void ins_update_baro() { #if USE_BAROMETER // TODO update kalman filter with baro struct if (baro.status == BS_RUNNING) { if (!ins_baro_initialised) { ins_qfe = baro.absolute; ins_baro_initialised = TRUE; } if (ins.vf_realign) { ins.vf_realign = FALSE; ins_qfe = baro.absolute; } else { /* not realigning, so normal update with baro measurement */ /* altitude decreases with increasing baro.absolute pressure */ ins_baro_alt = ground_alt - (baro.absolute - ins_qfe) * INS_BARO_SENS; /* run the filter */ EstimatorSetAlt(ins_baro_alt); /* set new altitude, just copy old horizontal position */ struct UtmCoor_f utm; UTM_COPY(utm, *stateGetPositionUtm_f()); utm.alt = ins_alt; stateSetPositionUtm_f(&utm); struct NedCoor_f ned_vel; memcpy(&ned_vel, stateGetSpeedNed_f(), sizeof(struct NedCoor_f)); ned_vel.z = -ins_alt_dot; stateSetSpeedNed_f(&ned_vel); } } #endif }
void ins_update_gps(void) { #if USE_GPS struct UtmCoor_f utm; utm.east = gps.utm_pos.east / 100.; utm.north = gps.utm_pos.north / 100.; utm.zone = nav_utm_zone0; #if !USE_BAROMETER float falt = gps.hmsl / 1000.; EstimatorSetAlt(falt); #endif utm.alt = ins_alt; // set position stateSetPositionUtm_f(&utm); struct NedCoor_f ned_vel = { gps.ned_vel.x / 100., gps.ned_vel.y / 100., gps.ned_vel.z / 100. }; // set velocity stateSetSpeedNed_f(&ned_vel); #endif }
void sim_overwrite_ins(void) { struct NedCoor_f ltp_pos; VECT3_COPY(ltp_pos, fdm.ltpprz_pos); stateSetPositionNed_f(<p_pos); struct NedCoor_f ltp_speed; VECT3_COPY(ltp_speed, fdm.ltpprz_ecef_vel); stateSetSpeedNed_f(<p_speed); struct NedCoor_f ltp_accel; VECT3_COPY(ltp_accel, fdm.ltpprz_ecef_accel); stateSetAccelNed_f(<p_accel); }
void ins_xsens_update_gps(struct GpsState *gps_s) { struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0); utm.alt = gps_s->hmsl / 1000.; // set position stateSetPositionUtm_f(&utm); struct NedCoor_f ned_vel = { gps_s->ned_vel.x / 100., gps_s->ned_vel.y / 100., gps_s->ned_vel.z / 100. }; // set velocity stateSetSpeedNed_f(&ned_vel); }
static void gps_cb(uint8_t sender_id __attribute__((unused)), uint32_t stamp __attribute__((unused)), struct GpsState *gps_s) { struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0); // set position stateSetPositionUtm_f(&utm); struct NedCoor_f ned_vel = { gps_s->ned_vel.x / 100., gps_s->ned_vel.y / 100., gps_s->ned_vel.z / 100. }; // set velocity stateSetSpeedNed_f(&ned_vel); }
void ins_update_gps(void) { struct UtmCoor_f utm; utm.east = gps.utm_pos.east / 100.; utm.north = gps.utm_pos.north / 100.; utm.zone = nav_utm_zone0; utm.alt = gps.hmsl / 1000.; // set position stateSetPositionUtm_f(&utm); struct NedCoor_f ned_vel = { gps.ned_vel.x / 100., gps.ned_vel.y / 100., gps.ned_vel.z / 100. }; // set velocity stateSetSpeedNed_f(&ned_vel); }
void ins_propagate() { /* untilt accels and speeds */ FLOAT_RMAT_VECT3_TRANSP_MUL(ins_impl.ltp_accel, (*stateGetNedToBodyRMat_f()), ahrs_impl.accel); FLOAT_RMAT_VECT3_TRANSP_MUL(ins_impl.ltp_speed, (*stateGetNedToBodyRMat_f()), ahrs_impl.speed); //Add g to the accelerations ins_impl.ltp_accel.z += 9.81; //Save the accelerations and speeds stateSetAccelNed_f(&ins_impl.ltp_accel); stateSetSpeedNed_f(&ins_impl.ltp_speed); //Don't set the height if we use the one from the gps #if !USE_GPS_HEIGHT //Set the height and save the position ins_impl.ltp_pos.z = -(ahrs_impl.altitude * INT32_POS_OF_CM_NUM) / INT32_POS_OF_CM_DEN; stateSetPositionNed_i(&ins_impl.ltp_pos); #endif }
void ahrs_propagate(void) { struct NedCoor_f accel; struct FloatRates body_rates; struct FloatEulers eulers; // realign all the filter if needed // a complete init cycle is required if (ins_impl.reset) { ins_impl.reset = FALSE; ins.status = INS_UNINIT; ahrs.status = AHRS_UNINIT; init_invariant_state(); } // fill command vector struct Int32Rates gyro_meas_body; INT32_RMAT_TRANSP_RATEMULT(gyro_meas_body, imu.body_to_imu_rmat, imu.gyro); RATES_FLOAT_OF_BFP(ins_impl.cmd.rates, gyro_meas_body); struct Int32Vect3 accel_meas_body; INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel); ACCELS_FLOAT_OF_BFP(ins_impl.cmd.accel, accel_meas_body); // update correction gains error_output(&ins_impl); // propagate model struct inv_state new_state; runge_kutta_4_float((float*)&new_state, (float*)&ins_impl.state, INV_STATE_DIM, (float*)&ins_impl.cmd, INV_COMMAND_DIM, invariant_model, dt); ins_impl.state = new_state; // normalize quaternion FLOAT_QUAT_NORMALIZE(ins_impl.state.quat); // set global state FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat); #if INS_UPDATE_FW_ESTIMATOR // Some stupid lines of code for neutrals eulers.phi -= ins_roll_neutral; eulers.theta -= ins_pitch_neutral; stateSetNedToBodyEulers_f(&eulers); #else stateSetNedToBodyQuat_f(&ins_impl.state.quat); #endif RATES_DIFF(body_rates, ins_impl.cmd.rates, ins_impl.state.bias); stateSetBodyRates_f(&body_rates); stateSetPositionNed_f(&ins_impl.state.pos); stateSetSpeedNed_f(&ins_impl.state.speed); // untilt accel and remove gravity FLOAT_QUAT_RMAT_B2N(accel, ins_impl.state.quat, ins_impl.cmd.accel); FLOAT_VECT3_SMUL(accel, accel, 1. / (ins_impl.state.as)); FLOAT_VECT3_ADD(accel, A); stateSetAccelNed_f(&accel); //------------------------------------------------------------// RunOnceEvery(3,{ DOWNLINK_SEND_INV_FILTER(DefaultChannel, DefaultDevice, &ins_impl.state.quat.qi, &eulers.phi, &eulers.theta, &eulers.psi, &ins_impl.state.speed.x, &ins_impl.state.speed.y, &ins_impl.state.speed.z, &ins_impl.state.pos.x, &ins_impl.state.pos.y, &ins_impl.state.pos.z, &ins_impl.state.bias.p, &ins_impl.state.bias.q, &ins_impl.state.bias.r, &ins_impl.state.as, &ins_impl.state.hb, &ins_impl.meas.baro_alt, &ins_impl.meas.pos_gps.z) }); #if LOG_INVARIANT_FILTER if (pprzLogFile.fs != NULL) { if (!log_started) { // log file header sdLogWriteLog(&pprzLogFile, "p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n"); log_started = TRUE; } else { sdLogWriteLog(&pprzLogFile, "%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n", ins_impl.cmd.rates.p, ins_impl.cmd.rates.q, ins_impl.cmd.rates.r, ins_impl.cmd.accel.x, ins_impl.cmd.accel.y, ins_impl.cmd.accel.z, ins_impl.meas.pos_gps.x, ins_impl.meas.pos_gps.y, ins_impl.meas.pos_gps.z, ins_impl.meas.speed_gps.x, ins_impl.meas.speed_gps.y, ins_impl.meas.speed_gps.z, ins_impl.meas.mag.x, ins_impl.meas.mag.y, ins_impl.meas.mag.z, ins_impl.meas.baro_alt, ins_impl.state.quat.qi, ins_impl.state.quat.qx, ins_impl.state.quat.qy, ins_impl.state.quat.qz, ins_impl.state.bias.p, ins_impl.state.bias.q, ins_impl.state.bias.r, ins_impl.state.speed.x, ins_impl.state.speed.y, ins_impl.state.speed.z, ins_impl.state.pos.x, ins_impl.state.pos.y, ins_impl.state.pos.z, ins_impl.state.hb, ins_impl.state.as); } } #endif }
/** * Propagate the received states into the vehicle * state machine */ void ins_vectornav_propagate() { // Acceleration [m/s^2] // in fixed point for sending as ABI and telemetry msgs ACCELS_BFP_OF_REAL(ins_vn.accel_i, ins_vn.accel); // Rates [rad/s] static struct FloatRates body_rate; // in fixed point for sending as ABI and telemetry msgs RATES_BFP_OF_REAL(ins_vn.gyro_i, ins_vn.gyro); float_rmat_ratemult(&body_rate, orientationGetRMat_f(&ins_vn.body_to_imu), &ins_vn.gyro); // compute body rates stateSetBodyRates_f(&body_rate); // Set state [rad/s] // Attitude [deg] ins_vectornav_yaw_pitch_roll_to_attitude(&ins_vn.attitude); // convert to correct units and axis [rad] static struct FloatQuat imu_quat; // convert from euler to quat float_quat_of_eulers(&imu_quat, &ins_vn.attitude); static struct FloatRMat imu_rmat; // convert from quat to rmat float_rmat_of_quat(&imu_rmat, &imu_quat); static struct FloatRMat ltp_to_body_rmat; // rotate to body frame float_rmat_comp(<p_to_body_rmat, &imu_rmat, orientationGetRMat_f(&ins_vn.body_to_imu)); stateSetNedToBodyRMat_f(<p_to_body_rmat); // set body states [rad] // NED (LTP) velocity [m/s] // North east down (NED), also known as local tangent plane (LTP), // is a geographical coordinate system for representing state vectors that is commonly used in aviation. // It consists of three numbers: one represents the position along the northern axis, // one along the eastern axis, and one represents vertical position. Down is chosen as opposed to // up in order to comply with the right-hand rule. // The origin of this coordinate system is usually chosen to be the aircraft's center of gravity. // x = North // y = East // z = Down stateSetSpeedNed_f(&ins_vn.vel_ned); // set state // NED (LTP) acceleration [m/s^2] static struct FloatVect3 accel_meas_ltp;// first we need to rotate linear acceleration from imu-frame to body-frame float_rmat_transp_vmult(&accel_meas_ltp, orientationGetRMat_f(&ins_vn.body_to_imu), &(ins_vn.lin_accel)); static struct NedCoor_f ltp_accel; // assign to NedCoord_f struct VECT3_ASSIGN(ltp_accel, accel_meas_ltp.x, accel_meas_ltp.y, accel_meas_ltp.z); stateSetAccelNed_f(<p_accel); // then set the states ins_vn.ltp_accel_f = ltp_accel; // LLA position [rad, rad, m] //static struct LlaCoor_f lla_pos; // convert from deg to rad, and from double to float ins_vn.lla_pos.lat = RadOfDeg((float)ins_vn.pos_lla[0]); // ins_impl.pos_lla[0] = lat ins_vn.lla_pos.lon = RadOfDeg((float)ins_vn.pos_lla[1]); // ins_impl.pos_lla[1] = lon ins_vn.lla_pos.alt = ((float)ins_vn.pos_lla[2]); // ins_impl.pos_lla[2] = alt LLA_BFP_OF_REAL(gps.lla_pos, ins_vn.lla_pos); stateSetPositionLla_i(&gps.lla_pos); // ECEF position struct LtpDef_f def; ltp_def_from_lla_f(&def, &ins_vn.lla_pos); struct EcefCoor_f ecef_vel; ecef_of_ned_point_f(&ecef_vel, &def, &ins_vn.vel_ned); ECEF_BFP_OF_REAL(gps.ecef_vel, ecef_vel); // ECEF velocity gps.ecef_pos.x = stateGetPositionEcef_i()->x; gps.ecef_pos.y = stateGetPositionEcef_i()->y; gps.ecef_pos.z = stateGetPositionEcef_i()->z; #if GPS_USE_LATLONG // GPS UTM /* Computes from (lat, long) in the referenced UTM zone */ struct UtmCoor_f utm_f; utm_f.zone = nav_utm_zone0; /* convert to utm */ //utm_of_lla_f(&utm_f, &lla_f); utm_of_lla_f(&utm_f, &ins_vn.lla_pos); /* copy results of utm conversion */ gps.utm_pos.east = (int32_t)(utm_f.east * 100); gps.utm_pos.north = (int32_t)(utm_f.north * 100); gps.utm_pos.alt = (int32_t)(utm_f.alt * 1000); gps.utm_pos.zone = (uint8_t)nav_utm_zone0; #endif // GPS Ground speed float speed = sqrt(ins_vn.vel_ned.x * ins_vn.vel_ned.x + ins_vn.vel_ned.y * ins_vn.vel_ned.y); gps.gspeed = ((uint16_t)(speed * 100)); // GPS course gps.course = (int32_t)(1e7 * (atan2(ins_vn.vel_ned.y, ins_vn.vel_ned.x))); // Because we have not HMSL data from Vectornav, we are using LLA-Altitude // as a workaround gps.hmsl = (uint32_t)(gps.lla_pos.alt); // set position uncertainty ins_vectornav_set_pacc(); // set velocity uncertainty ins_vectornav_set_sacc(); // check GPS status gps.last_msg_time = sys_time.nb_sec; gps.last_msg_ticks = sys_time.nb_sec_rem; if (gps.fix == GPS_FIX_3D) { gps.last_3dfix_time = sys_time.nb_sec; gps.last_3dfix_ticks = sys_time.nb_sec_rem; } // read INS status ins_vectornav_check_status(); // update internal states for telemetry purposes // TODO: directly convert vectornav output instead of using state interface // to support multiple INS running at the same time ins_vn.ltp_pos_i = *stateGetPositionNed_i(); ins_vn.ltp_speed_i = *stateGetSpeedNed_i(); ins_vn.ltp_accel_i = *stateGetAccelNed_i(); // send ABI messages uint32_t now_ts = get_sys_time_usec(); AbiSendMsgGPS(GPS_UBX_ID, now_ts, &gps); AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &ins_vn.gyro_i); AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &ins_vn.accel_i); }
void ahrs_propagate(float dt) { struct FloatVect3 accel; struct FloatRates body_rates; // realign all the filter if needed // a complete init cycle is required if (ins_impl.reset) { ins_impl.reset = FALSE; ins.status = INS_UNINIT; ahrs.status = AHRS_UNINIT; init_invariant_state(); } // fill command vector struct Int32Rates gyro_meas_body; struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu); int32_rmat_transp_ratemult(&gyro_meas_body, body_to_imu_rmat, &imu.gyro); RATES_FLOAT_OF_BFP(ins_impl.cmd.rates, gyro_meas_body); struct Int32Vect3 accel_meas_body; int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel); ACCELS_FLOAT_OF_BFP(ins_impl.cmd.accel, accel_meas_body); // update correction gains error_output(&ins_impl); // propagate model struct inv_state new_state; runge_kutta_4_float((float *)&new_state, (float *)&ins_impl.state, INV_STATE_DIM, (float *)&ins_impl.cmd, INV_COMMAND_DIM, invariant_model, dt); ins_impl.state = new_state; // normalize quaternion FLOAT_QUAT_NORMALIZE(ins_impl.state.quat); // set global state stateSetNedToBodyQuat_f(&ins_impl.state.quat); RATES_DIFF(body_rates, ins_impl.cmd.rates, ins_impl.state.bias); stateSetBodyRates_f(&body_rates); stateSetPositionNed_f(&ins_impl.state.pos); stateSetSpeedNed_f(&ins_impl.state.speed); // untilt accel and remove gravity struct FloatQuat q_b2n; float_quat_invert(&q_b2n, &ins_impl.state.quat); float_quat_vmult(&accel, &q_b2n, &ins_impl.cmd.accel); VECT3_SMUL(accel, accel, 1. / (ins_impl.state.as)); VECT3_ADD(accel, A); stateSetAccelNed_f((struct NedCoor_f *)&accel); //------------------------------------------------------------// #if SEND_INVARIANT_FILTER struct FloatEulers eulers; FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat); RunOnceEvery(3, { pprz_msg_send_INV_FILTER(trans, dev, AC_ID, &ins_impl.state.quat.qi, &eulers.phi, &eulers.theta, &eulers.psi, &ins_impl.state.speed.x, &ins_impl.state.speed.y, &ins_impl.state.speed.z, &ins_impl.state.pos.x, &ins_impl.state.pos.y, &ins_impl.state.pos.z, &ins_impl.state.bias.p, &ins_impl.state.bias.q, &ins_impl.state.bias.r, &ins_impl.state.as, &ins_impl.state.hb, &ins_impl.meas.baro_alt, &ins_impl.meas.pos_gps.z) }); #endif #if LOG_INVARIANT_FILTER if (pprzLogFile.fs != NULL) { if (!log_started) { // log file header sdLogWriteLog(&pprzLogFile, "p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n"); log_started = TRUE; } else { sdLogWriteLog(&pprzLogFile, "%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n", ins_impl.cmd.rates.p, ins_impl.cmd.rates.q, ins_impl.cmd.rates.r, ins_impl.cmd.accel.x, ins_impl.cmd.accel.y, ins_impl.cmd.accel.z, ins_impl.meas.pos_gps.x, ins_impl.meas.pos_gps.y, ins_impl.meas.pos_gps.z, ins_impl.meas.speed_gps.x, ins_impl.meas.speed_gps.y, ins_impl.meas.speed_gps.z, ins_impl.meas.mag.x, ins_impl.meas.mag.y, ins_impl.meas.mag.z, ins_impl.meas.baro_alt, ins_impl.state.quat.qi, ins_impl.state.quat.qx, ins_impl.state.quat.qy, ins_impl.state.quat.qz, ins_impl.state.bias.p, ins_impl.state.bias.q, ins_impl.state.bias.r, ins_impl.state.speed.x, ins_impl.state.speed.y, ins_impl.state.speed.z, ins_impl.state.pos.x, ins_impl.state.pos.y, ins_impl.state.pos.z, ins_impl.state.hb, ins_impl.state.as); } } #endif }