static void position_estimation_position_integration(position_estimator_t *pos_est)
{
int32_t i;
float dt = pos_est->ahrs->dt;
quat_t qvel_bf,qvel;
qvel.s = 0;
for (i = 0; i < 3; i++)
{
qvel.v[i] = pos_est->vel[i];
}
qvel_bf = quaternions_global_to_local(pos_est->ahrs->qe, qvel);
for (i = 0; i < 3; i++)
{
pos_est->vel_bf[i] = qvel_bf.v[i];
pos_est->vel_bf[i] = pos_est->vel_bf[i] * (1.0f - (VEL_DECAY * dt)) + pos_est->ahrs->linear_acc[i] * dt;
}
// calculate velocity in global frame
// vel = qe *vel_bf * qe - 1
qvel_bf.s = 0.0f;
qvel_bf.v[0] = pos_est->vel_bf[0]; // TODO: replace this by quat_rotate_vector()
qvel_bf.v[1] = pos_est->vel_bf[1];
qvel_bf.v[2] = pos_est->vel_bf[2];
qvel = quaternions_local_to_global(pos_est->ahrs->qe, qvel_bf);
pos_est->vel[0] = qvel.v[0];
pos_est->vel[1] = qvel.v[1];
pos_est->vel[2] = qvel.v[2]; // TODO: replace this by quat_rotate_vector()
for (i = 0; i < 3; i++)
{
pos_est->local_position.pos[i] = pos_est->local_position.pos[i] * (1.0f - (POS_DECAY * dt)) + pos_est->vel[i] * dt;
pos_est->local_position.heading = coord_conventions_get_yaw(pos_est->ahrs->qe);
}
}
static void acoustic_set_waypoint_command(audio_t* audio_data)
{
quat_t qtmp1, qtmp2;
float target_vect_global[3];
float speed_gain;
qtmp1 = quaternions_create_from_vector(target_vect);
qtmp2 = quaternions_local_to_global(attitude_previous, qtmp1);
//unit vector to target
target_vect_global[0] = qtmp2.v[0];
target_vect_global[1] = qtmp2.v[1];
target_vect_global[2] = qtmp2.v[2];
//distance to target on ground (computed from the hight of robot)
//speed_gain = f_abs(position_previous[2]/target_vect_global[2]);
//speed_gain = f_abs(1.0-target_vect_global[2])*15.0
speed_gain = maths_f_abs(quick_trig_acos(target_vect_global[2])) * 20.0f;
if (speed_gain > 20.0f)
{
speed_gain = 20.0f;
}
else if (speed_gain < 3.0f)
{
speed_gain = 0.0f;
}
audio_data->waypoint_handler->waypoint_hold_coordinates.pos[0] = speed_gain * target_vect_global[0] + position_previous[0];
audio_data->waypoint_handler->waypoint_hold_coordinates.pos[1] = speed_gain * target_vect_global[1] + position_previous[1];
//centralData->controls_nav.theading=audio_data->azimuth*PI/180;
if (speed_gain > 3.0f)
{
audio_data->waypoint_handler->waypoint_hold_coordinates.heading = atan2(target_vect_global[Y], target_vect_global[X]);
}
}
void simulation_update(simulation_model_t *sim)
{
int32_t i;
quat_t qtmp1, qvel_bf, qed;
const quat_t front = {.s = 0.0f, .v = {1.0f, 0.0f, 0.0f}};
const quat_t up = {.s = 0.0f, .v = {UPVECTOR_X, UPVECTOR_Y, UPVECTOR_Z}};
uint32_t now = time_keeper_get_micros();
sim->dt = (now - sim->last_update) / 1000000.0f;
if (sim->dt > 0.1f)
{
sim->dt = 0.1f;
}
sim->last_update = now;
// compute torques and forces based on servo commands
forces_from_servos_diag_quad(sim);
// integrate torques to get simulated gyro rates (with some damping)
sim->rates_bf[0] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[0] + sim->dt * sim->torques_bf[0] / sim->vehicle_config.roll_pitch_momentum, 10.0f);
sim->rates_bf[1] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[1] + sim->dt * sim->torques_bf[1] / sim->vehicle_config.roll_pitch_momentum, 10.0f);
sim->rates_bf[2] = maths_clip((1.0f - 0.1f * sim->dt) * sim->rates_bf[2] + sim->dt * sim->torques_bf[2] / sim->vehicle_config.yaw_momentum, 10.0f);
for (i = 0; i < 3; i++)
{
qtmp1.v[i] = 0.5f * sim->rates_bf[i];
}
qtmp1.s = 0;
// apply step rotation
qed = quaternions_multiply(sim->ahrs.qe,qtmp1);
// TODO: correct this formulas when using the right scales
sim->ahrs.qe.s = sim->ahrs.qe.s + qed.s * sim->dt;
sim->ahrs.qe.v[0] += qed.v[0] * sim->dt;
sim->ahrs.qe.v[1] += qed.v[1] * sim->dt;
sim->ahrs.qe.v[2] += qed.v[2] * sim->dt;
sim->ahrs.qe = quaternions_normalise(sim->ahrs.qe);
sim->ahrs.up_vec = quaternions_global_to_local(sim->ahrs.qe, up);
sim->ahrs.north_vec = quaternions_global_to_local(sim->ahrs.qe, front);
// velocity and position integration
// check altitude - if it is lower than 0, clamp everything (this is in NED, assuming negative altitude)
if (sim->local_position.pos[Z] >0)
{
sim->vel[Z] = 0.0f;
sim->local_position.pos[Z] = 0.0f;
// simulate "acceleration" caused by contact force with ground, compensating gravity
for (i = 0; i < 3; i++)
{
sim->lin_forces_bf[i] = sim->ahrs.up_vec.v[i] * sim->vehicle_config.total_mass * sim->vehicle_config.sim_gravity;
}
// slow down... (will make velocity slightly inconsistent until next update cycle, but shouldn't matter much)
for (i = 0; i < 3; i++)
{
sim->vel_bf[i] = 0.95f * sim->vel_bf[i];
}
//upright
sim->rates_bf[0] = sim->ahrs.up_vec.v[1];
sim->rates_bf[1] = - sim->ahrs.up_vec.v[0];
sim->rates_bf[2] = 0;
}
sim->ahrs.qe = quaternions_normalise(sim->ahrs.qe);
sim->ahrs.up_vec = quaternions_global_to_local(sim->ahrs.qe, up);
sim->ahrs.north_vec = quaternions_global_to_local(sim->ahrs.qe, front);
for (i = 0; i < 3; i++)
{
qtmp1.v[i] = sim->vel[i];
}
qtmp1.s = 0.0f;
qvel_bf = quaternions_global_to_local(sim->ahrs.qe, qtmp1);
float acc_bf[3];
for (i = 0; i < 3; i++)
{
sim->vel_bf[i] = qvel_bf.v[i];
// following the convention in the IMU, this is the acceleration due to force, as measured
sim->ahrs.linear_acc[i] = sim->lin_forces_bf[i] / sim->vehicle_config.total_mass;
// this is the "clean" acceleration without gravity
acc_bf[i] = sim->ahrs.linear_acc[i] - sim->ahrs.up_vec.v[i] * sim->vehicle_config.sim_gravity;
sim->vel_bf[i] = sim->vel_bf[i] + acc_bf[i] * sim->dt;
}
// calculate velocity in global frame
// vel = qe *vel_bf * qe - 1
qvel_bf.s = 0.0f; qvel_bf.v[0] = sim->vel_bf[0]; qvel_bf.v[1] = sim->vel_bf[1]; qvel_bf.v[2] = sim->vel_bf[2];
qtmp1 = quaternions_local_to_global(sim->ahrs.qe, qvel_bf);
sim->vel[0] = qtmp1.v[0]; sim->vel[1] = qtmp1.v[1]; sim->vel[2] = qtmp1.v[2];
for (i = 0; i < 3; i++)
{
sim->local_position.pos[i] = sim->local_position.pos[i] + sim->vel[i] * sim->dt;
}
// fill in simulated IMU values
for (i = 0;i < 3; i++)
{
sim->imu->raw_gyro.data[sim->imu->calib_gyro.axis[i]] = (sim->rates_bf[i] * sim->calib_gyro.scale_factor[i] + sim->calib_gyro.bias[i]) * sim->calib_gyro.orientation[i];
sim->imu->raw_accelero.data[sim->imu->calib_accelero.axis[i]] = ((sim->lin_forces_bf[i] / sim->vehicle_config.total_mass / sim->vehicle_config.sim_gravity) * sim->calib_accelero.scale_factor[i] + sim->calib_accelero.bias[i]) * sim->calib_accelero.orientation[i];
sim->imu->raw_compass.data[sim->imu->calib_compass.axis[i]] = ((sim->ahrs.north_vec.v[i] ) * sim->calib_compass.scale_factor[i] + sim->calib_compass.bias[i])* sim->calib_compass.orientation[i];
}
sim->local_position.heading = coord_conventions_get_yaw(sim->ahrs.qe);
}
void simulation_simulate_barometer(simulation_model_t *sim)
{
sim->pressure->altitude = sim->local_position.origin.altitude - sim->local_position.pos[Z];
sim->pressure->vario_vz = sim->vel[Z];
sim->pressure->last_update = time_keeper_get_millis();
sim->pressure->altitude_offset = 0;
}
void simulation_simulate_gps(simulation_model_t *sim)
{
global_position_t gpos = coord_conventions_local_to_global_position(sim->local_position);
sim->gps->altitude = gpos.altitude;
sim->gps->latitude = gpos.latitude;
sim->gps->longitude = gpos.longitude;
sim->gps->time_last_msg = time_keeper_get_millis();
sim->gps->time_last_posllh_msg = time_keeper_get_millis();
sim->gps->time_last_velned_msg = time_keeper_get_millis();
sim->gps->north_speed = sim->vel[X];
sim->gps->east_speed = sim->vel[Y];
sim->gps->vertical_speed = sim->vel[Z];
sim->gps->status = GPS_OK;
sim->gps->healthy = true;
}
void qfilter_update(qfilter_t *qf)
{
static uint32_t convergence_update_count = 0;
float omc[3], omc_mag[3] , tmp[3], snorm, norm, s_acc_norm, acc_norm, s_mag_norm, mag_norm;
quat_t qed, qtmp1, up, up_bf;
quat_t mag_global, mag_corrected_local;
quat_t front_vec_global =
{
.s = 0.0f,
.v = {1.0f, 0.0f, 0.0f}
};
float kp = qf->kp;
float kp_mag = qf->kp_mag;
float ki = qf->ki;
float ki_mag = qf->ki_mag;
// Update time in us
float now_us = time_keeper_get_micros();
// Delta t in seconds
float dt = 1e-6 * (float)(now_us - qf->ahrs->last_update);
// Write to ahrs structure
qf->ahrs->dt = dt;
qf->ahrs->last_update = now_us;
// up_bf = qe^-1 *(0,0,0,-1) * qe
up.s = 0; up.v[X] = UPVECTOR_X; up.v[Y] = UPVECTOR_Y; up.v[Z] = UPVECTOR_Z;
up_bf = quaternions_global_to_local(qf->ahrs->qe, up);
// calculate norm of acceleration vector
s_acc_norm = qf->imu->scaled_accelero.data[X] * qf->imu->scaled_accelero.data[X] + qf->imu->scaled_accelero.data[Y] * qf->imu->scaled_accelero.data[Y] + qf->imu->scaled_accelero.data[Z] * qf->imu->scaled_accelero.data[Z];
if ( (s_acc_norm > 0.7f * 0.7f) && (s_acc_norm < 1.3f * 1.3f) )
{
// approximate square root by running 2 iterations of newton method
acc_norm = maths_fast_sqrt(s_acc_norm);
tmp[X] = qf->imu->scaled_accelero.data[X] / acc_norm;
tmp[Y] = qf->imu->scaled_accelero.data[Y] / acc_norm;
tmp[Z] = qf->imu->scaled_accelero.data[Z] / acc_norm;
// omc = a x up_bf.v
CROSS(tmp, up_bf.v, omc);
}
else
{
omc[X] = 0;
omc[Y] = 0;
omc[Z] = 0;
}
// Heading computation
// transfer
qtmp1 = quaternions_create_from_vector(qf->imu->scaled_compass.data);
mag_global = quaternions_local_to_global(qf->ahrs->qe, qtmp1);
// calculate norm of compass vector
//s_mag_norm = SQR(mag_global.v[X]) + SQR(mag_global.v[Y]) + SQR(mag_global.v[Z]);
s_mag_norm = SQR(mag_global.v[X]) + SQR(mag_global.v[Y]);
if ( (s_mag_norm > 0.004f * 0.004f) && (s_mag_norm < 1.8f * 1.8f) )
{
mag_norm = maths_fast_sqrt(s_mag_norm);
mag_global.v[X] /= mag_norm;
mag_global.v[Y] /= mag_norm;
mag_global.v[Z] = 0.0f; // set z component in global frame to 0
// transfer magneto vector back to body frame
qf->ahrs->north_vec = quaternions_global_to_local(qf->ahrs->qe, front_vec_global);
mag_corrected_local = quaternions_global_to_local(qf->ahrs->qe, mag_global);
// omc = a x up_bf.v
CROSS(mag_corrected_local.v, qf->ahrs->north_vec.v, omc_mag);
}
else
{
omc_mag[X] = 0;
omc_mag[Y] = 0;
omc_mag[Z] = 0;
}
// get error correction gains depending on mode
switch (qf->ahrs->internal_state)
{
case AHRS_UNLEVELED:
kp = qf->kp * 10.0f;
kp_mag = qf->kp_mag * 10.0f;
ki = 0.5f * qf->ki;
ki_mag = 0.5f * qf->ki_mag;
convergence_update_count += 1;
if( convergence_update_count > 2000 )
{
convergence_update_count = 0;
qf->ahrs->internal_state = AHRS_CONVERGING;
print_util_dbg_print("End of AHRS attitude initialization.\r\n");
}
break;
case AHRS_CONVERGING:
kp = qf->kp;
kp_mag = qf->kp_mag;
ki = qf->ki * 3.0f;
ki_mag = qf->ki_mag * 3.0f;
convergence_update_count += 1;
if( convergence_update_count > 2000 )
{
convergence_update_count = 0;
qf->ahrs->internal_state = AHRS_READY;
print_util_dbg_print("End of AHRS leveling.\r\n");
}
break;
case AHRS_READY:
kp = qf->kp;
kp_mag = qf->kp_mag;
ki = qf->ki;
ki_mag = qf->ki_mag;
break;
}
// apply error correction with appropriate gains for accelerometer and compass
for (uint8_t i = 0; i < 3; i++)
{
qtmp1.v[i] = 0.5f * (qf->imu->scaled_gyro.data[i] + kp * omc[i] + kp_mag * omc_mag[i]);
}
qtmp1.s = 0;
// apply step rotation with corrections
qed = quaternions_multiply(qf->ahrs->qe,qtmp1);
// TODO: correct this formulas!
qf->ahrs->qe.s = qf->ahrs->qe.s + qed.s * dt;
qf->ahrs->qe.v[X] += qed.v[X] * dt;
qf->ahrs->qe.v[Y] += qed.v[Y] * dt;
qf->ahrs->qe.v[Z] += qed.v[Z] * dt;
snorm = qf->ahrs->qe.s * qf->ahrs->qe.s + qf->ahrs->qe.v[X] * qf->ahrs->qe.v[X] + qf->ahrs->qe.v[Y] * qf->ahrs->qe.v[Y] + qf->ahrs->qe.v[Z] * qf->ahrs->qe.v[Z];
if (snorm < 0.0001f)
{
norm = 0.01f;
}
else
{
// approximate square root by running 2 iterations of newton method
norm = maths_fast_sqrt(snorm);
}
qf->ahrs->qe.s /= norm;
qf->ahrs->qe.v[X] /= norm;
qf->ahrs->qe.v[Y] /= norm;
qf->ahrs->qe.v[Z] /= norm;
// bias estimate update
qf->imu->calib_gyro.bias[X] += - dt * ki * omc[X] / qf->imu->calib_gyro.scale_factor[X];
qf->imu->calib_gyro.bias[Y] += - dt * ki * omc[Y] / qf->imu->calib_gyro.scale_factor[Y];
qf->imu->calib_gyro.bias[Z] += - dt * ki * omc[Z] / qf->imu->calib_gyro.scale_factor[Z];
qf->imu->calib_gyro.bias[X] += - dt * ki_mag * omc_mag[X] / qf->imu->calib_compass.scale_factor[X];
qf->imu->calib_gyro.bias[Y] += - dt * ki_mag * omc_mag[Y] / qf->imu->calib_compass.scale_factor[Y];
qf->imu->calib_gyro.bias[Z] += - dt * ki_mag * omc_mag[Z] / qf->imu->calib_compass.scale_factor[Z];
// set up-vector (bodyframe) in attitude
qf->ahrs->up_vec.v[X] = up_bf.v[X];
qf->ahrs->up_vec.v[Y] = up_bf.v[Y];
qf->ahrs->up_vec.v[Z] = up_bf.v[Z];
// Update linear acceleration
qf->ahrs->linear_acc[X] = 9.81f * (qf->imu->scaled_accelero.data[X] - qf->ahrs->up_vec.v[X]) ; // TODO: review this line!
qf->ahrs->linear_acc[Y] = 9.81f * (qf->imu->scaled_accelero.data[Y] - qf->ahrs->up_vec.v[Y]) ; // TODO: review this line!
qf->ahrs->linear_acc[Z] = 9.81f * (qf->imu->scaled_accelero.data[Z] - qf->ahrs->up_vec.v[Z]) ; // TODO: review this line!
//update angular_speed.
qf->ahrs->angular_speed[X] = qf->imu->scaled_gyro.data[X];
qf->ahrs->angular_speed[Y] = qf->imu->scaled_gyro.data[Y];
qf->ahrs->angular_speed[Z] = qf->imu->scaled_gyro.data[Z];
}
