static void test_2(void)
{
struct Int32Vect3 v1 = { 5000, 5000, 5000 };
DISPLAY_INT32_VECT3("v1", v1);
struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)};
DISPLAY_FLOAT_EULERS("euler_f", euler_f);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, euler_f);
DISPLAY_INT32_EULERS("euler_i", euler_i);
struct Int32Quat quat_i;
int32_quat_of_eulers(&quat_i, &euler_i);
DISPLAY_INT32_QUAT("quat_i", quat_i);
int32_quat_normalize(&quat_i);
DISPLAY_INT32_QUAT("quat_i_n", quat_i);
struct Int32Vect3 v2;
int32_quat_vmult(&v2, &quat_i, &v1);
DISPLAY_INT32_VECT3("v2", v2);
struct Int32RMat rmat_i;
int32_rmat_of_quat(&rmat_i, &quat_i);
DISPLAY_INT32_RMAT("rmat_i", rmat_i);
struct Int32Vect3 v3;
INT32_RMAT_VMULT(v3, rmat_i, v1);
DISPLAY_INT32_VECT3("v3", v3);
struct Int32RMat rmat_i2;
int32_rmat_of_eulers(&rmat_i2, &euler_i);
DISPLAY_INT32_RMAT("rmat_i2", rmat_i2);
struct Int32Vect3 v4;
INT32_RMAT_VMULT(v4, rmat_i2, v1);
DISPLAY_INT32_VECT3("v4", v4);
struct FloatQuat quat_f;
float_quat_of_eulers(&quat_f, &euler_f);
DISPLAY_FLOAT_QUAT("quat_f", quat_f);
struct FloatVect3 v5;
VECT3_COPY(v5, v1);
DISPLAY_FLOAT_VECT3("v5", v5);
struct FloatVect3 v6;
float_quat_vmult(&v6, &quat_f, &v5);
DISPLAY_FLOAT_VECT3("v6", v6);
}
static void test_2(void) {
struct Int32Vect3 v1 = { 5000, 5000, 5000 };
DISPLAY_INT32_VECT3("v1", v1);
struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)};
DISPLAY_FLOAT_EULERS("euler_f", euler_f);
struct Int32Eulers euler_i;
EULERS_BFP_OF_REAL(euler_i, euler_f);
DISPLAY_INT32_EULERS("euler_i", euler_i);
struct Int32Quat quat_i;
INT32_QUAT_OF_EULERS(quat_i, euler_i);
DISPLAY_INT32_QUAT("quat_i", quat_i);
INT32_QUAT_NORMALIZE(quat_i);
DISPLAY_INT32_QUAT("quat_i_n", quat_i);
struct Int32Vect3 v2;
INT32_QUAT_VMULT(v2, quat_i, v1);
DISPLAY_INT32_VECT3("v2", v2);
struct Int32RMat rmat_i;
INT32_RMAT_OF_QUAT(rmat_i, quat_i);
DISPLAY_INT32_RMAT("rmat_i", rmat_i);
struct Int32Vect3 v3;
INT32_RMAT_VMULT(v3, rmat_i, v1);
DISPLAY_INT32_VECT3("v3", v3);
struct Int32RMat rmat_i2;
INT32_RMAT_OF_EULERS(rmat_i2, euler_i);
DISPLAY_INT32_RMAT("rmat_i2", rmat_i2);
struct Int32Vect3 v4;
INT32_RMAT_VMULT(v4, rmat_i2, v1);
DISPLAY_INT32_VECT3("v4", v4);
struct FloatQuat quat_f;
FLOAT_QUAT_OF_EULERS(quat_f, euler_f);
DISPLAY_FLOAT_QUAT("quat_f", quat_f);
struct FloatVect3 v5;
VECT3_COPY(v5, v1);
DISPLAY_FLOAT_VECT3("v5", v5);
struct FloatVect3 v6;
FLOAT_QUAT_VMULT(v6, quat_f, v5);
DISPLAY_FLOAT_VECT3("v6", v6);
}
void test_of_axis_angle(void)
{
struct FloatVect3 axis = { 0., 1., 0.};
FLOAT_VECT3_NORMALIZE(axis);
DISPLAY_FLOAT_VECT3("axis", axis);
const float angle = RadOfDeg(30.);
printf("angle %f\n", DegOfRad(angle));
struct FloatQuat my_q;
FLOAT_QUAT_OF_AXIS_ANGLE(my_q, axis, angle);
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("quat", my_q);
struct FloatRMat my_r1;
float_rmat_of_quat(&my_r1, &my_q);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat1", my_r1);
DISPLAY_FLOAT_RMAT("rmat1", my_r1);
struct FloatRMat my_r;
FLOAT_RMAT_OF_AXIS_ANGLE(my_r, axis, angle);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat", my_r);
DISPLAY_FLOAT_RMAT("rmat", my_r);
printf("\n");
struct FloatEulers eul = {RadOfDeg(30.), RadOfDeg(30.), 0.};
struct FloatVect3 uz = { 0., 0., 1.};
struct FloatRMat r_yaw;
FLOAT_RMAT_OF_AXIS_ANGLE(r_yaw, uz, eul.psi);
struct FloatVect3 uy = { 0., 1., 0.};
struct FloatRMat r_pitch;
FLOAT_RMAT_OF_AXIS_ANGLE(r_pitch, uy, eul.theta);
struct FloatVect3 ux = { 1., 0., 0.};
struct FloatRMat r_roll;
FLOAT_RMAT_OF_AXIS_ANGLE(r_roll, ux, eul.phi);
struct FloatRMat r_yaw_pitch;
float_rmat_comp(&r_yaw_pitch, &r_yaw, &r_pitch);
struct FloatRMat r_yaw_pitch_roll;
float_rmat_comp(&r_yaw_pitch_roll, &r_yaw_pitch, &r_roll);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat", r_yaw_pitch_roll);
DISPLAY_FLOAT_RMAT("rmat", r_yaw_pitch_roll);
DISPLAY_FLOAT_EULERS_DEG("eul", eul);
struct FloatRMat rmat1;
float_rmat_of_eulers(&rmat1, &eul);
DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat1", rmat1);
DISPLAY_FLOAT_RMAT("rmat1", rmat1);
}
float test_quat(void) {
struct FloatVect3 u = { 1., 2., 3.};
FLOAT_VECT3_NORMALIZE(u);
float angle = RadOfDeg(30.);
struct FloatQuat q;
FLOAT_QUAT_OF_AXIS_ANGLE(q, u, angle);
DISPLAY_FLOAT_QUAT("q ", q);
struct FloatQuat iq;
FLOAT_QUAT_INVERT(iq, q);
DISPLAY_FLOAT_QUAT("iq", iq);
struct FloatQuat q1;
FLOAT_QUAT_COMP(q1, q, iq);
DISPLAY_FLOAT_QUAT("q1", q1);
struct FloatQuat q2;
FLOAT_QUAT_COMP(q2, q, iq);
DISPLAY_FLOAT_QUAT("q2", q2);
struct FloatQuat qe;
QUAT_EXPLEMENTARY(qe, q);
DISPLAY_FLOAT_QUAT("qe", qe);
struct FloatVect3 a = { 2., 1., 3.};
DISPLAY_FLOAT_VECT3("a ", a);
struct FloatVect3 a1;
FLOAT_QUAT_VMULT(a1, q, a);
DISPLAY_FLOAT_VECT3("a1", a1);
struct FloatVect3 a2;
FLOAT_QUAT_VMULT(a2, qe, a);
DISPLAY_FLOAT_VECT3("a2", a2);
return 0.;
}
void ahrs_update_mag2(void) {
const struct FloatVect3 expected_ltp = {AHRS_H_X, AHRS_H_Y, AHRS_H_Z};
struct FloatVect3 expected_imu;
FLOAT_RMAT_VECT3_MUL(expected_imu, ahrs_float.ltp_to_imu_rmat, expected_ltp);
struct FloatVect3 measured_imu;
MAGS_FLOAT_OF_BFP(measured_imu, imu.mag);
struct FloatVect3 residual;
FLOAT_VECT3_CROSS_PRODUCT(residual, measured_imu, expected_imu);
// FLOAT_VECT3_DIFF(residual, expected_imu, measured_imu);
DISPLAY_FLOAT_VECT3(" expected", expected_imu);
DISPLAY_FLOAT_VECT3(" measured", measured_imu);
DISPLAY_FLOAT_VECT3("residual", residual);
const float mag_rate_update_gain = 2.5;
FLOAT_RATES_ADD_SCALED_VECT(ahrs_impl.rate_correction, residual, mag_rate_update_gain);
}
void ahrs_update_mag(void) {
/* project mag on local tangeant plane */
struct FloatVect3 magf;
MAGS_FLOAT_OF_BFP(magf, imu.mag);
const float cphi = cosf(ahrs_float.ltp_to_imu_euler.phi);
const float sphi = sinf(ahrs_float.ltp_to_imu_euler.phi);
const float ctheta = cosf(ahrs_float.ltp_to_imu_euler.theta);
const float stheta = sinf(ahrs_float.ltp_to_imu_euler.theta);
const float mn = ctheta * magf.x + sphi*stheta*magf.y + cphi*stheta*magf.z;
const float me = 0. * magf.x + cphi *magf.y - sphi *magf.z;
const float res_norm = -RMAT_ELMT(ahrs_float.ltp_to_imu_rmat, 0,0)*me + RMAT_ELMT(ahrs_float.ltp_to_imu_rmat, 1,0)*mn;
printf("res norm %f\n", res_norm);
struct FloatVect3* r2 = (struct FloatVect3*)(&RMAT_ELMT(ahrs_float.ltp_to_imu_rmat, 2,0));
DISPLAY_FLOAT_VECT3("r2", (*r2));
const float mag_rate_update_gain = 2.5;
FLOAT_RATES_ADD_SCALED_VECT(ahrs_impl.rate_correction, (*r2), (mag_rate_update_gain*res_norm));
DISPLAY_FLOAT_RATES("corr", ahrs_impl.rate_correction);
const float mag_bias_update_gain = -2.5e-4;
FLOAT_RATES_ADD_SCALED_VECT(ahrs_impl.gyro_bias, (*r2), (mag_bias_update_gain*res_norm));
/* FIXME: saturate bias */
}