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
}
