void ahrs_propagate(void) {
/* converts gyro to floating point */
struct FloatRates gyro_float;
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro_prev);
/* unbias measurement */
RATES_SUB(gyro_float, ahrs_impl.gyro_bias);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
const float alpha = 0.1;
FLOAT_RATES_LIN_CMB(ahrs_impl.imu_rate, ahrs_impl.imu_rate, (1.-alpha), gyro_float, alpha);
#else
RATES_COPY(ahrs_impl.imu_rate,gyro_float);
#endif
/* add correction */
struct FloatRates omega;
RATES_SUM(omega, gyro_float, ahrs_impl.rate_correction);
/* and zeros it */
FLOAT_RATES_ZERO(ahrs_impl.rate_correction);
const float dt = 1./AHRS_PROPAGATE_FREQUENCY;
#if AHRS_PROPAGATE_RMAT
FLOAT_RMAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_rmat, omega, dt);
float_rmat_reorthogonalize(&ahrs_impl.ltp_to_imu_rmat);
FLOAT_QUAT_OF_RMAT(ahrs_impl.ltp_to_imu_quat, ahrs_impl.ltp_to_imu_rmat);
#endif
#if AHRS_PROPAGATE_QUAT
FLOAT_QUAT_INTEGRATE(ahrs_impl.ltp_to_imu_quat, omega, dt);
FLOAT_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);
FLOAT_RMAT_OF_QUAT(ahrs_impl.ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
#endif
compute_body_orientation_and_rates();
}
void ahrs_propagate(void) {
/* converts gyro to floating point */
struct FloatRates gyro_float;
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro_prev);
/* unbias measurement */
RATES_DIFF(ahrs_float.imu_rate, gyro_float, ahrs_impl.gyro_bias);
const float dt = 1./512.;
/* add correction */
struct FloatRates omega;
RATES_SUM(omega, ahrs_float.imu_rate, ahrs_impl.rate_correction);
// DISPLAY_FLOAT_RATES("omega ", omega);
/* and zeros it */
FLOAT_RATES_ZERO(ahrs_impl.rate_correction);
/* first order integration of rotation matrix */
struct FloatRMat exp_omega_dt = {
{ 1. , dt*omega.r, -dt*omega.q,
-dt*omega.r, 1. , dt*omega.p,
dt*omega.q, -dt*omega.p, 1. }};
struct FloatRMat R_tdt;
FLOAT_RMAT_COMP(R_tdt, ahrs_float.ltp_to_imu_rmat, exp_omega_dt);
memcpy(&ahrs_float.ltp_to_imu_rmat, &R_tdt, sizeof(R_tdt));
float_rmat_reorthogonalize(&ahrs_float.ltp_to_imu_rmat);
// struct FloatRMat test;
// FLOAT_RMAT_COMP_INV(test, ahrs_float.ltp_to_imu_rmat, ahrs_float.ltp_to_imu_rmat);
// DISPLAY_FLOAT_RMAT("foo", test);
compute_imu_quat_and_euler_from_rmat();
compute_body_orientation_and_rates();
}
void aos_compute_sensors(void)
{
struct FloatRates gyro;
RATES_SUM(gyro, aos.imu_rates, aos.gyro_bias);
// printf("#aos.gyro_bias %f\n",DegOfRad( aos.gyro_bias.r));
float_rates_add_gaussian_noise(&gyro, &aos.gyro_noise);
RATES_BFP_OF_REAL(imu.gyro, gyro);
RATES_BFP_OF_REAL(imu.gyro_prev, gyro);
struct FloatVect3 g_ltp = {0., 0., 9.81};
struct FloatVect3 accelero_ltp;
VECT3_DIFF(accelero_ltp, aos.ltp_accel, g_ltp);
struct FloatVect3 accelero_imu;
float_quat_vmult(&accelero_imu, &aos.ltp_to_imu_quat, &accelero_ltp);
float_vect3_add_gaussian_noise(&accelero_imu, &aos.accel_noise);
ACCELS_BFP_OF_REAL(imu.accel, accelero_imu);
#ifndef DISABLE_MAG_UPDATE
struct FloatVect3 h_earth = {AHRS_H_X, AHRS_H_Y, AHRS_H_Z};
struct FloatVect3 h_imu;
float_quat_vmult(&h_imu, &aos.ltp_to_imu_quat, &h_earth);
MAGS_BFP_OF_REAL(imu.mag, h_imu);
#endif
aos.heading_meas = aos.ltp_to_imu_euler.psi + get_gaussian_noise() * aos.heading_noise;
#ifdef AHRS_GRAVITY_UPDATE_COORDINATED_TURN
#if AHRS_TYPE == AHRS_TYPE_FCQ || AHRS_TYPE == AHRS_TYPE_FLQ
ahrs_impl.ltp_vel_norm = float_vect3_norm(&aos.ltp_vel);
ahrs_impl.ltp_vel_norm_valid = true;
#endif
#if AHRS_TYPE == AHRS_TYPE_FCR2
ahrs_impl.ltp_vel_norm = float_vect3_norm(&aos.ltp_vel);
ahrs_impl.ltp_vel_norm_valid = true;
#endif
#if AHRS_TYPE == AHRS_TYPE_FCR
ahrs_impl.gps_speed = float_vect3_norm(&aos.ltp_vel);
ahrs_impl.gps_age = 0;
ahrs_update_gps();
//RunOnceEvery(100,printf("# gps accel: %f\n", ahrs_impl.gps_acceleration));
#endif
#if AHRS_TYPE == AHRS_TYPE_ICQ
ahrs_impl.ltp_vel_norm = SPEED_BFP_OF_REAL(float_vect3_norm(&aos.ltp_vel));
ahrs_impl.ltp_vel_norm_valid = true;
#endif
#endif
}
void ahrs_fc_propagate(struct Int32Rates *gyro, float dt)
{
/* converts gyro to floating point */
struct FloatRates gyro_float;
RATES_FLOAT_OF_BFP(gyro_float, *gyro);
/* unbias measurement */
RATES_SUB(gyro_float, ahrs_fc.gyro_bias);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
const float alpha = 0.1;
FLOAT_RATES_LIN_CMB(ahrs_fc.imu_rate, ahrs_fc.imu_rate, (1. - alpha), gyro_float, alpha);
#else
RATES_COPY(ahrs_fc.imu_rate, gyro_float);
#endif
/* add correction */
struct FloatRates omega;
RATES_SUM(omega, gyro_float, ahrs_fc.rate_correction);
/* and zeros it */
FLOAT_RATES_ZERO(ahrs_fc.rate_correction);
#if AHRS_PROPAGATE_RMAT
float_rmat_integrate_fi(&ahrs_fc.ltp_to_imu_rmat, &omega, dt);
float_rmat_reorthogonalize(&ahrs_fc.ltp_to_imu_rmat);
float_quat_of_rmat(&ahrs_fc.ltp_to_imu_quat, &ahrs_fc.ltp_to_imu_rmat);
#endif
#if AHRS_PROPAGATE_QUAT
float_quat_integrate(&ahrs_fc.ltp_to_imu_quat, &omega, dt);
float_quat_normalize(&ahrs_fc.ltp_to_imu_quat);
float_rmat_of_quat(&ahrs_fc.ltp_to_imu_rmat, &ahrs_fc.ltp_to_imu_quat);
#endif
// increase accel and mag propagation counters
ahrs_fc.accel_cnt++;
ahrs_fc.mag_cnt++;
}
void aos_compute_sensors(void) {
struct FloatRates gyro;
RATES_SUM(gyro, aos.imu_rates, aos.gyro_bias);
// printf("#aos.gyro_bias %f\n",DegOfRad( aos.gyro_bias.r));
float_rates_add_gaussian_noise(&gyro, &aos.gyro_noise);
RATES_BFP_OF_REAL(imu.gyro, gyro);
RATES_BFP_OF_REAL(imu.gyro_prev, gyro);
struct FloatVect3 g_ltp = {0., 0., 9.81};
struct FloatVect3 accelero_ltp;
VECT3_DIFF(accelero_ltp, aos.ltp_accel, g_ltp);
struct FloatVect3 accelero_imu;
FLOAT_QUAT_VMULT(accelero_imu, aos.ltp_to_imu_quat, accelero_ltp);
float_vect3_add_gaussian_noise(&accelero_imu, &aos.accel_noise);
ACCELS_BFP_OF_REAL(imu.accel, accelero_imu);
struct FloatVect3 h_earth = {AHRS_H_X, AHRS_H_Y, AHRS_H_Z};
struct FloatVect3 h_imu;
FLOAT_QUAT_VMULT(h_imu, aos.ltp_to_imu_quat, h_earth);
MAGS_BFP_OF_REAL(imu.mag, h_imu);
#ifdef AHRS_GRAVITY_UPDATE_COORDINATED_TURN
#if AHRS_TYPE == AHRS_TYPE_FCR2 || AHRS_TYPE == AHRS_TYPE_FCQ || AHRS_TYPE == AHRS_TYPE_FLQ
VECT3_COPY(ahrs_impl.est_ltp_speed, aos.ltp_vel);
#endif
#if AHRS_TYPE == AHRS_TYPE_ICQ
ahrs_impl.ltp_vel_norm = SPEED_BFP_OF_REAL(FLOAT_VECT3_NORM(aos.ltp_vel));
#endif
#endif
}
