__attribute__ ((always_inline)) static inline void compute_body_orientation(void) {
/* Compute LTP to BODY quaternion */
INT32_QUAT_COMP_INV(ahrs.ltp_to_body_quat, ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
/* Compute LTP to BODY rotation matrix */
INT32_RMAT_COMP_INV(ahrs.ltp_to_body_rmat, ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
/* compute LTP to BODY eulers */
INT32_EULERS_OF_RMAT(ahrs.ltp_to_body_euler, ahrs.ltp_to_body_rmat);
/* compute body rates */
INT32_RMAT_TRANSP_RATEMULT(ahrs.body_rate, imu.body_to_imu_rmat, ahrs.imu_rate);
}
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
}
