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ahrs_aligner.c
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2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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21 
29 #include "ahrs_aligner.h"
30 
31 #include <stdlib.h> /* for abs() */
32 #include "subsystems/imu.h"
33 #include "led.h"
34 #include "subsystems/abi.h"
35 #include "mcu_periph/sys_time.h"
36 
38 
39 #ifndef AHRS_ALIGNER_SAMPLES_NB
40 #define AHRS_ALIGNER_SAMPLES_NB 100
41 #endif
42 
43 static struct Int32Rates gyro_sum;
44 static struct Int32Vect3 accel_sum;
45 static struct Int32Vect3 mag_sum;
48 
49 #ifndef AHRS_ALIGNER_IMU_ID
50 #define AHRS_ALIGNER_IMU_ID ABI_BROADCAST
51 #endif
53 
54 static void gyro_cb(uint8_t sender_id __attribute__((unused)),
55  uint32_t stamp __attribute__((unused)),
56  struct Int32Rates *gyro __attribute__((unused)))
57 {
60  }
61 }
62 
63 #if PERIODIC_TELEMETRY
65 
66 static void send_aligner(struct transport_tx *trans, struct link_device *dev)
67 {
68  pprz_msg_send_FILTER_ALIGNER(trans, dev, AC_ID,
72  &imu.gyro.p,
73  &imu.gyro.q,
74  &imu.gyro.r,
78 }
79 #endif
80 
82 {
83 
88  samples_idx = 0;
89  ahrs_aligner.noise = 0;
91 
92  // for now: only bind to gyro message and still read from global imu struct
93  AbiBindMsgIMU_GYRO_INT32(AHRS_ALIGNER_IMU_ID, &gyro_ev, gyro_cb);
94 
95 #if PERIODIC_TELEMETRY
96  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FILTER_ALIGNER, send_aligner);
97 #endif
98 }
99 
100 #ifndef LOW_NOISE_THRESHOLD
101 #define LOW_NOISE_THRESHOLD 90000
102 #endif
103 
104 #ifndef LOW_NOISE_TIME
105 #define LOW_NOISE_TIME 5
106 #endif
107 
109 {
110 
114 
116  samples_idx++;
117 
118 #ifdef AHRS_ALIGNER_LED
119  RunOnceEvery(50, {LED_TOGGLE(AHRS_ALIGNER_LED);});
120 #endif
121 
123  int32_t avg_ref_sensor = accel_sum.z;
124  if (avg_ref_sensor >= 0) {
125  avg_ref_sensor += AHRS_ALIGNER_SAMPLES_NB / 2;
126  } else {
127  avg_ref_sensor -= AHRS_ALIGNER_SAMPLES_NB / 2;
128  }
129  avg_ref_sensor /= AHRS_ALIGNER_SAMPLES_NB;
130 
131  ahrs_aligner.noise = 0;
132  int i;
133  for (i = 0; i < AHRS_ALIGNER_SAMPLES_NB; i++) {
134  int32_t diff = ref_sensor_samples[i] - avg_ref_sensor;
135  ahrs_aligner.noise += abs(diff);
136  }
137 
138  RATES_SDIV(ahrs_aligner.lp_gyro, gyro_sum, AHRS_ALIGNER_SAMPLES_NB);
139  VECT3_SDIV(ahrs_aligner.lp_accel, accel_sum, AHRS_ALIGNER_SAMPLES_NB);
140  VECT3_SDIV(ahrs_aligner.lp_mag, mag_sum, AHRS_ALIGNER_SAMPLES_NB);
141 
145  samples_idx = 0;
146 
149  } else if (ahrs_aligner.low_noise_cnt > 0) {
151  }
152 
155 #ifdef AHRS_ALIGNER_LED
156  LED_ON(AHRS_ALIGNER_LED);
157 #endif
158  uint32_t now_ts = get_sys_time_usec();
159  AbiSendMsgIMU_LOWPASSED(ABI_BROADCAST, now_ts, &ahrs_aligner.lp_gyro,
161  }
162  }
163 
164 }
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
#define RATES_SDIV(_ro, _ri, _s)
Definition: pprz_algebra.h:386
Interface to align the AHRS via low-passed measurements at startup.
angular rates
#define VECT3_ADD(_a, _b)
Definition: pprz_algebra.h:147
#define LOW_NOISE_THRESHOLD
Definition: ahrs_aligner.c:101
#define RATES_ADD(_a, _b)
Definition: pprz_algebra.h:344
static struct Int32Vect3 mag_sum
Definition: ahrs_aligner.c:45
Periodic telemetry system header (includes downlink utility and generated code).
static void send_aligner(struct transport_tx *trans, struct link_device *dev)
Definition: ahrs_aligner.c:66
#define INT_RATES_ZERO(_e)
Main include for ABI (AirBorneInterface).
struct Imu imu
global IMU state
Definition: imu.c:108
#define AHRS_ALIGNER_RUNNING
Definition: ahrs_aligner.h:36
static void gyro_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
Definition: ahrs_aligner.c:54
struct Int32Rates lp_gyro
Definition: ahrs_aligner.h:40
int32_t r
in rad/s with INT32_RATE_FRAC
struct Int32Vect3 lp_mag
Definition: ahrs_aligner.h:42
int32_t low_noise_cnt
Definition: ahrs_aligner.h:44
struct Int32Vect3 accel
accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
Definition: imu.h:39
static struct Int32Rates gyro_sum
Definition: ahrs_aligner.c:43
struct AhrsAligner ahrs_aligner
Definition: ahrs_aligner.c:37
uint8_t status
Definition: ahrs_aligner.h:45
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
#define AHRS_ALIGNER_LOCKED
Definition: ahrs_aligner.h:37
#define VECT3_SDIV(_vo, _vi, _s)
Definition: pprz_algebra.h:196
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
#define AHRS_ALIGNER_IMU_ID
Definition: ahrs_aligner.c:50
struct Int32Vect3 lp_accel
Definition: ahrs_aligner.h:41
struct Int32Vect3 mag
magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
Definition: imu.h:40
Inertial Measurement Unit interface.
#define LED_TOGGLE(i)
Definition: led_hw.h:53
#define LOW_NOISE_TIME
Number of cycles (100 samples each) with low noise.
Definition: ahrs_aligner.c:105
signed long int32_t
Definition: types.h:19
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
static abi_event gyro_ev
Definition: ahrs_aligner.c:52
#define INT_VECT3_ZERO(_v)
int32_t noise
Definition: ahrs_aligner.h:43
unsigned char uint8_t
Definition: types.h:14
int32_t p
in rad/s with INT32_RATE_FRAC
arch independent LED (Light Emitting Diodes) API
#define ABI_BROADCAST
Broadcast address.
Definition: abi_common.h:56
#define LED_ON(i)
Definition: led_hw.h:51
static int32_t ref_sensor_samples[AHRS_ALIGNER_SAMPLES_NB]
Definition: ahrs_aligner.c:46
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
void ahrs_aligner_init(void)
Definition: ahrs_aligner.c:81
int32_t q
in rad/s with INT32_RATE_FRAC
#define AHRS_ALIGNER_SAMPLES_NB
Definition: ahrs_aligner.c:40
void ahrs_aligner_run(void)
Definition: ahrs_aligner.c:108
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:46
static uint32_t samples_idx
Definition: ahrs_aligner.c:47
struct Int32Rates gyro
gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
Definition: imu.h:38
static struct Int32Vect3 accel_sum
Definition: ahrs_aligner.c:44