/** Transformation **/ Quaterniond ecef2body_from_pprz_ned2body(Vector3d ecef_pos, struct DoubleQuat q_ned2body){ Quaterniond ecef2body; struct LtpDef_d current_ltp; struct EcefCoor_d ecef_pos_pprz; struct DoubleQuat q_ecef2enu, q_ecef2ned, q_ecef2body; VECTOR_AS_VECT3(ecef_pos_pprz, ecef_pos); ltp_def_from_ecef_d(¤t_ltp, &ecef_pos_pprz); DOUBLE_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef); QUAT_ENU_FROM_TO_NED(q_ecef2enu, q_ecef2ned); //FLOAT_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) // a = ecef b = ned c = body FLOAT_QUAT_COMP_INV_NORM_SHORTEST(q_ecef2body, q_ecef2ned, q_ned2body); #ifdef EKNAV_FROM_LOG_DEBUG printf("Right after initialization:\n"); DISPLAY_DOUBLE_QUAT("\t ned2body quaternion:", q_ned2body); DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ned2body); DISPLAY_DOUBLE_QUAT("\tecef2enu quaternion:", q_ecef2enu); DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2enu); DISPLAY_DOUBLE_QUAT("\tecef2ned quaternion:", q_ecef2ned); DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2ned); DISPLAY_DOUBLE_QUAT("\tecef2body quaternion:", q_ecef2body); DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2body); #endif /* EKNAV_FROM_LOG_DEBUG */ return DOUBLEQUAT_AS_QUATERNIOND(q_ecef2body); }
static void set_reference_direction(void){ struct NedCoor_d ref_dir_ned; struct EcefCoor_d pos_0_ecef_pprz, ref_dir_ecef; EARTHS_GEOMAGNETIC_FIELD_NORMED(ref_dir_ned); struct LtpDef_d current_ltp; VECTOR_AS_VECT3(pos_0_ecef_pprz, pos_0_ecef); ltp_def_from_ecef_d(¤t_ltp, &pos_0_ecef_pprz); ecef_of_ned_vect_d(&ref_dir_ecef, ¤t_ltp, &ref_dir_ned); // THIS SOMEWHERE ELSE! DoubleQuat initial_orientation; FLOAT_QUAT_ZERO(initial_orientation); ENU_NED_transformation(current_ltp.ltp_of_ecef); DOUBLE_QUAT_OF_RMAT(initial_orientation, current_ltp.ltp_of_ecef); ins.avg_state.orientation = DOUBLEQUAT_AS_QUATERNIOND(initial_orientation); // THIS SOMEWHERE ELSE! (END) // old transformation: //struct DoubleRMat ned2ecef; //NED_TO_ECEF_MAT(pos_0_lla, ned2ecef.m); //RMAT_VECT3_MUL(ref_dir_ecef, ned2ecef, ref_dir_ned); reference_direction = VECT3_AS_VECTOR3D(ref_dir_ecef).normalized(); //reference_direction = Vector3d(1, 0, 0); std::cout <<"reference direction NED : " << VECT3_AS_VECTOR3D(ref_dir_ned).transpose() << std::endl; std::cout <<"reference direction ECEF: " << reference_direction.transpose() << std::endl; }
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 */ }