void orientationCalcQuat_f(struct OrientationReps* orientation) {
if (bit_is_set(orientation->status, ORREP_QUAT_F))
return;
if (bit_is_set(orientation->status, ORREP_QUAT_I)) {
QUAT_FLOAT_OF_BFP(orientation->quat_f, orientation->quat_i);
}
else if (bit_is_set(orientation->status, ORREP_RMAT_F)) {
FLOAT_QUAT_OF_RMAT(orientation->quat_f, orientation->rmat_f);
}
else if (bit_is_set(orientation->status, ORREP_EULER_F)) {
FLOAT_QUAT_OF_EULERS(orientation->quat_f, orientation->eulers_f);
}
else if (bit_is_set(orientation->status, ORREP_RMAT_I)) {
RMAT_FLOAT_OF_BFP(orientation->rmat_f, orientation->rmat_i);
SetBit(orientation->status, ORREP_RMAT_F);
FLOAT_QUAT_OF_RMAT(orientation->quat_f, orientation->rmat_f);
}
else if (bit_is_set(orientation->status, ORREP_EULER_I)) {
EULERS_FLOAT_OF_BFP(orientation->eulers_f, orientation->eulers_i);
SetBit(orientation->status, ORREP_EULER_F);
FLOAT_QUAT_OF_EULERS(orientation->quat_f, orientation->eulers_f);
}
/* set bit to indicate this representation is computed */
SetBit(orientation->status, ORREP_QUAT_F);
}
void ahrs_propagate(void) {
/* converts gyro to floating point */
struct FloatRates gyro_float;
RATES_FLOAT_OF_BFP(gyro_float, imu.gyro_prev);
/* unbias measurement */
RATES_SUB(gyro_float, ahrs_impl.gyro_bias);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
const float alpha = 0.1;
FLOAT_RATES_LIN_CMB(ahrs_impl.imu_rate, ahrs_impl.imu_rate, (1.-alpha), gyro_float, alpha);
#else
RATES_COPY(ahrs_impl.imu_rate,gyro_float);
#endif
/* add correction */
struct FloatRates omega;
RATES_SUM(omega, gyro_float, ahrs_impl.rate_correction);
/* and zeros it */
FLOAT_RATES_ZERO(ahrs_impl.rate_correction);
const float dt = 1./AHRS_PROPAGATE_FREQUENCY;
#if AHRS_PROPAGATE_RMAT
FLOAT_RMAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_rmat, omega, dt);
float_rmat_reorthogonalize(&ahrs_impl.ltp_to_imu_rmat);
FLOAT_QUAT_OF_RMAT(ahrs_impl.ltp_to_imu_quat, ahrs_impl.ltp_to_imu_rmat);
#endif
#if AHRS_PROPAGATE_QUAT
FLOAT_QUAT_INTEGRATE(ahrs_impl.ltp_to_imu_quat, omega, dt);
FLOAT_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);
FLOAT_RMAT_OF_QUAT(ahrs_impl.ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
#endif
compute_body_orientation_and_rates();
}
static void update_ref_quat_from_eulers(void) {
struct FloatRMat ref_rmat;
#ifdef STICKS_RMAT312
FLOAT_RMAT_OF_EULERS_312(ref_rmat, stab_att_ref_euler);
#else
FLOAT_RMAT_OF_EULERS_321(ref_rmat, stab_att_ref_euler);
#endif
FLOAT_QUAT_OF_RMAT(stab_att_ref_quat, ref_rmat);
FLOAT_QUAT_WRAP_SHORTEST(stab_att_ref_quat);
}
float test_quat_of_rmat(void) {
// struct FloatEulers eul = {-0.280849, 0.613423, -1.850440};
struct FloatEulers eul = {RadOfDeg(0.131579), RadOfDeg(-62.397659), RadOfDeg(-110.470299)};
// struct FloatEulers eul = {RadOfDeg(0.13), RadOfDeg(180.), RadOfDeg(-61.)};
struct FloatMat33 rm;
FLOAT_RMAT_OF_EULERS(rm, eul);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat", rm);
struct FloatQuat q;
FLOAT_QUAT_OF_RMAT(q, rm);
DISPLAY_FLOAT_QUAT("q_of_rm ", q);
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("q_of_rm ", q);
struct FloatQuat qref;
FLOAT_QUAT_OF_EULERS(qref, eul);
DISPLAY_FLOAT_QUAT("q_of_euler", qref);
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("q_of_euler", qref);
printf("\n\n\n");
struct FloatMat33 r_att;
struct FloatEulers e312 = { eul.phi, eul.theta, eul.psi };
FLOAT_RMAT_OF_EULERS_312(r_att, e312);
DISPLAY_FLOAT_RMAT("r_att ", r_att);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("r_att ", r_att);
struct FloatQuat q_att;
FLOAT_QUAT_OF_RMAT(q_att, r_att);
struct FloatEulers e_att;
FLOAT_EULERS_OF_RMAT(e_att, r_att);
DISPLAY_FLOAT_EULERS_DEG("of rmat", e_att);
FLOAT_EULERS_OF_QUAT(e_att, q_att);
DISPLAY_FLOAT_EULERS_DEG("of quat", e_att);
return 0.;
}
float test_INT32_QUAT_OF_RMAT(struct FloatEulers* eul_f, bool_t display) {
struct Int32Eulers eul312_i;
EULERS_BFP_OF_REAL(eul312_i, (*eul_f));
if (display) DISPLAY_INT32_EULERS("eul312_i", eul312_i);
struct FloatRMat rmat_f;
FLOAT_RMAT_OF_EULERS_312(rmat_f, (*eul_f));
if (display) DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat float", rmat_f);
if (display) DISPLAY_FLOAT_RMAT("rmat float", rmat_f);
struct Int32RMat rmat_i;
INT32_RMAT_OF_EULERS_312(rmat_i, eul312_i);
if (display) DISPLAY_INT32_RMAT_AS_EULERS_DEG("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT_AS_FLOAT("rmat int", rmat_i);
struct FloatQuat qf;
FLOAT_QUAT_OF_RMAT(qf, rmat_f);
FLOAT_QUAT_WRAP_SHORTEST(qf);
if (display) DISPLAY_FLOAT_QUAT("qf", qf);
struct Int32Quat qi;
INT32_QUAT_OF_RMAT(qi, rmat_i);
INT32_QUAT_WRAP_SHORTEST(qi);
if (display) DISPLAY_INT32_QUAT("qi", qi);
if (display) DISPLAY_INT32_QUAT_2("qi", qi);
struct FloatQuat qif;
QUAT_FLOAT_OF_BFP(qif, qi);
struct FloatQuat qerr;
QUAT_DIFF(qerr, qif, qf);
float err_norm = FLOAT_QUAT_NORM(qerr);
if (display) printf("err %f\n", err_norm);
if (display) printf("\n");
return err_norm;
}
static inline void update_ref_quat_from_eulers(void) {
struct FloatRMat ref_rmat;
FLOAT_RMAT_OF_EULERS(ref_rmat, stab_att_ref_euler);
FLOAT_QUAT_OF_RMAT(stab_att_ref_quat, ref_rmat);
FLOAT_QUAT_WRAP_SHORTEST(stab_att_ref_quat);
}
static void print_estimator_state(double time) {
#if FILTER_OUTPUT_IN_NED
struct EcefCoor_d pos_ecef,
cur_pos_ecef,
cur_vel_ecef;
struct NedCoor_d pos_ned,
vel_ned;
struct DoubleQuat q_ecef2body,
q_ecef2enu,
q_enu2body,
q_ned2enu,
q_ned2body;
VECTOR_AS_VECT3(pos_ecef,pos_0_ecef);
VECTOR_AS_VECT3(cur_pos_ecef,ins.avg_state.position);
VECTOR_AS_VECT3(cur_vel_ecef,ins.avg_state.velocity);
ned_of_ecef_point_d(&pos_ned, ¤t_ltp, &cur_pos_ecef);
ned_of_ecef_vect_d(&vel_ned, ¤t_ltp, &cur_vel_ecef);
int32_t xdd = 0;
int32_t ydd = 0;
int32_t zdd = 0;
int32_t xd = vel_ned.x/0.0000019073;
int32_t yd = vel_ned.y/0.0000019073;
int32_t zd = vel_ned.z/0.0000019073;
int32_t x = pos_ned.x/0.0039;
int32_t y = pos_ned.y/0.0039;
int32_t z = pos_ned.z/0.0039;
fprintf(ins_logfile, "%f %d BOOZ2_INS2 %d %d %d %d %d %d %d %d %d\n", time, AC_ID, xdd, ydd, zdd, xd, yd, zd, x, y, z);
#if 0
QUAT_ASSIGN(q_ecef2body, ins.avg_state.orientation.w(), -ins.avg_state.orientation.x(),
-ins.avg_state.orientation.y(), -ins.avg_state.orientation.z());
QUAT_ASSIGN(q_ned2enu, 0, M_SQRT1_2, M_SQRT1_2, 0);
FLOAT_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
FLOAT_QUAT_INV_COMP(q_enu2body, q_ecef2enu, q_ecef2body); // q_enu2body = q_ecef2body * (q_ecef2enu)^*
FLOAT_QUAT_COMP(q_ned2body, q_ned2enu, q_enu2body); // q_ned2body = q_enu2body * q_ned2enu
#else /* if 0 */
QUATERNIOND_AS_DOUBLEQUAT(q_ecef2body, ins.avg_state.orientation);
DOUBLE_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
FLOAT_QUAT_INV_COMP(q_enu2body, q_ecef2enu, q_ecef2body);
QUAT_ENU_FROM_TO_NED(q_enu2body, q_ned2body);
#endif /* if 0 */
struct FloatEulers e;
FLOAT_EULERS_OF_QUAT(e, q_ned2body);
#if PRINT_EULER_NED
printf("EULER % 6.1f % 6.1f % 6.1f\n", e.phi*180*M_1_PI, e.theta*180*M_1_PI, e.psi*180*M_1_PI);
#endif /* PRINT_EULER_NED */
fprintf(ins_logfile, "%f %d AHRS_EULER %f %f %f\n", time, AC_ID, e.phi, e.theta, e.psi);
fprintf(ins_logfile, "%f %d DEBUG_COVARIANCE %f %f %f %f %f %f %f %f %f %f %f %f\n", time, AC_ID,
sqrt(ins.cov( 0, 0)), sqrt(ins.cov( 1, 1)), sqrt(ins.cov( 2, 2)),
sqrt(ins.cov( 3, 3)), sqrt(ins.cov( 4, 4)), sqrt(ins.cov( 5, 5)),
sqrt(ins.cov( 6, 6)), sqrt(ins.cov( 7, 7)), sqrt(ins.cov( 8, 8)),
sqrt(ins.cov( 9, 9)), sqrt(ins.cov(10,10)), sqrt(ins.cov(11,11)));
fprintf(ins_logfile, "%f %d BOOZ_SIM_GYRO_BIAS %f %f %f\n", time, AC_ID, ins.avg_state.gyro_bias(0), ins.avg_state.gyro_bias(1), ins.avg_state.gyro_bias(2));
#else /* FILTER_OUTPUT_IN_ECEF */
int32_t xdd = 0;
int32_t ydd = 0;
int32_t zdd = 0;
int32_t xd = ins.avg_state.velocity(0)/0.0000019073;
int32_t yd = ins.avg_state.velocity(1)/0.0000019073;
int32_t zd = ins.avg_state.velocity(2)/0.0000019073;
int32_t x = ins.avg_state.position(0)/0.0039;
int32_t y = ins.avg_state.position(1)/0.0039;
int32_t z = ins.avg_state.position(2)/0.0039;
fprintf(ins_logfile, "%f %d BOOZ2_INS2 %d %d %d %d %d %d %d %d %d\n", time, AC_ID, xdd, ydd, zdd, xd, yd, zd, x, y, z);
struct FloatQuat q_ecef2body;
QUAT_ASSIGN(q_ecef2body, ins.avg_state.orientation.w(), ins.avg_state.orientation.x(),
ins.avg_state.orientation.y(), ins.avg_state.orientation.z());
struct FloatEulers e_ecef2body;
FLOAT_EULERS_OF_QUAT(e_ecef2body, q_ecef2body);
fprintf(ins_logfile, "%f %d AHRS_EULER %f %f %f\n", time, AC_ID, e_ecef2body.phi, e_ecef2body.theta, e_ecef2body.psi);
fprintf(ins_logfile, "%f %d DEBUG_COVARIANCE %f %f %f %f %f %f %f %f %f %f %f %f\n", time, AC_ID,
sqrt(ins.cov( 0, 0)), sqrt(ins.cov( 1, 1)), sqrt(ins.cov( 2, 2)),
sqrt(ins.cov( 3, 3)), sqrt(ins.cov( 4, 4)), sqrt(ins.cov( 5, 5)),
sqrt(ins.cov( 6, 6)), sqrt(ins.cov( 7, 7)), sqrt(ins.cov( 8, 8)),
sqrt(ins.cov( 9, 9)), sqrt(ins.cov(10,10)), sqrt(ins.cov(11,11)));
fprintf(ins_logfile, "%f %d BOOZ_SIM_GYRO_BIAS %f %f %f\n", time, AC_ID, ins.avg_state.gyro_bias(0), ins.avg_state.gyro_bias(1), ins.avg_state.gyro_bias(2));
#endif /* FILTER_OUTPUT_IN_NED / ECEF */
}
/*
* Compute ltp to imu rotation in euler angles and quaternion representations
* from the rotation matrice representation
*/
static inline void compute_imu_quat_and_euler_from_rmat(void) {
FLOAT_QUAT_OF_RMAT(ahrs_float.ltp_to_imu_quat, ahrs_float.ltp_to_imu_rmat);
FLOAT_EULERS_OF_RMAT(ahrs_float.ltp_to_imu_euler, ahrs_float.ltp_to_imu_rmat);
}
