
case 0x02: // MPU6000 board
case 0x03: // MPU6000 board
#if defined(PIOS_INCLUDE_MPU6000)
{
struct pios_mpu6000_data mpu6000_data;
xQueueHandle queue = PIOS_MPU6000_GetQueue();
while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
{
gyro_accum[0] += mpu6000_data.gyro_x;
gyro_accum[1] += mpu6000_data.gyro_y;
gyro_accum[2] += mpu6000_data.gyro_z;
accel_accum[0] += mpu6000_data.accel_x;
accel_accum[1] += mpu6000_data.accel_y;
accel_accum[2] += mpu6000_data.accel_z;
gyro_samples ++;
accel_samples ++;
}
if (gyro_samples == 0) {
PIOS_MPU6000_ReadGyros(&mpu6000_data);
error = true;
continue;
}
gyro_scaling = PIOS_MPU6000_GetScale();
accel_scaling = PIOS_MPU6000_GetAccelScale();
gyrosData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
accelsData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
}
#endif /* PIOS_INCLUDE_MPU6000 */
break;
default:
PIOS_DEBUG_Assert(0);
}
// Scale the accels
float accels[3] = {(float) accel_accum[0] / accel_samples,
(float) accel_accum[1] / accel_samples,
(float) accel_accum[2] / accel_samples};
float accels_out[3] = {accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]};
if (rotate) {
rot_mult(R, accels_out, accels);
accelsData.x = accels[0];
accelsData.y = accels[1];
accelsData.z = accels[2];
} else {
accelsData.x = accels_out[0];
accelsData.y = accels_out[1];
accelsData.z = accels_out[2];
}
AccelsSet(&accelsData);
// Scale the gyros
float gyros[3] = {(float) gyro_accum[0] / gyro_samples,
(float) gyro_accum[1] / gyro_samples,
(float) gyro_accum[2] / gyro_samples};
float gyros_out[3] = {gyros[0] * gyro_scaling,
gyros[1] * gyro_scaling,
gyros[2] * gyro_scaling};
if (rotate) {
rot_mult(R, gyros_out, gyros);
gyrosData.x = gyros[0];
gyrosData.y = gyros[1];
gyrosData.z = gyros[2];
} else {
gyrosData.x = gyros_out[0];
gyrosData.y = gyros_out[1];
gyrosData.z = gyros_out[2];
}
if (bias_correct_gyro) {
// Apply bias correction to the gyros from the state estimator
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x -= gyrosBias.x;
gyrosData.y -= gyrosBias.y;
gyrosData.z -= gyrosBias.z;
}
GyrosSet(&gyrosData);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {-(float) values[1] * mag_scale[0] - mag_bias[0],
-(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
if (rotate) {
float mag_out[3];
rot_mult(R, mags, mag_out);
mag.x = mag_out[0];
mag.y = mag_out[1];
mag.z = mag_out[2];
} else {
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
}
// Correct for mag bias and update if the rate is non zero
if(cal.MagBiasNullingRate > 0)
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
}
}
/**
* @brief Use the INSGPS fusion algorithm in either indoor or outdoor mode (use GPS)
* @params[in] first_run This is the first run so trigger reinitialization
* @params[in] outdoor_mode If true use the GPS for position, if false weakly pull to (0,0)
* @return 0 for success, -1 for failure
*/
static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
{
UAVObjEvent ev;
GyrosData gyrosData;
AccelsData accelsData;
MagnetometerData magData;
BaroAltitudeData baroData;
GPSPositionData gpsData;
GPSVelocityData gpsVelData;
GyrosBiasData gyrosBias;
static bool mag_updated = false;
static bool baro_updated;
static bool gps_updated;
static bool gps_vel_updated;
static float baroOffset = 0;
static uint32_t ins_last_time = 0;
static bool inited;
float NED[3] = {0.0f, 0.0f, 0.0f};
float vel[3] = {0.0f, 0.0f, 0.0f};
float zeros[3] = {0.0f, 0.0f, 0.0f};
// Perform the update
uint16_t sensors = 0;
float dT;
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) )
{
// Do not set attitude timeout warnings in simulation mode
if (!AttitudeActualReadOnly()){
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
}
if (inited) {
mag_updated = 0;
baro_updated = 0;
gps_updated = 0;
gps_vel_updated = 0;
}
if (first_run) {
inited = false;
init_stage = 0;
mag_updated = 0;
baro_updated = 0;
gps_updated = 0;
gps_vel_updated = 0;
ins_last_time = PIOS_DELAY_GetRaw();
return 0;
}
mag_updated |= (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE);
baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
// Get most recent data
GyrosGet(&gyrosData);
AccelsGet(&accelsData);
MagnetometerGet(&magData);
BaroAltitudeGet(&baroData);
GPSPositionGet(&gpsData);
GPSVelocityGet(&gpsVelData);
GyrosBiasGet(&gyrosBias);
// Discard mag if it has NAN (normally from bad calibration)
mag_updated &= (magData.x == magData.x && magData.y == magData.y && magData.z == magData.z);
// Don't require HomeLocation.Set to be true but at least require a mag configuration (allows easily
// switching between indoor and outdoor mode with Set = false)
mag_updated &= (homeLocation.Be[0] != 0 || homeLocation.Be[1] != 0 || homeLocation.Be[2]);
// Have a minimum requirement for gps usage
gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP <= 4.0f) && (homeLocation.Set == HOMELOCATION_SET_TRUE);
if (!inited)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
else if (outdoor_mode && gpsData.Satellites < 7)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
else
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode)) {
// Don't initialize until all sensors are read
if (init_stage == 0 && !outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float q[4];
float pos[3] = {0.0f, 0.0f, 0.0f};
// Initialize barometric offset to homelocation altitude
baroOffset = -baroData.Altitude;
pos[2] = -(baroData.Altitude + baroOffset);
// Reset the INS algorithm
INSGPSInit();
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
// Initialize the gyro bias from the settings
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData);
// Set initial attitude
AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(pos, zeros, q, zeros, zeros);
INSResetP(Pdiag);
} else if (init_stage == 0 && outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float q[4];
float NED[3];
// Reset the INS algorithm
INSGPSInit();
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
INSSetMagNorth(homeLocation.Be);
// Initialize the gyro bias from the settings
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
// Transform the GPS position into NED coordinates
getNED(&gpsPosition, NED);
// Initialize barometric offset to cirrent GPS NED coordinate
baroOffset = -NED[2] - baroData.Altitude;
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData);
// Set initial attitude
AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(NED, zeros, q, zeros, zeros);
INSResetP(Pdiag);
} else if (init_stage > 0) {
// Run prediction a bit before any corrections
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
GyrosBiasGet(&gyrosBias);
float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f,
(gyrosData.y + gyrosBias.y) * F_PI / 180.0f,
(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
INSStatePrediction(gyros, &accelsData.x, dT);
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = Nav.q[0];
attitude.q2 = Nav.q[1];
attitude.q3 = Nav.q[2];
attitude.q4 = Nav.q[3];
Quaternion2RPY(&attitude.q1,&attitude.Roll);
AttitudeActualSet(&attitude);
}
init_stage++;
if(init_stage > 10)
inited = true;
ins_last_time = PIOS_DELAY_GetRaw();
return 0;
}
if (!inited)
return 0;
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
ins_last_time = PIOS_DELAY_GetRaw();
// This should only happen at start up or at mode switches
if(dT > 0.01f)
dT = 0.01f;
else if(dT <= 0.001f)
dT = 0.001f;
// If the gyro bias setting was updated we should reset
// the state estimate of the EKF
if(gyroBiasSettingsUpdated) {
float gyro_bias[3] = {gyrosBias.x * F_PI / 180.0f, gyrosBias.y * F_PI / 180.0f, gyrosBias.z * F_PI / 180.0f};
INSSetGyroBias(gyro_bias);
gyroBiasSettingsUpdated = false;
}
// Because the sensor module remove the bias we need to add it
// back in here so that the INS algorithm can track it correctly
float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE) {
gyros[0] += gyrosBias.x * F_PI / 180.0f;
gyros[1] += gyrosBias.y * F_PI / 180.0f;
gyros[2] += gyrosBias.z * F_PI / 180.0f;
}
// Advance the state estimate
INSStatePrediction(gyros, &accelsData.x, dT);
// Copy the attitude into the UAVO
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = Nav.q[0];
attitude.q2 = Nav.q[1];
attitude.q3 = Nav.q[2];
attitude.q4 = Nav.q[3];
Quaternion2RPY(&attitude.q1,&attitude.Roll);
AttitudeActualSet(&attitude);
// Advance the covariance estimate
INSCovariancePrediction(dT);
if(mag_updated)
sensors |= MAG_SENSORS;
if(baro_updated)
sensors |= BARO_SENSOR;
INSSetMagNorth(homeLocation.Be);
if (gps_updated && outdoor_mode)
{
INSSetPosVelVar(revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_POS], revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_VEL]);
sensors |= POS_SENSORS;
if (0) { // Old code to take horizontal velocity from GPS Position update
sensors |= HORIZ_SENSORS;
vel[0] = gpsData.Groundspeed * cosf(gpsData.Heading * F_PI / 180.0f);
vel[1] = gpsData.Groundspeed * sinf(gpsData.Heading * F_PI / 180.0f);
vel[2] = 0;
}
// Transform the GPS position into NED coordinates
getNED(&gpsData, NED);
// Track barometric altitude offset with a low pass filter
baroOffset = BARO_OFFSET_LOWPASS_ALPHA * baroOffset +
(1.0f - BARO_OFFSET_LOWPASS_ALPHA )
* ( -NED[2] - baroData.Altitude );
} else if (!outdoor_mode) {
INSSetPosVelVar(1e2f, 1e2f);
vel[0] = vel[1] = vel[2] = 0;
NED[0] = NED[1] = 0;
NED[2] = -(baroData.Altitude + baroOffset);
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
sensors |= POS_SENSORS |VERT_SENSORS;
}
if (gps_vel_updated && outdoor_mode) {
sensors |= HORIZ_SENSORS | VERT_SENSORS;
vel[0] = gpsVelData.North;
vel[1] = gpsVelData.East;
vel[2] = gpsVelData.Down;
}
/*
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
if (sensors)
INSCorrection(&magData.x, NED, vel, ( baroData.Altitude + baroOffset ), sensors);
// Copy the position and velocity into the UAVO
PositionActualData positionActual;
PositionActualGet(&positionActual);
positionActual.North = Nav.Pos[0];
positionActual.East = Nav.Pos[1];
positionActual.Down = Nav.Pos[2];
PositionActualSet(&positionActual);
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
velocityActual.North = Nav.Vel[0];
velocityActual.East = Nav.Vel[1];
velocityActual.Down = Nav.Vel[2];
VelocityActualSet(&velocityActual);
if (revoCalibration.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE && !gyroBiasSettingsUpdated) {
// Copy the gyro bias into the UAVO except when it was updated
// from the settings during the calculation, then consume it
// next cycle
gyrosBias.x = Nav.gyro_bias[0] * 180.0f / F_PI;
gyrosBias.y = Nav.gyro_bias[1] * 180.0f / F_PI;
gyrosBias.z = Nav.gyro_bias[2] * 180.0f / F_PI;
GyrosBiasSet(&gyrosBias);
}
return 0;
}
static int32_t updateAttitudeComplementary(bool first_run)
{
UAVObjEvent ev;
GyrosData gyrosData;
AccelsData accelsData;
static int32_t timeval;
float dT;
static uint8_t init = 0;
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE )
{
// When one of these is updated so should the other
// Do not set attitude timeout warnings in simulation mode
if (!AttitudeActualReadOnly()){
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
return -1;
}
}
AccelsGet(&accelsData);
// During initialization and
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(first_run) {
#if defined(PIOS_INCLUDE_HMC5883)
// To initialize we need a valid mag reading
if ( xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE )
return -1;
MagnetometerData magData;
MagnetometerGet(&magData);
#else
MagnetometerData magData;
magData.x = 100;
magData.y = 0;
magData.z = 0;
#endif
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
init = 0;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
timeval = PIOS_DELAY_GetRaw();
return 0;
}
if((init == 0 && xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
init = 0;
} else if (init == 0) {
// Reload settings (all the rates)
AttitudeSettingsGet(&attitudeSettings);
magKp = 0.01f;
init = 1;
}
GyrosGet(&gyrosData);
// Compute the dT using the cpu clock
dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
timeval = PIOS_DELAY_GetRaw();
float q[4];
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
float grot[3];
float accel_err[3];
// Get the current attitude estimate
quat_copy(&attitudeActual.q1, q);
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) &accelsData.x, (const float *) grot, accel_err);
// Account for accel magnitude
accel_mag = accelsData.x*accelsData.x + accelsData.y*accelsData.y + accelsData.z*accelsData.z;
accel_mag = sqrtf(accel_mag);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
if ( xQueueReceive(magQueue, &ev, 0) != pdTRUE )
{
// Rotate gravity to body frame and cross with accels
float brot[3];
float Rbe[3][3];
MagnetometerData mag;
Quaternion2R(q, Rbe);
MagnetometerGet(&mag);
// If the mag is producing bad data don't use it (normally bad calibration)
if (mag.x == mag.x && mag.y == mag.y && mag.z == mag.z) {
rot_mult(Rbe, homeLocation.Be, brot);
float mag_len = sqrtf(mag.x * mag.x + mag.y * mag.y + mag.z * mag.z);
mag.x /= mag_len;
mag.y /= mag_len;
mag.z /= mag_len;
float bmag = sqrtf(brot[0] * brot[0] + brot[1] * brot[1] + brot[2] * brot[2]);
brot[0] /= bmag;
brot[1] /= bmag;
brot[2] /= bmag;
// Only compute if neither vector is null
if (bmag < 1 || mag_len < 1)
mag_err[0] = mag_err[1] = mag_err[2] = 0;
else
CrossProduct((const float *) &mag.x, (const float *) brot, mag_err);
}
} else {
mag_err[0] = mag_err[1] = mag_err[2] = 0;
}
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x -= accel_err[0] * attitudeSettings.AccelKi;
gyrosBias.y -= accel_err[1] * attitudeSettings.AccelKi;
gyrosBias.z -= mag_err[2] * magKi;
GyrosBiasSet(&gyrosBias);
// Correct rates based on error, integral component dealt with in updateSensors
gyrosData.x += accel_err[0] * attitudeSettings.AccelKp / dT;
gyrosData.y += accel_err[1] * attitudeSettings.AccelKp / dT;
gyrosData.z += accel_err[2] * attitudeSettings.AccelKp / dT + mag_err[2] * magKp / dT;
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyrosData.x - q[2] * gyrosData.y - q[3] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[1] = (q[0] * gyrosData.x - q[3] * gyrosData.y + q[2] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[2] = (q[3] * gyrosData.x + q[0] * gyrosData.y - q[1] * gyrosData.z) * dT * F_PI / 180 / 2;
qdot[3] = (-q[2] * gyrosData.x + q[1] * gyrosData.y + q[0] * gyrosData.z) * dT * F_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
if(q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
// Renomalize
qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1.0e-3f) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
// Flush these queues for avoid errors
xQueueReceive(baroQueue, &ev, 0);
if ( xQueueReceive(gpsQueue, &ev, 0) == pdTRUE && homeLocation.Set == HOMELOCATION_SET_TRUE ) {
float NED[3];
// Transform the GPS position into NED coordinates
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
getNED(&gpsPosition, NED);
PositionActualData positionActual;
PositionActualGet(&positionActual);
positionActual.North = NED[0];
positionActual.East = NED[1];
positionActual.Down = NED[2];
PositionActualSet(&positionActual);
}
if ( xQueueReceive(gpsVelQueue, &ev, 0) == pdTRUE ) {
// Transform the GPS position into NED coordinates
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
velocityActual.North = gpsVelocity.North;
velocityActual.East = gpsVelocity.East;
velocityActual.Down = gpsVelocity.Down;
VelocityActualSet(&velocityActual);
}
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
return 0;
}
