static void passthrough_up_parse(struct AutopilotMessagePTUp *msg_up)
{
if (msg_up->valid.vane && vane_callback)
vane_callback(0, msg_up->vane_angle1, msg_up->vane_angle2);
// Fill pressure data
if (msg_up->valid.pressure_absolute && pressure_absolute_callback)
pressure_absolute_callback(0, msg_up->pressure_absolute);
if (msg_up->valid.pressure_differential && pressure_differential_callback)
pressure_differential_callback(0, (32768 + msg_up->pressure_differential));
if (msg_up->valid.adc) {
if(adc_callback) {
adc_callback(msg_up->adc.channels);
}
}
// Fill radio data
if (msg_up->valid.rc && radio_control_callback) {
radio_control.values[RADIO_ROLL] = msg_up->rc_roll;
radio_control.values[RADIO_PITCH] = msg_up->rc_pitch;
radio_control.values[RADIO_YAW] = msg_up->rc_yaw;
radio_control.values[RADIO_THROTTLE] = msg_up->rc_thrust;
radio_control.values[RADIO_MODE] = msg_up->rc_mode;
radio_control.values[RADIO_KILL] = msg_up->rc_kill;
radio_control.values[RADIO_GEAR] = msg_up->rc_gear;
radio_control.values[RADIO_AUX2] = msg_up->rc_aux2;
radio_control.values[RADIO_AUX3] = msg_up->rc_aux3;
radio_control_callback();
}
// always fill status, it may change even when in the case when there is no new data
radio_control.status = msg_up->rc_status;
// Fill IMU data
imuFloat.gyro.p = RATE_FLOAT_OF_BFP(msg_up->gyro.p);
imuFloat.gyro.q = RATE_FLOAT_OF_BFP(msg_up->gyro.q);
imuFloat.gyro.r = RATE_FLOAT_OF_BFP(msg_up->gyro.r);
imuFloat.accel.x = ACCEL_FLOAT_OF_BFP(msg_up->accel.x);
imuFloat.accel.y = ACCEL_FLOAT_OF_BFP(msg_up->accel.y);
imuFloat.accel.z = ACCEL_FLOAT_OF_BFP(msg_up->accel.z);
imuFloat.mag.x = MAG_FLOAT_OF_BFP(msg_up->mag.x);
imuFloat.mag.y = MAG_FLOAT_OF_BFP(msg_up->mag.y);
imuFloat.mag.z = MAG_FLOAT_OF_BFP(msg_up->mag.z);
imuFloat.sample_count = msg_up->imu_tick;
if (msg_up->valid.imu)
rdyb_booz_imu_update(&imuFloat);
}
void ArduIMU_event(void)
{
// Handle INS I2C event
if (ardu_ins_trans.status == I2CTransSuccess) {
// received data from I2C transaction
recievedData[0] = (ardu_ins_trans.buf[1] << 8) | ardu_ins_trans.buf[0];
recievedData[1] = (ardu_ins_trans.buf[3] << 8) | ardu_ins_trans.buf[2];
recievedData[2] = (ardu_ins_trans.buf[5] << 8) | ardu_ins_trans.buf[4];
recievedData[3] = (ardu_ins_trans.buf[7] << 8) | ardu_ins_trans.buf[6];
recievedData[4] = (ardu_ins_trans.buf[9] << 8) | ardu_ins_trans.buf[8];
recievedData[5] = (ardu_ins_trans.buf[11] << 8) | ardu_ins_trans.buf[10];
recievedData[6] = (ardu_ins_trans.buf[13] << 8) | ardu_ins_trans.buf[12];
recievedData[7] = (ardu_ins_trans.buf[15] << 8) | ardu_ins_trans.buf[14];
recievedData[8] = (ardu_ins_trans.buf[17] << 8) | ardu_ins_trans.buf[16];
// Update ArduIMU data
arduimu_eulers.phi = ANGLE_FLOAT_OF_BFP(recievedData[0]) - ins_roll_neutral;
arduimu_eulers.theta = ANGLE_FLOAT_OF_BFP(recievedData[1]) - ins_pitch_neutral;
arduimu_eulers.psi = ANGLE_FLOAT_OF_BFP(recievedData[2]);
arduimu_rates.p = RATE_FLOAT_OF_BFP(recievedData[3]);
arduimu_rates.q = RATE_FLOAT_OF_BFP(recievedData[4]);
arduimu_rates.r = RATE_FLOAT_OF_BFP(recievedData[5]);
arduimu_accel.x = ACCEL_FLOAT_OF_BFP(recievedData[6]);
arduimu_accel.y = ACCEL_FLOAT_OF_BFP(recievedData[7]);
arduimu_accel.z = ACCEL_FLOAT_OF_BFP(recievedData[8]);
// Update estimator
stateSetNedToBodyEulers_f(&arduimu_eulers);
stateSetBodyRates_f(&arduimu_rates);
stateSetAccelNed_f(&((struct NedCoor_f)arduimu_accel));
ardu_ins_trans.status = I2CTransDone;
#ifdef ARDUIMU_SYNC_SEND
// uint8_t arduimu_id = 102;
//RunOnceEvery(15, DOWNLINK_SEND_AHRS_EULER(DefaultChannel, DefaultDevice, &arduimu_eulers.phi, &arduimu_eulers.theta, &arduimu_eulers.psi, &arduimu_id));
RunOnceEvery(15, DOWNLINK_SEND_IMU_GYRO(DefaultChannel, DefaultDevice, &arduimu_rates.p, &arduimu_rates.q,
&arduimu_rates.r));
RunOnceEvery(15, DOWNLINK_SEND_IMU_ACCEL(DefaultChannel, DefaultDevice, &arduimu_accel.x, &arduimu_accel.y,
&arduimu_accel.z));
#endif
} else if (ardu_ins_trans.status == I2CTransFailed) {
ardu_ins_trans.status = I2CTransDone;
}
// Handle GPS I2C event
if (ardu_gps_trans.status == I2CTransSuccess || ardu_gps_trans.status == I2CTransFailed) {
ardu_gps_trans.status = I2CTransDone;
}
}
void ins_propagate() {
/* untilt accels */
struct Int32Vect3 accel_body;
INT32_RMAT_TRANSP_VMULT(accel_body, imu.body_to_imu_rmat, imu.accel);
struct Int32Vect3 accel_ltp;
INT32_RMAT_TRANSP_VMULT(accel_ltp, ahrs.ltp_to_body_rmat, accel_body);
float z_accel_float = ACCEL_FLOAT_OF_BFP(accel_ltp.z);
#ifdef USE_VFF
if (baro.status == BS_RUNNING && ins_baro_initialised) {
vff_propagate(z_accel_float);
ins_ltp_accel.z = ACCEL_BFP_OF_REAL(vff_zdotdot);
ins_ltp_speed.z = SPEED_BFP_OF_REAL(vff_zdot);
ins_ltp_pos.z = POS_BFP_OF_REAL(vff_z);
}
else { // feed accel from the sensors
ins_ltp_accel.z = ACCEL_BFP_OF_REAL(z_accel_float);
}
#else
ins_ltp_accel.z = ACCEL_BFP_OF_REAL(z_accel_float);
#endif /* USE_VFF */
#ifdef USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
#else
ins_ltp_accel.x = accel_ltp.x;
ins_ltp_accel.y = accel_ltp.y;
#endif /* USE_HFF */
INT32_VECT3_ENU_OF_NED(ins_enu_pos, ins_ltp_pos);
INT32_VECT3_ENU_OF_NED(ins_enu_speed, ins_ltp_speed);
INT32_VECT3_ENU_OF_NED(ins_enu_accel, ins_ltp_accel);
}
void ins_propagate() {
/* untilt accels */
struct Int32Vect3 accel_meas_body;
INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
struct Int32Vect3 accel_meas_ltp;
INT32_RMAT_TRANSP_VMULT(accel_meas_ltp, (*stateGetNedToBodyRMat_i()), accel_meas_body);
#if USE_VFF
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
if (baro.status == BS_RUNNING && ins_baro_initialised) {
vff_propagate(z_accel_meas_float);
ins_ltp_accel.z = ACCEL_BFP_OF_REAL(vff_zdotdot);
ins_ltp_speed.z = SPEED_BFP_OF_REAL(vff_zdot);
ins_ltp_pos.z = POS_BFP_OF_REAL(vff_z);
}
else { // feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity, but vehivle not accelerating in ltp)
ins_ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#else
ins_ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
#endif /* USE_VFF */
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
#else
ins_ltp_accel.x = accel_meas_ltp.x;
ins_ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
INS_NED_TO_STATE();
}
void ins_propagate(void) {
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
INT32_RMAT_TRANSP_VMULT(accel_meas_body, *body_to_imu_rmat, imu.accel);
struct Int32Vect3 accel_meas_ltp;
INT32_RMAT_TRANSP_VMULT(accel_meas_ltp, (*stateGetNedToBodyRMat_i()), accel_meas_body);
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
if (ins_impl.baro_initialized) {
vff_propagate(z_accel_meas_float);
ins_update_from_vff();
}
else { // feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity,
// but vehicle not accelerating in ltp)
ins_impl.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
/* convert and copy result to ins_impl */
ins_update_from_hff();
#else
ins_impl.ltp_accel.x = accel_meas_ltp.x;
ins_impl.ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
ins_ned_to_state();
}
void ArduIMU_event( void ) {
// Handle INS I2C event
if (ardu_ins_trans.status == I2CTransSuccess) {
// received data from I2C transaction
recievedData[0] = (ardu_ins_trans.buf[1]<<8) | ardu_ins_trans.buf[0];
recievedData[1] = (ardu_ins_trans.buf[3]<<8) | ardu_ins_trans.buf[2];
recievedData[2] = (ardu_ins_trans.buf[5]<<8) | ardu_ins_trans.buf[4];
recievedData[3] = (ardu_ins_trans.buf[7]<<8) | ardu_ins_trans.buf[6];
recievedData[4] = (ardu_ins_trans.buf[9]<<8) | ardu_ins_trans.buf[8];
recievedData[5] = (ardu_ins_trans.buf[11]<<8) | ardu_ins_trans.buf[10];
recievedData[6] = (ardu_ins_trans.buf[13]<<8) | ardu_ins_trans.buf[12];
recievedData[7] = (ardu_ins_trans.buf[15]<<8) | ardu_ins_trans.buf[14];
recievedData[8] = (ardu_ins_trans.buf[17]<<8) | ardu_ins_trans.buf[16];
// Update ArduIMU data
arduimu_eulers.phi = ANGLE_FLOAT_OF_BFP(recievedData[0]);
arduimu_eulers.theta = ANGLE_FLOAT_OF_BFP(recievedData[1]);
arduimu_eulers.psi = ANGLE_FLOAT_OF_BFP(recievedData[2]);
arduimu_rates.p = RATE_FLOAT_OF_BFP(recievedData[3]);
arduimu_rates.q = RATE_FLOAT_OF_BFP(recievedData[4]);
arduimu_rates.r = RATE_FLOAT_OF_BFP(recievedData[5]);
arduimu_accel.x = ACCEL_FLOAT_OF_BFP(recievedData[6]);
arduimu_accel.y = ACCEL_FLOAT_OF_BFP(recievedData[7]);
arduimu_accel.z = ACCEL_FLOAT_OF_BFP(recievedData[8]);
// Update estimator
estimator_phi = arduimu_eulers.phi - ins_roll_neutral;
estimator_theta = arduimu_eulers.theta - ins_pitch_neutral;
estimator_p = arduimu_rates.p;
ardu_ins_trans.status = I2CTransDone;
//RunOnceEvery(15, DOWNLINK_SEND_AHRS_EULER(DefaultChannel, &arduimu_eulers.phi, &arduimu_eulers.theta, &arduimu_eulers.psi));
RunOnceEvery(15, DOWNLINK_SEND_IMU_GYRO(DefaultChannel, &arduimu_rates.p, &arduimu_rates.q, &arduimu_rates.r));
RunOnceEvery(15, DOWNLINK_SEND_IMU_ACCEL(DefaultChannel, &arduimu_accel.x, &arduimu_accel.y, &arduimu_accel.z));
}
else if (ardu_ins_trans.status == I2CTransFailed) {
ardu_ins_trans.status = I2CTransDone;
}
// Handle GPS I2C event
if (ardu_gps_trans.status == I2CTransSuccess || ardu_gps_trans.status == I2CTransFailed) {
ardu_gps_trans.status = I2CTransDone;
}
}
inline static void h_ctl_cl_loop(void)
{
#if H_CTL_CL_LOOP_INCREASE_FLAPS_WITH_LOADFACTOR
#if (!defined SITL || defined USE_NPS)
struct Int32Vect3 accel_meas_body, accel_ned;
struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
struct NedCoor_i *accel_tmp = stateGetAccelNed_i();
VECT3_COPY(accel_ned, (*accel_tmp));
accel_ned.z -= ACCEL_BFP_OF_REAL(9.81f);
int32_rmat_vmult(&accel_meas_body, ned_to_body_rmat, &accel_ned);
float nz = -ACCEL_FLOAT_OF_BFP(accel_meas_body.z) / 9.81f;
// max load factor to be taken into acount
// to prevent negative flap movement du to negative acceleration
Bound(nz, 1.f, 2.f);
#else
float nz = 1.f;
#endif
#endif
// Compute a corrected airspeed corresponding to the current load factor nz
// with Cz the lift coef at 1g, Czn the lift coef at n g, both at the same speed V,
// the corrected airspeed Vn is so that nz = Czn/Cz = V^2 / Vn^2,
// thus Vn = V / sqrt(nz)
#if H_CTL_CL_LOOP_USE_AIRSPEED_SETPOINT
float corrected_airspeed = v_ctl_auto_airspeed_setpoint;
#else
float corrected_airspeed = stateGetAirspeed_f();
#endif
#if H_CTL_CL_LOOP_INCREASE_FLAPS_WITH_LOADFACTOR
corrected_airspeed /= sqrtf(nz);
#endif
Bound(corrected_airspeed, STALL_AIRSPEED, RACE_AIRSPEED);
float cmd = 0.f;
// deadband around NOMINAL_AIRSPEED, rest linear
if (corrected_airspeed > NOMINAL_AIRSPEED + H_CTL_CL_DEADBAND) {
cmd = (corrected_airspeed - NOMINAL_AIRSPEED) * (H_CTL_CL_FLAPS_RACE - H_CTL_CL_FLAPS_NOMINAL) / (RACE_AIRSPEED - NOMINAL_AIRSPEED);
}
else if (corrected_airspeed < NOMINAL_AIRSPEED - H_CTL_CL_DEADBAND) {
cmd = (corrected_airspeed - NOMINAL_AIRSPEED) * (H_CTL_CL_FLAPS_STALL - H_CTL_CL_FLAPS_NOMINAL) / (STALL_AIRSPEED - NOMINAL_AIRSPEED);
}
// no control in manual mode
if (pprz_mode == PPRZ_MODE_MANUAL) {
cmd = 0.f;
}
// bound max flap angle
Bound(cmd, H_CTL_CL_FLAPS_RACE, H_CTL_CL_FLAPS_STALL);
// from percent to pprz
cmd = cmd * MAX_PPRZ;
h_ctl_flaps_setpoint = TRIM_PPRZ(cmd);
}
inline static void h_ctl_yaw_loop(void)
{
#if H_CTL_YAW_TRIM_NY
// Actual Acceleration from IMU:
#if (!defined SITL || defined USE_NPS)
struct Int32Vect3 accel_meas_body, accel_ned;
struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
struct NedCoor_i *accel_tmp = stateGetAccelNed_i();
VECT3_COPY(accel_ned, (*accel_tmp));
accel_ned.z -= ACCEL_BFP_OF_REAL(9.81f);
int32_rmat_vmult(&accel_meas_body, ned_to_body_rmat, &accel_ned);
float ny = -ACCEL_FLOAT_OF_BFP(accel_meas_body.y) / 9.81f; // Lateral load factor (in g)
#else
float ny = 0.f;
#endif
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
h_ctl_yaw_ny_sum_err = 0.;
} else {
if (h_ctl_yaw_ny_igain > 0.) {
// only update when: phi<60degrees and ny<2g
if (fabsf(stateGetNedToBodyEulers_f()->phi) < 1.05 && fabsf(ny) < 2.) {
h_ctl_yaw_ny_sum_err += ny * H_CTL_REF_DT;
// max half rudder deflection for trim
BoundAbs(h_ctl_yaw_ny_sum_err, MAX_PPRZ / (2. * h_ctl_yaw_ny_igain));
}
} else {
h_ctl_yaw_ny_sum_err = 0.;
}
}
#endif
#ifdef USE_AIRSPEED
float Vo = stateGetAirspeed_f();
Bound(Vo, STALL_AIRSPEED, RACE_AIRSPEED);
#else
float Vo = NOMINAL_AIRSPEED;
#endif
h_ctl_ref.yaw_rate = h_ctl_yaw_rate_setpoint // set by RC
+ 9.81f / Vo * sinf(h_ctl_roll_setpoint); // for turns
float d_err = h_ctl_ref.yaw_rate - stateGetBodyRates_f()->r;
float cmd = + h_ctl_yaw_dgain * d_err
#if H_CTL_YAW_TRIM_NY
+ h_ctl_yaw_ny_igain * h_ctl_yaw_ny_sum_err
#endif
;
cmd /= airspeed_ratio2;
h_ctl_rudder_setpoint = TRIM_PPRZ(cmd);
}
void ins_propagate() {
#if CONTROL_USE_VFF
if (altimeter_system_status == STATUS_INITIALIZED && ins.baro_initialised) {
float accel_float = ACCEL_FLOAT_OF_BFP(booz_imu.accel.z);
b2_vff_propagate(accel_float);
ins.ltp_accel.z = ACCEL_BFP_OF_REAL(b2_vff_zdotdot);
ins.ltp_speed.z = SPEED_BFP_OF_REAL(b2_vff_zdot);
ins.ltp_pos.z = POS_BFP_OF_REAL(b2_vff_z);
ins.enu_pos.z = -ins.ltp_pos.z;
ins.enu_speed.z = -ins.ltp_speed.z;
ins.enu_accel.z = -ins.ltp_accel.z;
}
#endif
#ifdef USE_HFF
if (booz_ahrs.status == BOOZ_AHRS_RUNNING &&
gps_state.fix == BOOZ2_GPS_FIX_3D && ins.ltp_initialised )
b2ins_propagate();
#endif
}
void nav_catapult_highrate_module(void)
{
// Only run when
if (nav_catapult_armed)
{
if (nav_catapult_launch < nav_catapult_heading_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ) {
nav_catapult_launch++;
}
// Launch detection Filter
if (nav_catapult_launch < 5)
{
// Five consecutive measurements > 1.5
#ifndef SITL
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel);
if (ACCEL_FLOAT_OF_BFP(accel_meas_body.x) < (nav_catapult_acceleration_threshold * 9.81))
#else
if (launch != 1)
#endif
{
nav_catapult_launch = 0;
}
}
// Launch was detected: Motor Delay Counter
else if (nav_catapult_launch >= nav_catapult_motor_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ)
{
// Turn on Motor
NavVerticalThrottleMode(9600*(nav_catapult_initial_throttle));
launch = 1;
}
}
else
{
nav_catapult_launch = 0;
}
}
void nav_catapult_highrate_module(void)
{
// Only run when 只在跑（飞）的时候执行
if (nav_catapult_armed)
{
if (nav_catapult_launch < nav_catapult_heading_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ) {
nav_catapult_launch++;
}
// Launch detection Filter 再次判断（滤波）
if (nav_catapult_launch < 5)
{
// Five consecutive measurements > 1.5 五个连续的测量会大于1.5
#ifndef SITL
struct Int32Vect3 accel_meas_body;
INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
if (ACCEL_FLOAT_OF_BFP(accel_meas_body.x) < (nav_catapult_acceleration_threshold * 9.81))
#else
if (launch != 1)
#endif
{
nav_catapult_launch = 0;
}
}
// Launch was detected: Motor Delay Counter 检测到发射：电机持续
else if (nav_catapult_launch >= nav_catapult_motor_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ)
{
// Turn on Motor 打开点击，设置油门
NavVerticalThrottleMode(9600*(nav_catapult_initial_throttle));
launch = 1;
}
}
else
{
nav_catapult_launch = 0;
}
}
void nav_catapult_highrate_module(void)
{
// Only run when
if (nav_catapult_armed)
{
if (nav_catapult_launch < nav_catapult_heading_delay)
nav_catapult_launch ++;
// Launch detection Filter
if (nav_catapult_launch < 5)
{
// Five consecutive measurements > 1.5
#ifndef SITL
struct Int32Vect3 accel_meas_body;
INT32_RMAT_TRANSP_VMULT(accel_meas_body, imu.body_to_imu_rmat, imu.accel);
if (ACCEL_FLOAT_OF_BFP(accel_meas_body.x) < (nav_catapult_acceleration_threshold * 9.81))
#else
if (launch != 1)
#endif
{
nav_catapult_launch = 0;
}
}
// Launch was detected: Motor Delay Counter
else if (nav_catapult_launch == nav_catapult_motor_delay)
{
// Turn on Motor
NavVerticalThrottleMode(9600*(nav_catapult_initial_throttle));
launch = 1;
}
}
else
{
nav_catapult_launch = 0;
}
}
void ins_reset_altitude_ref(void)
{
#if USE_GPS
struct LlaCoor_i lla = {
.lat = state.ned_origin_i.lla.lat,
.lon = state.ned_origin_i.lla.lon,
.alt = gps.lla_pos.alt
};
ltp_def_from_lla_i(&ins_impl.ltp_def, &lla);
ins_impl.ltp_def.hmsl = gps.hmsl;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
#endif
ins_impl.vf_reset = TRUE;
}
void ins_propagate(float dt)
{
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel);
struct Int32Vect3 accel_meas_ltp;
int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), &accel_meas_body);
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
if (ins_impl.baro_initialized) {
vff_propagate(z_accel_meas_float, dt);
ins_update_from_vff();
} else { // feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity,
// but vehicle not accelerating in ltp)
ins_impl.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
/* convert and copy result to ins_impl */
ins_update_from_hff();
#else
ins_impl.ltp_accel.x = accel_meas_ltp.x;
ins_impl.ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
ins_ned_to_state();
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pressure)
{
if (!ins_impl.baro_initialized && *pressure > 1e-7) {
// wait for a first positive value
ins_impl.qfe = *pressure;
ins_impl.baro_initialized = TRUE;
}
if (ins_impl.baro_initialized) {
if (ins_impl.vf_reset) {
ins_impl.vf_reset = FALSE;
ins_impl.qfe = *pressure;
vff_realign(0.);
ins_update_from_vff();
} else {
ins_impl.baro_z = -pprz_isa_height_of_pressure(*pressure, ins_impl.qfe);
#if USE_VFF_EXTENDED
vff_update_baro(ins_impl.baro_z);
#else
vff_update(ins_impl.baro_z);
#endif
}
ins_ned_to_state();
}
}
#if USE_GPS
void ins_update_gps(void)
{
if (gps.fix == GPS_FIX_3D) {
if (!ins_impl.ltp_initialized) {
ltp_def_from_ecef_i(&ins_impl.ltp_def, &gps.ecef_pos);
ins_impl.ltp_def.lla.alt = gps.lla_pos.alt;
ins_impl.ltp_def.hmsl = gps.hmsl;
ins_impl.ltp_initialized = TRUE;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
}
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_impl.ltp_def, &gps.ecef_pos);
/// @todo maybe use gps.ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_impl.ltp_def, &gps.ecef_vel);
#if INS_USE_GPS_ALT
vff_update_z_conf((float)gps_pos_cm_ned.z / 100.0, INS_VFF_R_GPS);
#endif
#if USE_HFF
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
if (ins_impl.hf_realign) {
ins_impl.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_impl
ins_update_from_hff();
#else /* hff not used */
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_impl.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_impl.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* USE_HFF */
ins_ned_to_state();
}
}
#endif /* USE_GPS */
#if USE_SONAR
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, const float *distance)
{
static float last_offset = 0.;
/* update filter assuming a flat ground */
if (*distance < INS_SONAR_MAX_RANGE && *distance > INS_SONAR_MIN_RANGE
#ifdef INS_SONAR_THROTTLE_THRESHOLD
&& stabilization_cmd[COMMAND_THRUST] < INS_SONAR_THROTTLE_THRESHOLD
#endif
#ifdef INS_SONAR_BARO_THRESHOLD
&& ins_impl.baro_z > -INS_SONAR_BARO_THRESHOLD /* z down */
#endif
&& ins_impl.update_on_agl
&& ins_impl.baro_initialized) {
vff_update_z_conf(-(*distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(*distance));
last_offset = vff.offset;
} else {
/* update offset with last value to avoid divergence */
vff_update_offset(last_offset);
}
}
#endif // USE_SONAR
/** initialize the local origin (ltp_def) from flight plan position */
static void ins_init_origin_from_flightplan(void)
{
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = NAV_LAT0;
llh_nav0.lon = NAV_LON0;
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_impl.ltp_def, &ecef_nav0);
ins_impl.ltp_def.hmsl = NAV_ALT0;
stateSetLocalOrigin_i(&ins_impl.ltp_def);
}
/** copy position and speed to state interface */
static void ins_ned_to_state(void)
{
stateSetPositionNed_i(&ins_impl.ltp_pos);
stateSetSpeedNed_i(&ins_impl.ltp_speed);
stateSetAccelNed_i(&ins_impl.ltp_accel);
#if defined SITL && USE_NPS
if (nps_bypass_ins) {
sim_overwrite_ins();
}
#endif
}
void b2_hff_propagate(void) {
if (b2_hff_lost_counter < b2_hff_lost_limit)
b2_hff_lost_counter++;
#ifdef GPS_LAG
/* continue re-propagating to catch up with the present */
if (b2_hff_rb_last->rollback) {
b2_hff_propagate_past(b2_hff_rb_last);
}
#endif
/* store body accelerations for mean computation */
b2_hff_store_accel_body();
/* propagate current state if it is time */
if (b2_hff_ps_counter == HFF_PRESCALER) {
b2_hff_ps_counter = 1;
if (b2_hff_lost_counter < b2_hff_lost_limit) {
/* compute float ltp mean acceleration */
b2_hff_compute_accel_body_mean(HFF_PRESCALER);
struct Int32Vect3 mean_accel_ltp;
INT32_RMAT_TRANSP_VMULT(mean_accel_ltp, ahrs.ltp_to_body_rmat, acc_body_mean);
b2_hff_xdd_meas = ACCEL_FLOAT_OF_BFP(mean_accel_ltp.x);
b2_hff_ydd_meas = ACCEL_FLOAT_OF_BFP(mean_accel_ltp.y);
#ifdef GPS_LAG
b2_hff_store_accel_ltp(b2_hff_xdd_meas, b2_hff_ydd_meas);
#endif
/*
* propagate current state
*/
b2_hff_propagate_x(&b2_hff_state);
b2_hff_propagate_y(&b2_hff_state);
/* update ins state from horizontal filter */
ins_ltp_accel.x = ACCEL_BFP_OF_REAL(b2_hff_state.xdotdot);
ins_ltp_accel.y = ACCEL_BFP_OF_REAL(b2_hff_state.ydotdot);
ins_ltp_speed.x = SPEED_BFP_OF_REAL(b2_hff_state.xdot);
ins_ltp_speed.y = SPEED_BFP_OF_REAL(b2_hff_state.ydot);
ins_ltp_pos.x = POS_BFP_OF_REAL(b2_hff_state.x);
ins_ltp_pos.y = POS_BFP_OF_REAL(b2_hff_state.y);
#ifdef GPS_LAG
/* increase lag counter on last saved state */
if (b2_hff_rb_n > 0)
b2_hff_rb_last->lag_counter++;
/* save filter state if needed */
if (save_counter == 0) {
PRINT_DBG(1, ("save current state\n"));
b2_hff_rb_put_state(&b2_hff_state);
save_counter = -1;
} else if (save_counter > 0) {
save_counter--;
}
#endif
}
} else {
b2_hff_ps_counter++;
}
}
/**
* Auto-throttle inner loop
* \brief
*/
void v_ctl_climb_loop(void)
{
// Airspeed setpoint rate limiter:
// AIRSPEED_SETPOINT_SLEW in m/s/s - a change from 15m/s to 18m/s takes 3s with the default value of 1
float airspeed_incr = v_ctl_auto_airspeed_setpoint - v_ctl_auto_airspeed_setpoint_slew;
BoundAbs(airspeed_incr, AIRSPEED_SETPOINT_SLEW * dt_attidude);
v_ctl_auto_airspeed_setpoint_slew += airspeed_incr;
#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT
// Ground speed control loop (input: groundspeed error, output: airspeed controlled)
float err_groundspeed = (v_ctl_auto_groundspeed_setpoint - stateGetHorizontalSpeedNorm_f());
v_ctl_auto_groundspeed_sum_err += err_groundspeed;
BoundAbs(v_ctl_auto_groundspeed_sum_err, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR);
v_ctl_auto_airspeed_controlled = (err_groundspeed + v_ctl_auto_groundspeed_sum_err * v_ctl_auto_groundspeed_igain) *
v_ctl_auto_groundspeed_pgain;
// Do not allow controlled airspeed below the setpoint
if (v_ctl_auto_airspeed_controlled < v_ctl_auto_airspeed_setpoint_slew) {
v_ctl_auto_airspeed_controlled = v_ctl_auto_airspeed_setpoint_slew;
// reset integrator of ground speed loop
v_ctl_auto_groundspeed_sum_err = v_ctl_auto_airspeed_controlled / (v_ctl_auto_groundspeed_pgain *
v_ctl_auto_groundspeed_igain);
}
#else
v_ctl_auto_airspeed_controlled = v_ctl_auto_airspeed_setpoint_slew;
#endif
// Airspeed outerloop: positive means we need to accelerate
float speed_error = v_ctl_auto_airspeed_controlled - stateGetAirspeed_f();
// Speed Controller to PseudoControl: gain 1 -> 5m/s error = 0.5g acceleration
v_ctl_desired_acceleration = speed_error * v_ctl_airspeed_pgain / 9.81f;
BoundAbs(v_ctl_desired_acceleration, v_ctl_max_acceleration);
// Actual Acceleration from IMU: attempt to reconstruct the actual kinematic acceleration
#ifndef SITL
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, &imu.accel);
float vdot = ACCEL_FLOAT_OF_BFP(accel_meas_body.x) / 9.81f - sinf(stateGetNedToBodyEulers_f()->theta);
#else
float vdot = 0;
#endif
// Acceleration Error: positive means UAV needs to accelerate: needs extra energy
float vdot_err = low_pass_vdot(v_ctl_desired_acceleration - vdot);
// Flight Path Outerloop: positive means needs to climb more: needs extra energy
float gamma_err = (v_ctl_climb_setpoint - stateGetSpeedEnu_f()->z) / v_ctl_auto_airspeed_controlled;
// Total Energy Error: positive means energy should be added
float en_tot_err = gamma_err + vdot_err;
// Energy Distribution Error: positive means energy should go from overspeed to altitude = pitch up
float en_dis_err = gamma_err - vdot_err;
// Auto Cruise Throttle
if (launch && (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB)) {
v_ctl_auto_throttle_nominal_cruise_throttle +=
v_ctl_auto_throttle_of_airspeed_igain * speed_error * dt_attidude
+ en_tot_err * v_ctl_energy_total_igain * dt_attidude;
Bound(v_ctl_auto_throttle_nominal_cruise_throttle, 0.0f, 1.0f);
}
// Total Controller
float controlled_throttle = v_ctl_auto_throttle_nominal_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_of_airspeed_pgain * speed_error
+ v_ctl_energy_total_pgain * en_tot_err;
if ((controlled_throttle >= 1.0f) || (controlled_throttle <= 0.0f) || (kill_throttle == 1)) {
// If your energy supply is not sufficient, then neglect the climb requirement
en_dis_err = -vdot_err;
// adjust climb_setpoint to maintain airspeed in case of an engine failure or an unrestriced climb
if (v_ctl_climb_setpoint > 0) { v_ctl_climb_setpoint += - 30. * dt_attidude; }
if (v_ctl_climb_setpoint < 0) { v_ctl_climb_setpoint += 30. * dt_attidude; }
}
/* pitch pre-command */
if (launch && (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB)) {
v_ctl_auto_throttle_nominal_cruise_pitch += v_ctl_auto_pitch_of_airspeed_igain * (-speed_error) * dt_attidude
+ v_ctl_energy_diff_igain * en_dis_err * dt_attidude;
Bound(v_ctl_auto_throttle_nominal_cruise_pitch, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT);
}
float v_ctl_pitch_of_vz =
+ (v_ctl_climb_setpoint /*+ d_err * v_ctl_auto_throttle_pitch_of_vz_dgain*/) * v_ctl_auto_throttle_pitch_of_vz_pgain
- v_ctl_auto_pitch_of_airspeed_pgain * speed_error
+ v_ctl_auto_pitch_of_airspeed_dgain * vdot
+ v_ctl_energy_diff_pgain * en_dis_err
+ v_ctl_auto_throttle_nominal_cruise_pitch;
if (kill_throttle) { v_ctl_pitch_of_vz = v_ctl_pitch_of_vz - 1 / V_CTL_GLIDE_RATIO; }
v_ctl_pitch_setpoint = v_ctl_pitch_of_vz + nav_pitch;
Bound(v_ctl_pitch_setpoint, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT)
ac_char_update(controlled_throttle, v_ctl_pitch_of_vz, v_ctl_climb_setpoint, v_ctl_desired_acceleration);
v_ctl_throttle_setpoint = TRIM_UPPRZ(controlled_throttle * MAX_PPRZ);
}
void ins_reset_altitude_ref(void)
{
#if USE_GPS
struct LlaCoor_i lla = {
.lat = state.ned_origin_i.lla.lat,
.lon = state.ned_origin_i.lla.lon,
.alt = gps.lla_pos.alt
};
ltp_def_from_lla_i(&ins_int.ltp_def, &lla);
ins_int.ltp_def.hmsl = gps.hmsl;
stateSetLocalOrigin_i(&ins_int.ltp_def);
#endif
ins_int.vf_reset = TRUE;
}
void ins_int_propagate(struct Int32Vect3 *accel, float dt)
{
/* untilt accels */
struct Int32Vect3 accel_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, accel);
struct Int32Vect3 accel_meas_ltp;
int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), &accel_meas_body);
float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
/* Propagate only if we got any measurement during the last INS_MAX_PROPAGATION_STEPS.
* Otherwise halt the propagation to not diverge and only set the acceleration.
* This should only be relevant in the startup phase when the baro is not yet initialized
* and there is no gps fix yet...
*/
if (ins_int.propagation_cnt < INS_MAX_PROPAGATION_STEPS) {
vff_propagate(z_accel_meas_float, dt);
ins_update_from_vff();
} else {
// feed accel from the sensors
// subtract -9.81m/s2 (acceleration measured due to gravity,
// but vehicle not accelerating in ltp)
ins_int.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
}
#if USE_HFF
/* propagate horizontal filter */
b2_hff_propagate();
/* convert and copy result to ins_int */
ins_update_from_hff();
#else
ins_int.ltp_accel.x = accel_meas_ltp.x;
ins_int.ltp_accel.y = accel_meas_ltp.y;
#endif /* USE_HFF */
ins_ned_to_state();
/* increment the propagation counter, while making sure it doesn't overflow */
if (ins_int.propagation_cnt < 100 * INS_MAX_PROPAGATION_STEPS) {
ins_int.propagation_cnt++;
}
}
static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
{
if (!ins_int.baro_initialized && pressure > 1e-7) {
// wait for a first positive value
ins_int.qfe = pressure;
ins_int.baro_initialized = TRUE;
}
if (ins_int.baro_initialized) {
if (ins_int.vf_reset) {
ins_int.vf_reset = FALSE;
ins_int.qfe = pressure;
vff_realign(0.);
ins_update_from_vff();
} else {
ins_int.baro_z = -pprz_isa_height_of_pressure(pressure, ins_int.qfe);
#if USE_VFF_EXTENDED
vff_update_baro(ins_int.baro_z);
#else
vff_update(ins_int.baro_z);
#endif
}
ins_ned_to_state();
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
}
#if USE_GPS
void ins_int_update_gps(struct GpsState *gps_s)
{
if (gps_s->fix < GPS_FIX_3D) {
return;
}
if (!ins_int.ltp_initialized) {
ins_reset_local_origin();
}
struct NedCoor_i gps_pos_cm_ned;
ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_int.ltp_def, &gps_s->ecef_pos);
/* calculate body frame position taking BODY_TO_GPS translation (in cm) into account */
#ifdef INS_BODY_TO_GPS_X
/* body2gps translation in body frame */
struct Int32Vect3 b2g_b = {
.x = INS_BODY_TO_GPS_X,
.y = INS_BODY_TO_GPS_Y,
.z = INS_BODY_TO_GPS_Z
};
/* rotate offset given in body frame to navigation/ltp frame using current attitude */
struct Int32Quat q_b2n = *stateGetNedToBodyQuat_i();
QUAT_INVERT(q_b2n, q_b2n);
struct Int32Vect3 b2g_n;
int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);
/* subtract body2gps translation in ltp from gps position */
VECT3_SUB(gps_pos_cm_ned, b2g_n);
#endif
/// @todo maybe use gps_s->ned_vel directly??
struct NedCoor_i gps_speed_cm_s_ned;
ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_int.ltp_def, &gps_s->ecef_vel);
#if INS_USE_GPS_ALT
vff_update_z_conf(((float)gps_pos_cm_ned.z) / 100.0, INS_VFF_R_GPS);
#endif
#if INS_USE_GPS_ALT_SPEED
vff_update_vz_conf(((float)gps_speed_cm_s_ned.z) / 100.0, INS_VFF_VZ_R_GPS);
#endif
#if USE_HFF
/* horizontal gps transformed to NED in meters as float */
struct FloatVect2 gps_pos_m_ned;
VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
struct FloatVect2 gps_speed_m_s_ned;
VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.);
if (ins_int.hf_realign) {
ins_int.hf_realign = FALSE;
const struct FloatVect2 zero = {0.0f, 0.0f};
b2_hff_realign(gps_pos_m_ned, zero);
}
// run horizontal filter
b2_hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
// convert and copy result to ins_int
ins_update_from_hff();
#else /* hff not used */
/* simply copy horizontal pos/speed from gps */
INT32_VECT2_SCALE_2(ins_int.ltp_pos, gps_pos_cm_ned,
INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
INT32_VECT2_SCALE_2(ins_int.ltp_speed, gps_speed_cm_s_ned,
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
#endif /* USE_HFF */
ins_ned_to_state();
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
#else
void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {}
#endif /* USE_GPS */
#if USE_SONAR
static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance)
{
static float last_offset = 0.;
/* update filter assuming a flat ground */
if (distance < INS_SONAR_MAX_RANGE && distance > INS_SONAR_MIN_RANGE
#ifdef INS_SONAR_THROTTLE_THRESHOLD
&& stabilization_cmd[COMMAND_THRUST] < INS_SONAR_THROTTLE_THRESHOLD
#endif
#ifdef INS_SONAR_BARO_THRESHOLD
&& ins_int.baro_z > -INS_SONAR_BARO_THRESHOLD /* z down */
#endif
&& ins_int.update_on_agl
&& ins_int.baro_initialized) {
vff_update_z_conf(-(distance), VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(distance));
last_offset = vff.offset;
} else {
/* update offset with last value to avoid divergence */
vff_update_offset(last_offset);
}
/* reset the counter to indicate we just had a measurement update */
ins_int.propagation_cnt = 0;
}
#endif // USE_SONAR
/** initialize the local origin (ltp_def) from flight plan position */
static void ins_init_origin_from_flightplan(void)
{
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = NAV_LAT0;
llh_nav0.lon = NAV_LON0;
/* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
struct EcefCoor_i ecef_nav0;
ecef_of_lla_i(&ecef_nav0, &llh_nav0);
ltp_def_from_ecef_i(&ins_int.ltp_def, &ecef_nav0);
ins_int.ltp_def.hmsl = NAV_ALT0;
stateSetLocalOrigin_i(&ins_int.ltp_def);
}
/** copy position and speed to state interface */
static void ins_ned_to_state(void)
{
stateSetPositionNed_i(&ins_int.ltp_pos);
stateSetSpeedNed_i(&ins_int.ltp_speed);
stateSetAccelNed_i(&ins_int.ltp_accel);
#if defined SITL && USE_NPS
if (nps_bypass_ins) {
sim_overwrite_ins();
}
#endif
}
void b2_hff_propagate(void)
{
if (b2_hff_lost_counter < b2_hff_lost_limit) {
b2_hff_lost_counter++;
}
#ifdef GPS_LAG
/* continue re-propagating to catch up with the present */
if (b2_hff_rb_last->rollback) {
b2_hff_propagate_past(b2_hff_rb_last);
}
#endif
/* rotate imu accel measurement to body frame and filter */
struct Int32Vect3 acc_meas_body;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
int32_rmat_transp_vmult(&acc_meas_body, body_to_imu_rmat, &imu.accel);
struct Int32Vect3 acc_body_filtered;
acc_body_filtered.x = update_butterworth_2_low_pass_int(&filter_x, acc_meas_body.x);
acc_body_filtered.y = update_butterworth_2_low_pass_int(&filter_y, acc_meas_body.y);
acc_body_filtered.z = update_butterworth_2_low_pass_int(&filter_z, acc_meas_body.z);
/* propagate current state if it is time */
if (b2_hff_ps_counter == HFF_PRESCALER) {
b2_hff_ps_counter = 1;
if (b2_hff_lost_counter < b2_hff_lost_limit) {
struct Int32Vect3 filtered_accel_ltp;
struct Int32RMat *ltp_to_body_rmat = stateGetNedToBodyRMat_i();
int32_rmat_transp_vmult(&filtered_accel_ltp, ltp_to_body_rmat, &acc_body_filtered);
b2_hff_xdd_meas = ACCEL_FLOAT_OF_BFP(filtered_accel_ltp.x);
b2_hff_ydd_meas = ACCEL_FLOAT_OF_BFP(filtered_accel_ltp.y);
#ifdef GPS_LAG
b2_hff_store_accel_ltp(b2_hff_xdd_meas, b2_hff_ydd_meas);
#endif
/*
* propagate current state
*/
b2_hff_propagate_x(&b2_hff_state, DT_HFILTER);
b2_hff_propagate_y(&b2_hff_state, DT_HFILTER);
#ifdef GPS_LAG
/* increase lag counter on last saved state */
if (b2_hff_rb_n > 0) {
b2_hff_rb_last->lag_counter++;
}
/* save filter state if needed */
if (save_counter == 0) {
PRINT_DBG(1, ("save current state\n"));
b2_hff_rb_put_state(&b2_hff_state);
save_counter = -1;
} else if (save_counter > 0) {
save_counter--;
}
#endif
}
} else {
b2_hff_ps_counter++;
}
}
