void ahrs_propagate(void) {
/* unbias gyro */
struct Int32Rates uf_rate;
RATES_DIFF(uf_rate, imu.gyro, ahrs_impl.gyro_bias);
#if USE_NOISE_CUT
static struct Int32Rates last_uf_rate = { 0, 0, 0 };
if (!cut_rates(uf_rate, last_uf_rate, RATE_CUT_THRESHOLD)) {
#endif
/* low pass rate */
#if USE_NOISE_FILTER
RATES_SUM_SCALED(ahrs.imu_rate, ahrs.imu_rate, uf_rate, NOISE_FILTER_GAIN);
RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, NOISE_FILTER_GAIN+1);
#else
RATES_ADD(ahrs.imu_rate, uf_rate);
RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 2);
#endif
#if USE_NOISE_CUT
}
RATES_COPY(last_uf_rate, uf_rate);
#endif
/* integrate eulers */
struct Int32Eulers euler_dot;
INT32_EULERS_DOT_OF_RATES(euler_dot, ahrs.ltp_to_imu_euler, ahrs.imu_rate);
EULERS_ADD(ahrs_impl.hi_res_euler, euler_dot);
/* low pass measurement */
EULERS_ADD(ahrs_impl.measure, ahrs_impl.measurement);
EULERS_SDIV(ahrs_impl.measure, ahrs_impl.measure, 2);
/* compute residual */
EULERS_DIFF(ahrs_impl.residual, ahrs_impl.measure, ahrs_impl.hi_res_euler);
INTEG_EULER_NORMALIZE(ahrs_impl.residual.psi);
struct Int32Eulers correction;
/* compute a correction */
EULERS_SDIV(correction, ahrs_impl.residual, ahrs_impl.reinj_1);
/* correct estimation */
EULERS_ADD(ahrs_impl.hi_res_euler, correction);
INTEG_EULER_NORMALIZE(ahrs_impl.hi_res_euler.psi);
/* Compute LTP to IMU eulers */
EULERS_SDIV(ahrs.ltp_to_imu_euler, ahrs_impl.hi_res_euler, F_UPDATE);
compute_imu_quat_and_rmat_from_euler();
compute_body_orientation();
}
void ahrs_icq_propagate(struct Int32Rates *gyro, float dt)
{
int32_t freq = (int32_t)(1. / dt);
/* unbias gyro */
struct Int32Rates omega;
RATES_DIFF(omega, *gyro, ahrs_icq.gyro_bias);
/* low pass rate */
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
RATES_SMUL(ahrs_icq.imu_rate, ahrs_icq.imu_rate, 2);
RATES_ADD(ahrs_icq.imu_rate, omega);
RATES_SDIV(ahrs_icq.imu_rate, ahrs_icq.imu_rate, 3);
#else
RATES_COPY(ahrs_icq.imu_rate, omega);
#endif
/* add correction */
RATES_ADD(omega, ahrs_icq.rate_correction);
/* and zeros it */
INT_RATES_ZERO(ahrs_icq.rate_correction);
/* integrate quaternion */
int32_quat_integrate_fi(&ahrs_icq.ltp_to_imu_quat, &ahrs_icq.high_rez_quat,
&omega, freq);
int32_quat_normalize(&ahrs_icq.ltp_to_imu_quat);
// increase accel and mag propagation counters
ahrs_icq.accel_cnt++;
ahrs_icq.mag_cnt++;
}
void ahrs_propagate(void) {
/* unbias gyro */
struct Int32Rates omega;
RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias);
/* low pass rate */
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
RATES_SMUL(ahrs.imu_rate, ahrs.imu_rate,2);
RATES_ADD(ahrs.imu_rate, omega);
RATES_SDIV(ahrs.imu_rate, ahrs.imu_rate, 3);
#else
RATES_COPY(ahrs.imu_rate, omega);
#endif
/* add correction */
RATES_ADD(omega, ahrs_impl.rate_correction);
/* and zeros it */
INT_RATES_ZERO(ahrs_impl.rate_correction);
/* integrate quaternion */
INT32_QUAT_INTEGRATE_FI(ahrs.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY);
INT32_QUAT_NORMALIZE(ahrs.ltp_to_imu_quat);
compute_imu_euler_and_rmat_from_quat();
compute_body_orientation();
}
void ahrs_propagate(void) {
/* unbias gyro */
struct Int32Rates omega;
RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias);
/* low pass rate */
//#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
if (gyro_lowpass_filter > 1) {
RATES_SMUL(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter-1);
RATES_ADD(ahrs_impl.imu_rate, omega);
RATES_SDIV(ahrs_impl.imu_rate, ahrs_impl.imu_rate, gyro_lowpass_filter);
//#else
} else {
RATES_COPY(ahrs_impl.imu_rate, omega);
//#endif
}
/* add correction */
RATES_ADD(omega, ahrs_impl.rate_correction);
/* and zeros it */
INT_RATES_ZERO(ahrs_impl.rate_correction);
/* integrate quaternion */
INT32_QUAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY);
INT32_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);
set_body_state_from_quat();
}
void stabilization_rate_run(bool_t in_flight) {
/* reference */
struct Int32Rates _r;
RATES_DIFF(_r, stabilization_rate_sp, stabilization_rate_ref);
RATES_SDIV(stabilization_rate_refdot, _r, STABILIZATION_RATE_REF_TAU);
/* integrate ref */
const struct Int32Rates _delta_ref = {
stabilization_rate_refdot.p >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
stabilization_rate_refdot.q >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
stabilization_rate_refdot.r >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC)};
RATES_ADD(stabilization_rate_ref, _delta_ref);
/* compute feed-forward command */
RATES_EWMULT_RSHIFT(stabilization_rate_ff_cmd, stabilization_rate_ddgain, stabilization_rate_refdot, 9);
/* compute feed-back command */
/* error for feedback */
const struct Int32Rates _ref_scaled = {
OFFSET_AND_ROUND(stabilization_rate_ref.p, (REF_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stabilization_rate_ref.q, (REF_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stabilization_rate_ref.r, (REF_FRAC - INT32_RATE_FRAC)) };
struct Int32Rates _error;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, _ref_scaled, (*body_rate));
if (in_flight) {
/* update integrator */
RATES_ADD(stabilization_rate_sum_err, _error);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 10);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 10);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 10);
stabilization_rate_fb_cmd.p = stabilization_rate_fb_cmd.p >> 11;
stabilization_rate_fb_cmd.q = stabilization_rate_fb_cmd.q >> 11;
stabilization_rate_fb_cmd.r = stabilization_rate_fb_cmd.r >> 11;
/* sum to final command */
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_ff_cmd.p + stabilization_rate_fb_cmd.p;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_ff_cmd.q + stabilization_rate_fb_cmd.q;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_ff_cmd.r + stabilization_rate_fb_cmd.r;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void ahrs_ice_propagate(struct Int32Rates *gyro)
{
/* unbias gyro */
struct Int32Rates uf_rate;
RATES_DIFF(uf_rate, *gyro, ahrs_ice.gyro_bias);
#if USE_NOISE_CUT
static struct Int32Rates last_uf_rate = { 0, 0, 0 };
if (!cut_rates(uf_rate, last_uf_rate, RATE_CUT_THRESHOLD)) {
#endif
/* low pass rate */
#if USE_NOISE_FILTER
RATES_SUM_SCALED(ahrs_ice.imu_rate, ahrs_ice.imu_rate, uf_rate, NOISE_FILTER_GAIN);
RATES_SDIV(ahrs_ice.imu_rate, ahrs_ice.imu_rate, NOISE_FILTER_GAIN + 1);
#else
RATES_ADD(ahrs_ice.imu_rate, uf_rate);
RATES_SDIV(ahrs_ice.imu_rate, ahrs_ice.imu_rate, 2);
#endif
#if USE_NOISE_CUT
}
RATES_COPY(last_uf_rate, uf_rate);
#endif
/* integrate eulers */
struct Int32Eulers euler_dot;
int32_eulers_dot_of_rates(&euler_dot, &ahrs_ice.ltp_to_imu_euler, &ahrs_ice.imu_rate);
EULERS_ADD(ahrs_ice.hi_res_euler, euler_dot);
/* low pass measurement */
EULERS_ADD(ahrs_ice.measure, ahrs_ice.measurement);
EULERS_SDIV(ahrs_ice.measure, ahrs_ice.measure, 2);
/* compute residual */
EULERS_DIFF(ahrs_ice.residual, ahrs_ice.measure, ahrs_ice.hi_res_euler);
INTEG_EULER_NORMALIZE(ahrs_ice.residual.psi);
struct Int32Eulers correction;
/* compute a correction */
EULERS_SDIV(correction, ahrs_ice.residual, ahrs_ice.reinj_1);
/* correct estimation */
EULERS_ADD(ahrs_ice.hi_res_euler, correction);
INTEG_EULER_NORMALIZE(ahrs_ice.hi_res_euler.psi);
/* Compute LTP to IMU eulers */
EULERS_SDIV(ahrs_ice.ltp_to_imu_euler, ahrs_ice.hi_res_euler, F_UPDATE);
}
//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 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);
#if IMU_KROOZ_USE_GYRO_MEDIAN_FILTER
UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
#endif
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
RATES_SMUL(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, IMU_KROOZ_GYRO_AVG_FILTER);
RATES_ADD(imu_krooz.gyro_filtered, imu.gyro_unscaled);
RATES_SDIV(imu_krooz.gyro_filtered, imu_krooz.gyro_filtered, (IMU_KROOZ_GYRO_AVG_FILTER + 1));
RATES_COPY(imu.gyro_unscaled, imu_krooz.gyro_filtered);
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;
imu_krooz.gyr_valid = TRUE;
imu_krooz.acc_valid = TRUE;
}
//RunOnceEvery(10,imu_krooz_downlink_raw());
}
void stabilization_rate_run(bool_t in_flight)
{
/* compute feed-back command */
struct Int32Rates _error;
struct Int32Rates *body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, stabilization_rate_sp, (*body_rate));
if (in_flight) {
/* update integrator */
//divide the sum_err_increment to make sure it doesn't accumulate to the max too fast
struct Int32Rates sum_err_increment;
RATES_SDIV(sum_err_increment, _error, 5);
RATES_ADD(stabilization_rate_sum_err, sum_err_increment);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
} else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 6);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 6);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 6);
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
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
}
