void ahrs_aligner_init(void) {
ahrs_aligner.status = AHRS_ALIGNER_RUNNING;//ahrs_aligner 运行
INT_RATES_ZERO(gyro_sum);//gyro,accel,mag初始化都为0
INT_VECT3_ZERO(accel_sum);
INT_VECT3_ZERO(mag_sum);
samples_idx = 0;
ahrs_aligner.noise = 0;
ahrs_aligner.low_noise_cnt = 0;
}
//进行ahrs校准器的运行，
void ahrs_aligner_run(void) {
RATES_ADD(gyro_sum, imu.gyro);
VECT3_ADD(accel_sum, imu.accel);
VECT3_ADD(mag_sum, imu.mag);
ref_sensor_samples[samples_idx] = imu.accel.z;//该数组大小为60（PERIDIC FREQUENCY）
samples_idx++;//samples_idx从0开始
#ifdef AHRS_ALIGNER_LED
RunOnceEvery(50, {LED_TOGGLE(AHRS_ALIGNER_LED)});//如果定义了ahrs校准器的指示灯时会让该灯以固定频率闪烁
#endif
if (samples_idx >= SAMPLES_NB) {
int32_t avg_ref_sensor = accel_sum.z;
if ( avg_ref_sensor >= 0)
avg_ref_sensor += SAMPLES_NB / 2;
else
avg_ref_sensor -= SAMPLES_NB / 2;
avg_ref_sensor /= SAMPLES_NB;
//噪声的误差计算
ahrs_aligner.noise = 0;
int i;
for (i=0; i<SAMPLES_NB; i++) {
int32_t diff = ref_sensor_samples[i] - avg_ref_sensor;
ahrs_aligner.noise += abs(diff);
}
//存储平均值(60次)到ahrs校准的lp_xxx
RATES_SDIV(ahrs_aligner.lp_gyro, gyro_sum, SAMPLES_NB);
VECT3_SDIV(ahrs_aligner.lp_accel, accel_sum, SAMPLES_NB);
VECT3_SDIV(ahrs_aligner.lp_mag, mag_sum, SAMPLES_NB);
//清零
INT_RATES_ZERO(gyro_sum);
INT_VECT3_ZERO(accel_sum);
INT_VECT3_ZERO(mag_sum);
samples_idx = 0;
if (ahrs_aligner.noise < LOW_NOISE_THRESHOLD)
ahrs_aligner.low_noise_cnt++;
else
if ( ahrs_aligner.low_noise_cnt > 0)
ahrs_aligner.low_noise_cnt--;
if (ahrs_aligner.low_noise_cnt > LOW_NOISE_TIME) {
ahrs_aligner.status = AHRS_ALIGNER_LOCKED;//如果ahrs校准器的噪声（noise）值低于阈值的次数为5次，那么ahrs校准器将关闭
#ifdef AHRS_ALIGNER_LED
LED_ON(AHRS_ALIGNER_LED);//ahrs校准器关闭的话，对应的led灯就会关闭
#endif
}
}
}
void ahrs_aligner_init(void) {
ahrs_aligner.status = AHRS_ALIGNER_RUNNING;
INT_RATES_ZERO(gyro_sum);
INT_VECT3_ZERO(accel_sum);
INT_VECT3_ZERO(mag_sum);
samples_idx = 0;
ahrs_aligner.noise = 0;
ahrs_aligner.low_noise_cnt = 0;
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "FILTER_ALIGNER", send_aligner);
#endif
}
bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time)
{
uint16_t time_at_wp;
uint32_t dist_to_point;
static uint16_t wp_entry_time = 0;
static bool_t wp_reached = FALSE;
static struct EnuCoor_i wp_last = { 0, 0, 0 };
struct Int32Vect2 diff;
if ((wp_last.x != wp->x) || (wp_last.y != wp->y)) {
wp_reached = FALSE;
wp_last = *wp;
}
VECT2_DIFF(diff, *wp, *stateGetPositionEnu_i());
INT32_VECT2_RSHIFT(diff, diff, INT32_POS_FRAC / 2);
dist_to_point = int32_vect2_norm(&diff);
if (dist_to_point < BFP_OF_REAL(ARRIVED_AT_WAYPOINT, INT32_POS_FRAC / 2)) {
if (!wp_reached) {
wp_reached = TRUE;
wp_entry_time = autopilot_flight_time;
time_at_wp = 0;
} else {
time_at_wp = autopilot_flight_time - wp_entry_time;
}
} else {
time_at_wp = 0;
wp_reached = FALSE;
}
if (time_at_wp > stay_time) {
INT_VECT3_ZERO(wp_last);
return TRUE;
}
return FALSE;
}
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
#pragma message "Info: Magnetomter neutrals are set to zero!"
#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);
imu_impl_init();
}
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);
}
uint32_t now_ts = get_sys_time_usec();
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);
RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
imu_krooz.meas_nb = 0;
imu_scale_gyro(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
}
if (imu_krooz.meas_nb_acc.x && imu_krooz.meas_nb_acc.y && imu_krooz.meas_nb_acc.z) {
imu.accel_unscaled.x = 65536 - imu_krooz.accel_sum.x / imu_krooz.meas_nb_acc.x;
imu.accel_unscaled.y = 65536 - imu_krooz.accel_sum.y / imu_krooz.meas_nb_acc.y;
imu.accel_unscaled.z = imu_krooz.accel_sum.z / imu_krooz.meas_nb_acc.z;
#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);
INT_VECT3_ZERO(imu_krooz.accel_sum);
INT_VECT3_ZERO(imu_krooz.meas_nb_acc);
imu_scale_accel(&imu);
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
}
RunOnceEvery(128, {axis_nb = 5;});
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
/*
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 PERIODIC_TELEMETRY
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);
#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 ms2100_init(struct Ms2100 *ms, struct spi_periph *spi_p, uint8_t slave_idx) {
/* set spi_peripheral */
ms->spi_p = spi_p;
/* configure spi transaction for the request */
ms->req_trans.cpol = SPICpolIdleLow;
ms->req_trans.cpha = SPICphaEdge1;
ms->req_trans.dss = SPIDss8bit;
ms->req_trans.bitorder = SPIMSBFirst;
ms->req_trans.cdiv = SPIDiv64;
ms->req_trans.slave_idx = slave_idx;
ms->req_trans.select = SPISelectUnselect;
ms->req_trans.output_buf = ms->req_buf;
ms->req_trans.output_length = 1;
ms->req_trans.input_buf = NULL;
ms->req_trans.input_length = 0;
// ms2100 has to be reset before each measurement: implemented in ms2100_arch.c
ms->req_trans.before_cb = ms2100_reset_cb;
ms->req_trans.status = SPITransDone;
/* configure spi transaction to read the result */
ms->read_trans.cpol = SPICpolIdleLow;
ms->read_trans.cpha = SPICphaEdge1;
ms->read_trans.dss = SPIDss8bit;
ms->read_trans.bitorder = SPIMSBFirst;
ms->read_trans.cdiv = SPIDiv64;
ms->read_trans.slave_idx = slave_idx;
ms->read_trans.select = SPISelectUnselect;
ms->read_trans.output_buf = NULL;
ms->read_trans.output_length = 0;
ms->read_trans.input_buf = ms->read_buf;
ms->read_trans.input_length = 2;
ms->read_trans.before_cb = NULL;
ms->read_trans.after_cb = NULL;
ms->read_trans.status = SPITransDone;
ms2100_arch_init();
INT_VECT3_ZERO(ms->data.vect);
ms->cur_axe = 0;
ms->status = MS2100_IDLE;
}
/* compute the mean of the last n accel measurements */
static inline void b2_hff_compute_accel_body_mean(uint8_t n) {
struct Int32Vect3 sum;
int i, j;
INT_VECT3_ZERO(sum);
if (n > 1) {
if (n > acc_body.n) {
n = acc_body.n;
}
for (i = 1; i <= n; i++) {
j = (acc_body.w - i) > 0 ? (acc_body.w - i) : (acc_body.w - i + acc_body.size);
VECT3_ADD(sum, acc_body.buf[j]);
}
VECT3_SDIV(acc_body_mean, sum, n);
} else {
VECT3_COPY(acc_body_mean, sum);
}
}
static inline void on_gyro_accel_event( void ) {
#ifdef AHRS_CPU_LED
LED_ON(AHRS_CPU_LED);
#endif
// Run aligner on raw data as it also makes averages.
if (ahrs.status == AHRS_UNINIT) {
ImuScaleGyro(imu);
ImuScaleAccel(imu);
ahrs_aligner_run();
if (ahrs_aligner.status == AHRS_ALIGNER_LOCKED)
ahrs_align();
return;
}
#if PERIODIC_FREQUENCY == 60
ImuScaleGyro(imu);
ImuScaleAccel(imu);
ahrs_propagate();
ahrs_update_accel();
ahrs_update_fw_estimator();
#else //PERIODIC_FREQUENCY
static uint8_t _reduced_propagation_rate = 0;
static uint8_t _reduced_correction_rate = 0;
static struct Int32Vect3 acc_avg;
static struct Int32Rates gyr_avg;
RATES_ADD(gyr_avg, imu.gyro_unscaled);
VECT3_ADD(acc_avg, imu.accel_unscaled);
_reduced_propagation_rate++;
if (_reduced_propagation_rate < (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY))
{
}
else
{
_reduced_propagation_rate = 0;
RATES_SDIV(imu.gyro_unscaled, gyr_avg, (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY) );
INT_RATES_ZERO(gyr_avg);
ImuScaleGyro(imu);
ahrs_propagate();
_reduced_correction_rate++;
if (_reduced_correction_rate >= (AHRS_PROPAGATE_FREQUENCY / AHRS_CORRECT_FREQUENCY))
{
_reduced_correction_rate = 0;
VECT3_SDIV(imu.accel_unscaled, acc_avg, (PERIODIC_FREQUENCY / AHRS_CORRECT_FREQUENCY) );
INT_VECT3_ZERO(acc_avg);
ImuScaleAccel(imu);
ahrs_update_accel();
ahrs_update_fw_estimator();
}
}
#endif //PERIODIC_FREQUENCY
#ifdef AHRS_CPU_LED
LED_OFF(AHRS_CPU_LED);
#endif
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
new_ins_attitude = 1;
#endif
}