void simulation_simulate_sonar(simulation_model_t *sim)
{
int16_t distance_cm = 0.5f - 100 * sim->local_position.pos[Z];
float distance_m = (float)distance_cm / 100.0f;
float dt = 0.0f;
float velocity = 0.0f;
if ( distance_m > sim->sonar->min_distance && distance_m < sim->sonar->max_distance )
{
dt = (time_keeper_get_micros() - sim->sonar->last_update)/1000000.0f;
velocity = (distance_m - sim->sonar->current_distance)/dt;
if (maths_f_abs(velocity) > 20.0f)
{
velocity = 0.0f;
}
sim->sonar->current_velocity = LPF_SONAR_VARIO*sim->sonar->current_velocity + (1.0f-LPF_SONAR_VARIO)*velocity;
sim->sonar->current_distance = distance_m;
sim->sonar->last_update = time_keeper_get_micros();
sim->sonar->healthy = true;
sim->sonar->healthy_vel = true;
}
else
{
sim->sonar->healthy = false;
sim->sonar->current_distance = 0.0f;
sim->sonar->healthy_vel = false;
sim->sonar->current_velocity = 0.0f;
}
}
void stabilisation_copter_send_outputs(stabilisation_copter_t* stabilisation_copter, const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg)
{
aero_attitude_t attitude_yaw_inverse;
quat_t q_rot,qtmp;
attitude_yaw_inverse = coord_conventions_quat_to_aero(stabilisation_copter->ahrs->qe);
attitude_yaw_inverse.rpy[0] = 0.0f;
attitude_yaw_inverse.rpy[1] = 0.0f;
attitude_yaw_inverse.rpy[2] = attitude_yaw_inverse.rpy[2];
q_rot = coord_conventions_quaternion_from_aero(attitude_yaw_inverse);
qtmp=quaternions_create_from_vector(stabilisation_copter->stabiliser_stack.velocity_stabiliser.output.rpy);
quat_t rpy_local;
quaternions_rotate_vector(quaternions_inverse(q_rot), qtmp.v, rpy_local.v);
mavlink_msg_debug_vect_pack( mavlink_stream->sysid,
mavlink_stream->compid,
msg,
"OutVel",
time_keeper_get_micros(),
-rpy_local.v[X] * 1000,
rpy_local.v[Y] * 1000,
stabilisation_copter->stabiliser_stack.velocity_stabiliser.output.rpy[YAW] * 1000);
mavlink_stream_send(mavlink_stream,msg);
mavlink_msg_debug_vect_pack( mavlink_stream->sysid,
mavlink_stream->compid,
msg,
"OutAtt",
time_keeper_get_micros(),
stabilisation_copter->stabiliser_stack.attitude_stabiliser.output.rpy[ROLL] * 1000,
stabilisation_copter->stabiliser_stack.attitude_stabiliser.output.rpy[PITCH] * 1000,
stabilisation_copter->stabiliser_stack.attitude_stabiliser.output.rpy[YAW] * 1000);
mavlink_stream_send(mavlink_stream,msg);
mavlink_msg_debug_vect_pack( mavlink_stream->sysid,
mavlink_stream->compid,
msg,
"OutRate",
time_keeper_get_micros(),
stabilisation_copter->stabiliser_stack.rate_stabiliser.output.rpy[ROLL] * 1000,
stabilisation_copter->stabiliser_stack.rate_stabiliser.output.rpy[PITCH] * 1000,
stabilisation_copter->stabiliser_stack.rate_stabiliser.output.rpy[YAW] * 1000);
mavlink_stream_send(mavlink_stream,msg);
}
void scheduler_run_task_now(task_entry_t *te)
{
if ((te->run_mode == RUN_NEVER))
{
te->run_mode = RUN_ONCE;
}
te->next_run = time_keeper_get_micros();
}
bool scheduler_add_task(scheduler_t* scheduler, uint32_t repeat_period, task_run_mode_t run_mode, task_timing_mode_t timing_mode, task_priority_t priority, task_function_t call_function, task_argument_t function_argument, uint32_t task_id)
{
bool task_successfully_added = false;
task_set_t* ts = scheduler->task_set;
// Check if the scheduler is not full
if ( ts->task_count < ts->max_task_count )
{
// Check if there is already a task with this ID
bool id_is_unique = true;
for (uint32_t i = 0; i < ts->task_count; ++i)
{
if ( ts->tasks[i].task_id == task_id )
{
id_is_unique = false;
break;
}
}
// Add new task
if ( id_is_unique == true )
{
task_entry_t* new_task = &ts->tasks[ts->task_count];
new_task->call_function = call_function;
new_task->function_argument = function_argument;
new_task->task_id = task_id;
new_task->run_mode = run_mode;
new_task->timing_mode = timing_mode;
new_task->priority = priority;
new_task->repeat_period = repeat_period;
new_task->next_run = time_keeper_get_micros();
new_task->execution_time = 0;
new_task->delay_max = 0;
new_task->delay_avg = 0;
new_task->delay_var_squared = 0;
ts->task_count += 1;
task_successfully_added = true;
}
else
{
print_util_dbg_print("[SCHEDULER] Error: There is already a task with this ID\r\n");
task_successfully_added = false;
}
}
else
{
print_util_dbg_print("[SCHEDULER] Error: Cannot add more task\r\n");
task_successfully_added = false;
}
return task_successfully_added;
}
void stabilisation_send_command(control_command_t* controls, const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg)
{
// Controls output
mavlink_msg_debug_vect_pack( mavlink_stream->sysid,
mavlink_stream->compid,
msg,
"Controls",
time_keeper_get_micros(),
controls->tvel[X],
controls->tvel[Y],
controls->tvel[Z]);
}
void acoustic_telemetry_send (const audio_t* audio_data, const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg)
{
//TODO: create a mavlink message
mavlink_msg_debug_vect_pack( mavlink_stream->sysid,
mavlink_stream->compid,
msg,
"Audio",
time_keeper_get_micros(),
(float)audio_data->azimuth,
(float)audio_data->elevation,
(float)audio_data->reliabe_data);
}
void sonar_i2cxl_get_last_measure(sonar_i2cxl_t* sonar_i2cxl)
{
uint8_t buf[2];
uint16_t distance_cm = 0;
float distance_m = 0.0f;
float velocity = 0.0f;
float dt = 0.0f;
uint32_t time_us = time_keeper_get_micros();
twim_read(&AVR32_TWIM1, buf, 2, sonar_i2cxl->i2c_address, false);
distance_cm = (buf[0] << 8) + buf[1];
distance_m = ((float)distance_cm) / 100.0f;
if ( distance_m > sonar_i2cxl->data.min_distance && distance_m < sonar_i2cxl->data.max_distance )
{
dt = ((float)time_us - sonar_i2cxl->data.last_update)/1000000.0f;
if (sonar_i2cxl->data.healthy)
{
velocity = (distance_m - sonar_i2cxl->data.current_distance) / dt;
//discard sonar velocity estimation if it seams too big
if (maths_f_abs(velocity) > 20.0f)
{
velocity = 0.0f;
}
if (sonar_i2cxl->data.healthy_vel)
{
sonar_i2cxl->data.current_velocity = (1.0f-LPF_SONAR_VARIO)*sonar_i2cxl->data.current_velocity + LPF_SONAR_VARIO*velocity;
}
else
{
sonar_i2cxl->data.current_velocity = velocity;
}
sonar_i2cxl->data.healthy_vel = true;
}
sonar_i2cxl->data.current_distance = distance_m;
sonar_i2cxl->data.last_update = time_us;
sonar_i2cxl->data.healthy = true;
}
else
{
sonar_i2cxl->data.current_velocity = 0.0f;
sonar_i2cxl->data.healthy = false;
sonar_i2cxl->data.healthy_vel = false;
}
}
task_return_t imu_send_raw(imu_t* imu)
{
mavlink_message_t msg;
mavlink_msg_raw_imu_pack( imu->mavlink_stream->sysid,
imu->mavlink_stream->compid,
&msg,
time_keeper_get_micros(),
imu->oriented_accelero.data[IMU_X],
imu->oriented_accelero.data[IMU_Y],
imu->oriented_accelero.data[IMU_Z],
imu->oriented_gyro.data[IMU_X],
imu->oriented_gyro.data[IMU_Y],
imu->oriented_gyro.data[IMU_Z],
imu->oriented_compass.data[IMU_X],
imu->oriented_compass.data[IMU_Y],
imu->oriented_compass.data[IMU_Z]);
mavlink_stream_send(imu->mavlink_stream,&msg);
return TASK_RUN_SUCCESS;
}
void forces_from_servos_diag_quad(simulation_model_t* sim)
{
float motor_command[4];
float rotor_lifts[4], rotor_drags[4], rotor_inertia[4];
float ldb;
quat_t wind_gf = {.s = 0, .v = {sim->vehicle_config.wind_x, sim->vehicle_config.wind_y, 0.0f}};
quat_t wind_bf = quaternions_global_to_local(sim->ahrs.qe, wind_gf);
float sqr_lateral_airspeed = SQR(sim->vel_bf[0] + wind_bf.v[0]) + SQR(sim->vel_bf[1] + wind_bf.v[1]);
float lateral_airspeed = sqrt(sqr_lateral_airspeed);
float old_rotor_speed;
for (int32_t i = 0; i < 4; i++)
{
motor_command[i] = (float)sim->mix->servos->servo[i].value - sim->vehicle_config.rotor_rpm_offset;
if (motor_command[i] < 0.0f)
{
motor_command[i] = 0;
}
// temporarily save old rotor speeds
old_rotor_speed = sim->rotorspeeds[i];
// estimate rotor speeds by low - pass filtering
//sim->rotorspeeds[i] = (sim->vehicle_config.rotor_lpf) * sim->rotorspeeds[i] + (1.0f - sim->vehicle_config.rotor_lpf) * (motor_command[i] * sim->vehicle_config.rotor_rpm_gain);
sim->rotorspeeds[i] = (motor_command[i] * sim->vehicle_config.rotor_rpm_gain);
// calculate torque created by rotor inertia
rotor_inertia[i] = (sim->rotorspeeds[i] - old_rotor_speed) / sim->dt * sim->vehicle_config.rotor_momentum;
ldb = lift_drag_base(sim, sim->rotorspeeds[i], sqr_lateral_airspeed, -sim->vel_bf[Z]);
//ldb = lift_drag_base(sim, sim->rotorspeeds[i], sqr_lateral_airspeed, 0.0f);
rotor_lifts[i] = ldb * sim->vehicle_config.rotor_cl;
rotor_drags[i] = ldb * sim->vehicle_config.rotor_cd;
}
float mpos_x = sim->vehicle_config.rotor_arm_length / 1.4142f;
float mpos_y = sim->vehicle_config.rotor_arm_length / 1.4142f;
// torque around x axis (roll)
sim->torques_bf[ROLL] = ((rotor_lifts[sim->mix->motor_front_left] + rotor_lifts[sim->mix->motor_rear_left] )
- (rotor_lifts[sim->mix->motor_front_right] + rotor_lifts[sim->mix->motor_rear_right] )) * mpos_y;;
// torque around y axis (pitch)
sim->torques_bf[PITCH] = ((rotor_lifts[sim->mix->motor_front_left] + rotor_lifts[sim->mix->motor_front_right] )
- (rotor_lifts[sim->mix->motor_rear_left] + rotor_lifts[sim->mix->motor_rear_right] ))* mpos_x;
sim->torques_bf[YAW] = (sim->mix->motor_front_left_dir * (10.0f * rotor_drags[sim->mix->motor_front_left] + rotor_inertia[sim->mix->motor_front_left])
+ sim->mix->motor_front_right_dir * (10.0f * rotor_drags[sim->mix->motor_front_right] + rotor_inertia[sim->mix->motor_front_right])
+ sim->mix->motor_rear_left_dir * (10.0f * rotor_drags[sim->mix->motor_rear_left] + rotor_inertia[sim->mix->motor_rear_left])
+ sim->mix->motor_rear_right_dir * (10.0f * rotor_drags[sim->mix->motor_rear_right] + rotor_inertia[sim->mix->motor_rear_right] ))* sim->vehicle_config.rotor_diameter;
sim->lin_forces_bf[X] = -(sim->vel_bf[X] - wind_bf.v[0]) * lateral_airspeed * sim->vehicle_config.vehicle_drag;
sim->lin_forces_bf[Y] = -(sim->vel_bf[Y] - wind_bf.v[1]) * lateral_airspeed * sim->vehicle_config.vehicle_drag;
sim->lin_forces_bf[Z] = -(rotor_lifts[sim->mix->motor_front_left]+ rotor_lifts[sim->mix->motor_front_right] +rotor_lifts[sim->mix->motor_rear_left] +rotor_lifts[sim->mix->motor_rear_right]);
}
//------------------------------------------------------------------------------
// PUBLIC FUNCTIONS IMPLEMENTATION
//------------------------------------------------------------------------------
bool simulation_init(simulation_model_t* sim, const simulation_config_t* sim_config, ahrs_t* ahrs, imu_t* imu, position_estimation_t* pos_est, barometer_t* pressure, gps_t* gps, sonar_t* sonar, state_t* state, bool* waypoint_set, const servo_mix_quadcotper_diag_t* mix)
{
bool init_success = true;
//Init dependencies
sim->vehicle_config = *sim_config;
sim->imu = imu;
sim->pos_est = pos_est;
sim->pressure = pressure;
sim->gps = gps;
sim->sonar = sonar;
sim->state = state;
sim->nav_plan_active = &state->nav_plan_active;
sim->mix = mix;
// set initial conditions to a given attitude_filter
sim->estimated_attitude = ahrs;
sim->ahrs = *ahrs;
print_util_dbg_print("Attitude:");
print_util_dbg_print_num(sim->ahrs.qe.s*100,10);
print_util_dbg_print(", ");
print_util_dbg_print_num(sim->ahrs.qe.v[0]*100,10);
print_util_dbg_print(", ");
print_util_dbg_print_num(sim->ahrs.qe.v[1]*100,10);
print_util_dbg_print(", ");
print_util_dbg_print_num(sim->ahrs.qe.v[2]*100,10);
print_util_dbg_print("\r\n");
for (int32_t i = 0; i < ROTORCOUNT; i++)
{
sim->rotorspeeds[i] = 0.0f;
}
sim->last_update = time_keeper_get_micros();
sim->dt = 0.01f;
simulation_reset_simulation(sim);
simulation_calib_set(sim);
print_util_dbg_print("[HIL SIMULATION] initialised.\r\n");
return init_success;
}
void qfilter_update(qfilter_t *qf)
{
static uint32_t convergence_update_count = 0;
float omc[3], omc_mag[3] , tmp[3], snorm, norm, s_acc_norm, acc_norm, s_mag_norm, mag_norm;
quat_t qed, qtmp1, up, up_bf;
quat_t mag_global, mag_corrected_local;
quat_t front_vec_global =
{
.s = 0.0f,
.v = {1.0f, 0.0f, 0.0f}
};
float kp = qf->kp;
float kp_mag = qf->kp_mag;
float ki = qf->ki;
float ki_mag = qf->ki_mag;
// Update time in us
float now_us = time_keeper_get_micros();
// Delta t in seconds
float dt = 1e-6 * (float)(now_us - qf->ahrs->last_update);
// Write to ahrs structure
qf->ahrs->dt = dt;
qf->ahrs->last_update = now_us;
// up_bf = qe^-1 *(0,0,0,-1) * qe
up.s = 0; up.v[X] = UPVECTOR_X; up.v[Y] = UPVECTOR_Y; up.v[Z] = UPVECTOR_Z;
up_bf = quaternions_global_to_local(qf->ahrs->qe, up);
// calculate norm of acceleration vector
s_acc_norm = qf->imu->scaled_accelero.data[X] * qf->imu->scaled_accelero.data[X] + qf->imu->scaled_accelero.data[Y] * qf->imu->scaled_accelero.data[Y] + qf->imu->scaled_accelero.data[Z] * qf->imu->scaled_accelero.data[Z];
if ( (s_acc_norm > 0.7f * 0.7f) && (s_acc_norm < 1.3f * 1.3f) )
{
// approximate square root by running 2 iterations of newton method
acc_norm = maths_fast_sqrt(s_acc_norm);
tmp[X] = qf->imu->scaled_accelero.data[X] / acc_norm;
tmp[Y] = qf->imu->scaled_accelero.data[Y] / acc_norm;
tmp[Z] = qf->imu->scaled_accelero.data[Z] / acc_norm;
// omc = a x up_bf.v
CROSS(tmp, up_bf.v, omc);
}
else
{
omc[X] = 0;
omc[Y] = 0;
omc[Z] = 0;
}
// Heading computation
// transfer
qtmp1 = quaternions_create_from_vector(qf->imu->scaled_compass.data);
mag_global = quaternions_local_to_global(qf->ahrs->qe, qtmp1);
// calculate norm of compass vector
//s_mag_norm = SQR(mag_global.v[X]) + SQR(mag_global.v[Y]) + SQR(mag_global.v[Z]);
s_mag_norm = SQR(mag_global.v[X]) + SQR(mag_global.v[Y]);
if ( (s_mag_norm > 0.004f * 0.004f) && (s_mag_norm < 1.8f * 1.8f) )
{
mag_norm = maths_fast_sqrt(s_mag_norm);
mag_global.v[X] /= mag_norm;
mag_global.v[Y] /= mag_norm;
mag_global.v[Z] = 0.0f; // set z component in global frame to 0
// transfer magneto vector back to body frame
qf->ahrs->north_vec = quaternions_global_to_local(qf->ahrs->qe, front_vec_global);
mag_corrected_local = quaternions_global_to_local(qf->ahrs->qe, mag_global);
// omc = a x up_bf.v
CROSS(mag_corrected_local.v, qf->ahrs->north_vec.v, omc_mag);
}
else
{
omc_mag[X] = 0;
omc_mag[Y] = 0;
omc_mag[Z] = 0;
}
// get error correction gains depending on mode
switch (qf->ahrs->internal_state)
{
case AHRS_UNLEVELED:
kp = qf->kp * 10.0f;
kp_mag = qf->kp_mag * 10.0f;
ki = 0.5f * qf->ki;
ki_mag = 0.5f * qf->ki_mag;
convergence_update_count += 1;
if( convergence_update_count > 2000 )
{
convergence_update_count = 0;
qf->ahrs->internal_state = AHRS_CONVERGING;
print_util_dbg_print("End of AHRS attitude initialization.\r\n");
}
break;
case AHRS_CONVERGING:
kp = qf->kp;
kp_mag = qf->kp_mag;
ki = qf->ki * 3.0f;
ki_mag = qf->ki_mag * 3.0f;
convergence_update_count += 1;
if( convergence_update_count > 2000 )
{
convergence_update_count = 0;
qf->ahrs->internal_state = AHRS_READY;
print_util_dbg_print("End of AHRS leveling.\r\n");
}
break;
case AHRS_READY:
kp = qf->kp;
kp_mag = qf->kp_mag;
ki = qf->ki;
ki_mag = qf->ki_mag;
break;
}
// apply error correction with appropriate gains for accelerometer and compass
for (uint8_t i = 0; i < 3; i++)
{
qtmp1.v[i] = 0.5f * (qf->imu->scaled_gyro.data[i] + kp * omc[i] + kp_mag * omc_mag[i]);
}
qtmp1.s = 0;
// apply step rotation with corrections
qed = quaternions_multiply(qf->ahrs->qe,qtmp1);
// TODO: correct this formulas!
qf->ahrs->qe.s = qf->ahrs->qe.s + qed.s * dt;
qf->ahrs->qe.v[X] += qed.v[X] * dt;
qf->ahrs->qe.v[Y] += qed.v[Y] * dt;
qf->ahrs->qe.v[Z] += qed.v[Z] * dt;
snorm = qf->ahrs->qe.s * qf->ahrs->qe.s + qf->ahrs->qe.v[X] * qf->ahrs->qe.v[X] + qf->ahrs->qe.v[Y] * qf->ahrs->qe.v[Y] + qf->ahrs->qe.v[Z] * qf->ahrs->qe.v[Z];
if (snorm < 0.0001f)
{
norm = 0.01f;
}
else
{
// approximate square root by running 2 iterations of newton method
norm = maths_fast_sqrt(snorm);
}
qf->ahrs->qe.s /= norm;
qf->ahrs->qe.v[X] /= norm;
qf->ahrs->qe.v[Y] /= norm;
qf->ahrs->qe.v[Z] /= norm;
// bias estimate update
qf->imu->calib_gyro.bias[X] += - dt * ki * omc[X] / qf->imu->calib_gyro.scale_factor[X];
qf->imu->calib_gyro.bias[Y] += - dt * ki * omc[Y] / qf->imu->calib_gyro.scale_factor[Y];
qf->imu->calib_gyro.bias[Z] += - dt * ki * omc[Z] / qf->imu->calib_gyro.scale_factor[Z];
qf->imu->calib_gyro.bias[X] += - dt * ki_mag * omc_mag[X] / qf->imu->calib_compass.scale_factor[X];
qf->imu->calib_gyro.bias[Y] += - dt * ki_mag * omc_mag[Y] / qf->imu->calib_compass.scale_factor[Y];
qf->imu->calib_gyro.bias[Z] += - dt * ki_mag * omc_mag[Z] / qf->imu->calib_compass.scale_factor[Z];
// set up-vector (bodyframe) in attitude
qf->ahrs->up_vec.v[X] = up_bf.v[X];
qf->ahrs->up_vec.v[Y] = up_bf.v[Y];
qf->ahrs->up_vec.v[Z] = up_bf.v[Z];
// Update linear acceleration
qf->ahrs->linear_acc[X] = 9.81f * (qf->imu->scaled_accelero.data[X] - qf->ahrs->up_vec.v[X]) ; // TODO: review this line!
qf->ahrs->linear_acc[Y] = 9.81f * (qf->imu->scaled_accelero.data[Y] - qf->ahrs->up_vec.v[Y]) ; // TODO: review this line!
qf->ahrs->linear_acc[Z] = 9.81f * (qf->imu->scaled_accelero.data[Z] - qf->ahrs->up_vec.v[Z]) ; // TODO: review this line!
//update angular_speed.
qf->ahrs->angular_speed[X] = qf->imu->scaled_gyro.data[X];
qf->ahrs->angular_speed[Y] = qf->imu->scaled_gyro.data[Y];
qf->ahrs->angular_speed[Z] = qf->imu->scaled_gyro.data[Z];
}
void scheduler_suspend_task(task_entry_t *te, uint32_t delay)
{
te->next_run = time_keeper_get_micros() + delay;
}
int32_t scheduler_update(scheduler_t* scheduler)
{
int32_t i;
int32_t realtime_violation = 0;
task_set_t* ts = scheduler->task_set;
task_function_t call_task;
task_argument_t function_argument;
task_return_t treturn;
// Iterate through registered tasks
for (i = ts->current_schedule_slot; i < ts->task_count; i++)
{
uint32_t current_time = time_keeper_get_micros();
// If the task is active and has waited long enough...
if ( (ts->tasks[i].run_mode != RUN_NEVER) && (current_time >= ts->tasks[i].next_run) )
{
uint32_t delay = current_time - (ts->tasks[i].next_run);
uint32_t task_start_time;
task_start_time = time_keeper_get_micros();
// Get function pointer and function argument
call_task = ts->tasks[i].call_function;
function_argument = ts->tasks[i].function_argument;
// Execute task
treturn = call_task(function_argument);
// Set the next execution time of the task
switch (ts->tasks[i].timing_mode)
{
case PERIODIC_ABSOLUTE:
// Do not take delays into account
ts->tasks[i].next_run += ts->tasks[i].repeat_period;
break;
case PERIODIC_RELATIVE:
// Take delays into account
ts->tasks[i].next_run = time_keeper_get_micros() + ts->tasks[i].repeat_period;
break;
}
// Set the task to inactive if it has to run only once
if (ts->tasks[i].run_mode == RUN_ONCE)
{
ts->tasks[i].run_mode = RUN_NEVER;
}
// Check real time violations
if (ts->tasks[i].next_run < current_time)
{
realtime_violation = -i; //realtime violation!!
ts->tasks[i].rt_violations++;
ts->tasks[i].next_run = current_time + ts->tasks[i].repeat_period;
}
// Compute real-time statistics
ts->tasks[i].delay_avg = (7 * ts->tasks[i].delay_avg + delay) / 8;
if (delay > ts->tasks[i].delay_max)
{
ts->tasks[i].delay_max = delay;
}
ts->tasks[i].delay_var_squared = (15 * ts->tasks[i].delay_var_squared + (delay - ts->tasks[i].delay_avg) * (delay - ts->tasks[i].delay_avg)) / 16;
ts->tasks[i].execution_time = (7 * ts->tasks[i].execution_time + (time_keeper_get_micros() - task_start_time)) / 8;
// Depending on shceduling strategy, select next task slot
switch (scheduler->schedule_strategy)
{
case FIXED_PRIORITY:
// Fixed priority scheme - scheduler will start over with tasks with the highest priority
ts->current_schedule_slot = 0;
break;
case ROUND_ROBIN:
// Round robin scheme - scheduler will pick up where it left.
if (i >= ts->task_count)
{
ts->current_schedule_slot = 0;
}
break;
default:
break;
}
return realtime_violation;
}
}
return realtime_violation;
}
static void position_estimation_position_correction(position_estimator_t *pos_est)
{
global_position_t global_gps_position;
local_coordinates_t local_coordinates;
float dt = pos_est->ahrs->dt;
// quat_t bias_correction = {.s = 0, .v = {0.0f, 0.0f, 1.0f}};
quat_t vel_correction =
{
.s = 0,
.v =
{
0.0f,
0.0f,
1.0f
}
};
float pos_error[3] =
{
0.0f,
0.0f,
0.0f
};
float baro_alt_error = 0.0f;
float baro_vel_error = 0.0f;
float baro_gain = 0.0f;
float gps_gain = 0.0f;
float gps_dt = 0.0f;
float vel_error[3] =
{
0.0f,
0.0f,
0.0f
};
uint32_t t_inter_gps, t_inter_baro;
int32_t i;
if (pos_est->init_barometer)
{
// altimeter correction
if ( pos_est->time_last_barometer_msg < pos_est->barometer->last_update )
{
pos_est->last_alt = -(pos_est->barometer->altitude ) + pos_est->local_position.origin.altitude;
pos_est->time_last_barometer_msg = pos_est->barometer->last_update;
}
t_inter_baro = (time_keeper_get_micros() - pos_est->barometer->last_update) / 1000.0f;
baro_gain = 1.0f; //math_util_fmax(1.0f - t_inter_baro / 1000.0f, 0.0f);
//pos_est->local_position.pos[2] += kp_alt_baro / ((float)(t_inter_baro / 2.5f + 1.0f)) * alt_error;
baro_alt_error = pos_est->last_alt - pos_est->local_position.pos[2];
baro_vel_error = pos_est->barometer->vario_vz - pos_est->vel[2];
//vel_error[2] = 0.1f * pos_error[2];
//pos_est->vel[2] += kp_alt_baro_v * vel_error[2];
}
else
{
bmp085_reset_origin_altitude(pos_est->barometer, pos_est->local_position.origin.altitude);
pos_est->init_barometer = true;
}
if (pos_est->init_gps_position)
{
if ( (pos_est->time_last_gps_msg < pos_est->gps->time_last_msg) && (pos_est->gps->status == GPS_OK) )
{
pos_est->time_last_gps_msg = pos_est->gps->time_last_msg;
global_gps_position.longitude = pos_est->gps->longitude;
global_gps_position.latitude = pos_est->gps->latitude;
global_gps_position.altitude = pos_est->gps->altitude;
global_gps_position.heading = 0.0f;
local_coordinates = coord_conventions_global_to_local_position(global_gps_position,pos_est->local_position.origin);
local_coordinates.timestamp_ms = pos_est->gps->time_last_msg;
// compute GPS velocity estimate
gps_dt = (local_coordinates.timestamp_ms - pos_est->last_gps_pos.timestamp_ms) / 1000.0f;
if (gps_dt > 0.001f)
{
for (i = 0; i < 3; i++)
{
pos_est->last_vel[i] = (local_coordinates.pos[i] - pos_est->last_gps_pos.pos[i]) / gps_dt;
}
pos_est->last_gps_pos = local_coordinates;
}
else
{
print_util_dbg_print("GPS dt is too small!\r\n");
}
}
t_inter_gps = time_keeper_get_millis() - pos_est->gps->time_last_msg;
//gps_gain = math_util_fmax(1.0f - t_inter_gps / 1000.0f, 0.0f);
gps_gain = 1.0f;
for (i = 0;i < 3;i++)
{
pos_error[i] = pos_est->last_gps_pos.pos[i] - pos_est->local_position.pos[i];
vel_error[i] = pos_est->last_vel[i] - pos_est->vel[i];
}
}
else
{
gps_position_init(pos_est);
for (i = 0;i < 2;i++)
{
pos_error[i] = 0.0f;
vel_error[i] = 0.0f;
}
gps_gain = 0.1f;
}
// Apply error correction to velocity and position estimates
for (i = 0;i < 3;i++)
{
pos_est->local_position.pos[i] += pos_est->kp_pos_gps[i] * gps_gain * pos_error[i]* dt;
}
pos_est->local_position.pos[2] += pos_est->kp_alt_baro * baro_gain * baro_alt_error* dt;
for (i = 0; i < 3; i++)
{
vel_correction.v[i] = vel_error[i];
}
for (i = 0;i < 3;i++)
{
pos_est->vel[i] += pos_est->kp_vel_gps[i] * gps_gain * vel_correction.v[i]* dt;
}
pos_est->vel[2] += pos_est->kp_vel_baro * baro_gain * baro_vel_error* dt;
}
static void gps_position_init(position_estimator_t *pos_est)
{
int32_t i;
if ( (pos_est->init_gps_position == false)&&(pos_est->gps->status == GPS_OK) )
{
if ( pos_est->time_last_gps_msg < pos_est->gps->time_last_msg )
{
pos_est->time_last_gps_msg = pos_est->gps->time_last_msg;
pos_est->init_gps_position = true;
pos_est->local_position.origin.longitude = pos_est->gps->longitude;
pos_est->local_position.origin.latitude = pos_est->gps->latitude;
pos_est->local_position.origin.altitude = pos_est->gps->altitude;
pos_est->local_position.timestamp_ms = pos_est->gps->time_last_msg;
pos_est->last_gps_pos = pos_est->local_position;
pos_est->last_alt = 0;
for(i = 0;i < 3;i++)
{
pos_est->last_vel[i] = 0.0f;
pos_est->local_position.pos[i] = 0.0f;
pos_est->vel[i] = 0.0f;
}
print_util_dbg_print("GPS position initialized!\r\n");
}
}
}
void simulation_update(simulation_model_t *sim)
{
int32_t i;
quat_t qtmp1, qvel_bf, qed;
const quat_t front = {.s = 0.0f, .v = {1.0f, 0.0f, 0.0f}};
const quat_t up = {.s = 0.0f, .v = {UPVECTOR_X, UPVECTOR_Y, UPVECTOR_Z}};
uint32_t now = time_keeper_get_micros();
sim->dt = (now - sim->last_update) / 1000000.0f;
if (sim->dt > 0.1f)
{
sim->dt = 0.1f;
}
sim->last_update = now;
// compute torques and forces based on servo commands
forces_from_servos_diag_quad(sim);
// integrate torques to get simulated gyro rates (with some damping)
sim->rates_bf[0] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[0] + sim->dt * sim->torques_bf[0] / sim->vehicle_config.roll_pitch_momentum, 10.0f);
sim->rates_bf[1] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[1] + sim->dt * sim->torques_bf[1] / sim->vehicle_config.roll_pitch_momentum, 10.0f);
sim->rates_bf[2] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[2] + sim->dt * sim->torques_bf[2] / sim->vehicle_config.yaw_momentum, 10.0f);
for (i = 0; i < 3; i++)
{
qtmp1.v[i] = 0.5f * sim->rates_bf[i];
}
qtmp1.s = 0;
// apply step rotation
qed = quaternions_multiply(sim->ahrs.qe,qtmp1);
// TODO: correct this formulas when using the right scales
sim->ahrs.qe.s = sim->ahrs.qe.s + qed.s * sim->dt;
sim->ahrs.qe.v[0] += qed.v[0] * sim->dt;
sim->ahrs.qe.v[1] += qed.v[1] * sim->dt;
sim->ahrs.qe.v[2] += qed.v[2] * sim->dt;
sim->ahrs.qe = quaternions_normalise(sim->ahrs.qe);
sim->ahrs.up_vec = quaternions_global_to_local(sim->ahrs.qe, up);
sim->ahrs.north_vec = quaternions_global_to_local(sim->ahrs.qe, front);
// velocity and position integration
// check altitude - if it is lower than 0, clamp everything (this is in NED, assuming negative altitude)
if (sim->local_position.pos[Z] >0)
{
sim->vel[Z] = 0.0f;
sim->local_position.pos[Z] = 0.0f;
// simulate "acceleration" caused by contact force with ground, compensating gravity
for (i = 0; i < 3; i++)
{
sim->lin_forces_bf[i] = sim->ahrs.up_vec.v[i] * sim->vehicle_config.total_mass * sim->vehicle_config.sim_gravity;
}
// slow down... (will make velocity slightly inconsistent until next update cycle, but shouldn't matter much)
for (i = 0; i < 3; i++)
{
sim->vel_bf[i] = 0.95f * sim->vel_bf[i];
}
//upright
sim->rates_bf[0] = sim->ahrs.up_vec.v[1];
sim->rates_bf[1] = - sim->ahrs.up_vec.v[0];
sim->rates_bf[2] = 0;
}
sim->ahrs.qe = quaternions_normalise(sim->ahrs.qe);
sim->ahrs.up_vec = quaternions_global_to_local(sim->ahrs.qe, up);
sim->ahrs.north_vec = quaternions_global_to_local(sim->ahrs.qe, front);
for (i = 0; i < 3; i++)
{
qtmp1.v[i] = sim->vel[i];
}
qtmp1.s = 0.0f;
qvel_bf = quaternions_global_to_local(sim->ahrs.qe, qtmp1);
float acc_bf[3];
for (i = 0; i < 3; i++)
{
sim->vel_bf[i] = qvel_bf.v[i];
// following the convention in the IMU, this is the acceleration due to force, as measured
sim->ahrs.linear_acc[i] = sim->lin_forces_bf[i] / sim->vehicle_config.total_mass;
// this is the "clean" acceleration without gravity
acc_bf[i] = sim->ahrs.linear_acc[i] - sim->ahrs.up_vec.v[i] * sim->vehicle_config.sim_gravity;
sim->vel_bf[i] = sim->vel_bf[i] + acc_bf[i] * sim->dt;
}
// calculate velocity in global frame
// vel = qe *vel_bf * qe - 1
qvel_bf.s = 0.0f; qvel_bf.v[0] = sim->vel_bf[0]; qvel_bf.v[1] = sim->vel_bf[1]; qvel_bf.v[2] = sim->vel_bf[2];
qtmp1 = quaternions_local_to_global(sim->ahrs.qe, qvel_bf);
sim->vel[0] = qtmp1.v[0]; sim->vel[1] = qtmp1.v[1]; sim->vel[2] = qtmp1.v[2];
for (i = 0; i < 3; i++)
{
sim->local_position.pos[i] = sim->local_position.pos[i] + sim->vel[i] * sim->dt;
}
// fill in simulated IMU values
for (i = 0;i < 3; i++)
{
sim->imu->raw_gyro.data[sim->imu->calib_gyro.axis[i]] = (sim->rates_bf[i] * sim->calib_gyro.scale_factor[i] + sim->calib_gyro.bias[i]) * sim->calib_gyro.orientation[i];
sim->imu->raw_accelero.data[sim->imu->calib_accelero.axis[i]] = ((sim->lin_forces_bf[i] / sim->vehicle_config.total_mass / sim->vehicle_config.sim_gravity) * sim->calib_accelero.scale_factor[i] + sim->calib_accelero.bias[i]) * sim->calib_accelero.orientation[i];
sim->imu->raw_compass.data[sim->imu->calib_compass.axis[i]] = ((sim->ahrs.north_vec.v[i] ) * sim->calib_compass.scale_factor[i] + sim->calib_compass.bias[i])* sim->calib_compass.orientation[i];
}
sim->local_position.heading = coord_conventions_get_yaw(sim->ahrs.qe);
}
void simulation_simulate_barometer(simulation_model_t *sim)
{
sim->pressure->altitude = sim->local_position.origin.altitude - sim->local_position.pos[Z];
sim->pressure->vario_vz = sim->vel[Z];
sim->pressure->last_update = time_keeper_get_millis();
sim->pressure->altitude_offset = 0;
}
void simulation_simulate_gps(simulation_model_t *sim)
{
global_position_t gpos = coord_conventions_local_to_global_position(sim->local_position);
sim->gps->altitude = gpos.altitude;
sim->gps->latitude = gpos.latitude;
sim->gps->longitude = gpos.longitude;
sim->gps->time_last_msg = time_keeper_get_millis();
sim->gps->time_last_posllh_msg = time_keeper_get_millis();
sim->gps->time_last_velned_msg = time_keeper_get_millis();
sim->gps->north_speed = sim->vel[X];
sim->gps->east_speed = sim->vel[Y];
sim->gps->vertical_speed = sim->vel[Z];
sim->gps->status = GPS_OK;
sim->gps->healthy = true;
}
static void position_estimation_position_correction(position_estimation_t *pos_est)
{
global_position_t global_gps_position;
local_coordinates_t local_coordinates;
float dt = pos_est->ahrs->dt;
// quat_t bias_correction = {.s = 0, .v = {0.0f, 0.0f, 1.0f}};
quat_t vel_correction =
{
.s = 0,
.v =
{
0.0f,
0.0f,
1.0f
}
};
float pos_error[3] =
{
0.0f,
0.0f,
0.0f
};
float baro_alt_error = 0.0f;
float baro_vel_error = 0.0f;
float baro_gain = 0.0f;
float gps_gain = 0.0f;
float gps_dt = 0.0f;
float vel_error[3] =
{
0.0f,
0.0f,
0.0f
};
uint32_t t_inter_gps, t_inter_baro;
int32_t i;
if (pos_est->init_barometer)
{
// altimeter correction
if ( pos_est->time_last_barometer_msg < pos_est->barometer->last_update )
{
pos_est->last_alt = -(pos_est->barometer->altitude ) + pos_est->local_position.origin.altitude;
baro_alt_error = -(pos_est->barometer->altitude ) - pos_est->local_position.pos[2] + pos_est->local_position.origin.altitude;
pos_est->time_last_barometer_msg = pos_est->barometer->last_update;
}
t_inter_baro = (time_keeper_get_micros() - pos_est->barometer->last_update) / 1000.0f;
baro_gain = 1.0f; //math_util_fmax(1.0f - t_inter_baro / 1000.0f, 0.0f);
//pos_est->local_position.pos[2] += kp_alt_baro / ((float)(t_inter_baro / 2.5f + 1.0f)) * alt_error;
baro_alt_error = pos_est->last_alt - pos_est->local_position.pos[2];
baro_vel_error = pos_est->barometer->vario_vz - pos_est->vel[2];
//vel_error[2] = 0.1f * pos_error[2];
//pos_est->vel[2] += kp_alt_baro_v * vel_error[2];
}
else
{
bmp085_reset_origin_altitude(pos_est->barometer, pos_est->local_position.origin.altitude);
pos_est->init_barometer = true;
}
if (pos_est->init_gps_position)
{
if ( (pos_est->time_last_gps_msg < pos_est->gps->time_last_msg) && (pos_est->gps->status == GPS_OK) )
{
pos_est->time_last_gps_msg = pos_est->gps->time_last_msg;
global_gps_position.longitude = pos_est->gps->longitude;
global_gps_position.latitude = pos_est->gps->latitude;
global_gps_position.altitude = pos_est->gps->altitude;
global_gps_position.heading = 0.0f;
local_coordinates = coord_conventions_global_to_local_position(global_gps_position,pos_est->local_position.origin);
local_coordinates.timestamp_ms = pos_est->gps->time_last_msg;
// compute GPS velocity estimate
gps_dt = (local_coordinates.timestamp_ms - pos_est->last_gps_pos.timestamp_ms) / 1000.0f;
if (gps_dt > 0.001f)
{
for (i = 0; i < 3; i++)
{
pos_est->last_vel[i] = (local_coordinates.pos[i] - pos_est->last_gps_pos.pos[i]) / gps_dt;
}
pos_est->last_gps_pos = local_coordinates;
}
else
{
print_util_dbg_print("GPS dt is too small!\r\n");
}
}
t_inter_gps = time_keeper_get_millis() - pos_est->gps->time_last_msg;
//gps_gain = math_util_fmax(1.0f - t_inter_gps / 1000.0f, 0.0f);
gps_gain = 1.0f;
for (i = 0;i < 3;i++)
{
pos_error[i] = pos_est->last_gps_pos.pos[i] - pos_est->local_position.pos[i];
vel_error[i] = pos_est->last_vel[i] - pos_est->vel[i];
}
}
else
{
gps_position_init(pos_est);
for (i = 0;i < 2;i++)
{
pos_error[i] = 0.0f;
vel_error[i] = 0.0f;
}
gps_gain = 0.1f;
}
// Apply error correction to velocity and position estimates
for (i = 0;i < 3;i++)
{
pos_est->local_position.pos[i] += pos_est->kp_pos_gps[i] * gps_gain * pos_error[i]* dt;
}
pos_est->local_position.pos[2] += pos_est->kp_alt_baro * baro_gain * baro_alt_error* dt;
for (i = 0; i < 3; i++)
{
vel_correction.v[i] = vel_error[i];
}
for (i = 0;i < 3;i++)
{
pos_est->vel[i] += pos_est->kp_vel_gps[i] * gps_gain * vel_correction.v[i]* dt;
}
pos_est->vel[2] += pos_est->kp_vel_baro * baro_gain * baro_vel_error* dt;
}
static void gps_position_init(position_estimation_t *pos_est)
{
if ( (pos_est->init_gps_position == false)&&(pos_est->gps->status == GPS_OK) )
{
if ( pos_est->time_last_gps_msg < pos_est->gps->time_last_msg )
{
pos_est->time_last_gps_msg = pos_est->gps->time_last_msg;
pos_est->init_gps_position = true;
pos_est->local_position.origin.longitude = pos_est->gps->longitude;
pos_est->local_position.origin.latitude = pos_est->gps->latitude;
pos_est->local_position.origin.altitude = pos_est->gps->altitude;
pos_est->local_position.timestamp_ms = pos_est->gps->time_last_msg;
pos_est->last_gps_pos = pos_est->local_position;
pos_est->last_alt = 0;
for(int32_t i = 0;i < 3;i++)
{
pos_est->last_vel[i] = 0.0f;
pos_est->local_position.pos[i] = 0.0f;
pos_est->vel[i] = 0.0f;
}
print_util_dbg_print("GPS position initialized!\r\n");
}
}
}
//------------------------------------------------------------------------------
// PUBLIC FUNCTIONS IMPLEMENTATION
//------------------------------------------------------------------------------
void position_estimation_init(position_estimation_t* pos_est, const position_estimation_conf_t* config, state_t* state, barometer_t *barometer, const gps_t *gps, const ahrs_t *ahrs, const imu_t *imu)
{
//init dependencies
pos_est->barometer = barometer;
pos_est->gps = gps;
pos_est->ahrs = ahrs;
pos_est->imu = imu;
pos_est->state = state;
pos_est->nav_plan_active = &state->nav_plan_active;
// default GPS home position
pos_est->local_position.origin.longitude = config->origin.longitude;
pos_est->local_position.origin.latitude = config->origin.latitude;
pos_est->local_position.origin.altitude = config->origin.altitude;
pos_est->local_position.pos[X] = 0;
pos_est->local_position.pos[Y] = 0;
pos_est->local_position.pos[Z] = 0;
// reset position estimator
pos_est->last_alt = 0;
for(int32_t i = 0;i < 3;i++)
{
pos_est->last_vel[i] = 0.0f;
pos_est->vel[i] = 0.0f;
pos_est->vel_bf[i] = 0.0f;
}
pos_est->gravity = config->gravity;
pos_est->init_gps_position = false;
pos_est->init_barometer = false;
pos_est->time_last_gps_msg = 0;
pos_est->time_last_barometer_msg = 0;
pos_est->kp_pos_gps[X] = 2.0f;
pos_est->kp_pos_gps[Y] = 2.0f;
pos_est->kp_pos_gps[Z] = 0.0f;
pos_est->kp_vel_gps[X] = 1.0f;
pos_est->kp_vel_gps[Y] = 1.0f;
pos_est->kp_vel_gps[Z] = 0.5f;
pos_est->kp_alt_baro = 2.0f;
pos_est->kp_vel_baro = 1.0f;
gps_position_init(pos_est);
print_util_dbg_print("Position estimation initialized.\r\n");
}
void time_keeper_delay_micros(int32_t microseconds)
{
uint32_t now = time_keeper_get_micros();
while (time_keeper_get_micros() < now + microseconds);
}
void time_keeper_delay_until(uint32_t until_time)
{
while (time_keeper_get_micros() < until_time);
}
