void SoloGimbal::write_logs()
{
DataFlash_Class *dataflash = DataFlash_Class::instance();
if (dataflash == nullptr) {
return;
}
uint32_t tstamp = AP_HAL::millis();
Vector3f eulerEst;
Quaternion quatEst;
_ekf.getQuat(quatEst);
quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z);
struct log_Gimbal1 pkt1 = {
LOG_PACKET_HEADER_INIT(LOG_GIMBAL1_MSG),
time_ms : tstamp,
delta_time : _log_dt,
delta_angles_x : _log_del_ang.x,
delta_angles_y : _log_del_ang.y,
delta_angles_z : _log_del_ang.z,
delta_velocity_x : _log_del_vel.x,
delta_velocity_y : _log_del_vel.y,
delta_velocity_z : _log_del_vel.z,
joint_angles_x : _measurement.joint_angles.x,
joint_angles_y : _measurement.joint_angles.y,
joint_angles_z : _measurement.joint_angles.z
};
dataflash->WriteBlock(&pkt1, sizeof(pkt1));
struct log_Gimbal2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG),
time_ms : tstamp,
est_sta : (uint8_t) _ekf.getStatus(),
est_x : eulerEst.x,
est_y : eulerEst.y,
est_z : eulerEst.z,
rate_x : _ang_vel_dem_rads.x,
rate_y : _ang_vel_dem_rads.y,
rate_z : _ang_vel_dem_rads.z,
target_x: _att_target_euler_rad.x,
target_y: _att_target_euler_rad.y,
target_z: _att_target_euler_rad.z
};
dataflash->WriteBlock(&pkt2, sizeof(pkt2));
_log_dt = 0;
_log_del_ang.zero();
_log_del_vel.zero();
}
// log the contents of the log_tuning structure to dataflash
void AP_TECS::log_data(DataFlash_Class &dataflash, uint8_t msgid)
{
log_tuning.head1 = HEAD_BYTE1;
log_tuning.head2 = HEAD_BYTE2;
log_tuning.msgid = msgid;
dataflash.WriteBlock(&log_tuning, sizeof(log_tuning));
}
/* report SITL state to DataFlash */
void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash)
{
double p, q, r;
float yaw;
// we want the gyro values to be directly comparable to the
// raw_imu message, which is in body frame
convert_body_frame(state.rollDeg, state.pitchDeg,
state.rollRate, state.pitchRate, state.yawRate,
&p, &q, &r);
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
struct log_AHRS pkt = {
LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)(state.rollDeg*100),
pitch : (int16_t)(state.pitchDeg*100),
yaw : (uint16_t)(wrap_360_cd(yaw*100)),
alt : (float)state.altitude,
lat : (int32_t)(state.latitude*1.0e7),
lng : (int32_t)(state.longitude*1.0e7)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
const Vector3f &gyro,
uint64_t sample_us)
{
float dt;
if (_imu._gyro_raw_sample_rates[instance] <= 0) {
return;
}
dt = 1.0f / _imu._gyro_raw_sample_rates[instance];
// call gyro_sample hook if any
AP_Module::call_hook_gyro_sample(instance, dt, gyro);
// compute delta angle
Vector3f delta_angle = (gyro + _imu._last_raw_gyro[instance]) * 0.5f * dt;
// compute coning correction
// see page 26 of:
// Tian et al (2010) Three-loop Integration of GPS and Strapdown INS with Coning and Sculling Compensation
// Available: http://www.sage.unsw.edu.au/snap/publications/tian_etal2010b.pdf
// see also examples/coning.py
Vector3f delta_coning = (_imu._delta_angle_acc[instance] +
_imu._last_delta_angle[instance] * (1.0f / 6.0f));
delta_coning = delta_coning % delta_angle;
delta_coning *= 0.5f;
// integrate delta angle accumulator
// the angles and coning corrections are accumulated separately in the
// referenced paper, but in simulation little difference was found between
// integrating together and integrating separately (see examples/coning.py)
_imu._delta_angle_acc[instance] += delta_angle + delta_coning;
_imu._delta_angle_acc_dt[instance] += dt;
// save previous delta angle for coning correction
_imu._last_delta_angle[instance] = delta_angle;
_imu._last_raw_gyro[instance] = gyro;
_imu._gyro_filtered[instance] = _imu._gyro_filter[instance].apply(gyro);
if (_imu._gyro_filtered[instance].is_nan() || _imu._gyro_filtered[instance].is_inf()) {
_imu._gyro_filter[instance].reset();
}
_imu._new_gyro_data[instance] = true;
DataFlash_Class *dataflash = get_dataflash();
if (dataflash != NULL) {
uint64_t now = AP_HAL::micros64();
struct log_GYRO pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+instance)),
time_us : now,
sample_us : sample_us?sample_us:now,
GyrX : gyro.x,
GyrY : gyro.y,
GyrZ : gyro.z
};
dataflash->WriteBlock(&pkt, sizeof(pkt));
}
/* report SITL state to DataFlash */
void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash)
{
float yaw;
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
struct log_AHRS pkt = {
LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
time_us : hal.scheduler->micros64(),
roll : (int16_t)(state.rollDeg*100),
pitch : (int16_t)(state.pitchDeg*100),
yaw : (uint16_t)(wrap_360_cd(yaw*100)),
alt : (float)state.altitude,
lat : (int32_t)(state.latitude*1.0e7),
lng : (int32_t)(state.longitude*1.0e7)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
void OpticalFlow::Log_Write_Optflow()
{
DataFlash_Class *instance = DataFlash_Class::instance();
if (instance == nullptr) {
return;
}
if (_log_bit != (uint32_t)-1 &&
!instance->should_log(_log_bit)) {
return;
}
struct log_Optflow pkt = {
LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
time_us : AP_HAL::micros64(),
surface_quality : _state.surface_quality,
flow_x : _state.flowRate.x,
flow_y : _state.flowRate.y,
body_x : _state.bodyRate.x,
body_y : _state.bodyRate.y
};
instance->WriteBlock(&pkt, sizeof(pkt));
}
