Paparazzi UAS  v5.15_devel-110-g5cf27ee
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ahrs_float_cmpl_wrapper.c
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1 /*
2  * Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #include "subsystems/ahrs.h"
29 #include "subsystems/abi.h"
30 #include "state.h"
31 
32 #ifndef AHRS_FC_OUTPUT_ENABLED
33 #define AHRS_FC_OUTPUT_ENABLED TRUE
34 #endif
35 PRINT_CONFIG_VAR(AHRS_FC_OUTPUT_ENABLED)
36 
37 
41 
42 static void compute_body_orientation_and_rates(void);
43 
44 #if PERIODIC_TELEMETRY
46 #include "mcu_periph/sys_time.h"
47 #include "state.h"
48 
49 static void send_euler(struct transport_tx *trans, struct link_device *dev)
50 {
51  struct FloatEulers ltp_to_imu_euler;
52  float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_fc.ltp_to_imu_quat);
53  pprz_msg_send_AHRS_EULER(trans, dev, AC_ID,
54  &ltp_to_imu_euler.phi,
55  &ltp_to_imu_euler.theta,
56  &ltp_to_imu_euler.psi,
57  &ahrs_fc_id);
58 }
59 
60 static void send_bias(struct transport_tx *trans, struct link_device *dev)
61 {
62  struct Int32Rates gyro_bias;
64  pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
65  &gyro_bias.p, &gyro_bias.q, &gyro_bias.r, &ahrs_fc_id);
66 }
67 
68 static void send_euler_int(struct transport_tx *trans, struct link_device *dev)
69 {
70  /* compute eulers in int (IMU frame) */
71  struct FloatEulers ltp_to_imu_euler;
72  float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_fc.ltp_to_imu_quat);
73  struct Int32Eulers eulers_imu;
74  EULERS_BFP_OF_REAL(eulers_imu, ltp_to_imu_euler);
75 
76  /* get Eulers in int (body frame) */
78  struct Int32Eulers *eulers_body = orientationGetEulers_i(&ahrs_fc.ltp_to_body);
79 
80  pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
81  &eulers_imu.phi,
82  &eulers_imu.theta,
83  &eulers_imu.psi,
84  &eulers_body->phi,
85  &eulers_body->theta,
86  &eulers_body->psi,
87  &ahrs_fc_id);
88 }
89 
90 static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
91 {
92  pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
94 }
95 
96 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
97 {
98  uint8_t mde = 3;
99  uint16_t val = 0;
100  if (!ahrs_fc.is_aligned) { mde = 2; }
102  /* set lost if no new gyro measurements for 50ms */
103  if (t_diff > 50000) { mde = 5; }
104  pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &ahrs_fc_id, &mde, &val);
105 }
106 #endif
107 
108 
112 #ifndef AHRS_FC_IMU_ID
113 #define AHRS_FC_IMU_ID ABI_BROADCAST
114 #endif
115 PRINT_CONFIG_VAR(AHRS_FC_IMU_ID)
119 #ifndef AHRS_FC_MAG_ID
120 #define AHRS_FC_MAG_ID AHRS_FC_IMU_ID
121 #endif
122 PRINT_CONFIG_VAR(AHRS_FC_MAG_ID)
126 #ifndef AHRS_FC_GPS_ID
127 #define AHRS_FC_GPS_ID GPS_MULTI_ID
128 #endif
129 PRINT_CONFIG_VAR(AHRS_FC_GPS_ID)
137 
138 
139 static void gyro_cb(uint8_t __attribute__((unused)) sender_id,
140  uint32_t stamp, struct Int32Rates *gyro)
141 {
142  ahrs_fc_last_stamp = stamp;
143  struct FloatRates gyro_f;
144  RATES_FLOAT_OF_BFP(gyro_f, *gyro);
145 
146 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_PROPAGATE_FREQUENCY)
147  PRINT_CONFIG_MSG("Calculating dt for AHRS_FC propagation.")
148  /* timestamp in usec when last callback was received */
149  static uint32_t last_stamp = 0;
150 
151  if (last_stamp > 0 && ahrs_fc.is_aligned) {
152  float dt = (float)(stamp - last_stamp) * 1e-6;
153  ahrs_fc_propagate(&gyro_f, dt);
155  }
156  last_stamp = stamp;
157 #else
158  PRINT_CONFIG_MSG("Using fixed AHRS_PROPAGATE_FREQUENCY for AHRS_FC propagation.")
159  PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
160  if (ahrs_fc.status == AHRS_FC_RUNNING) {
161  const float dt = 1. / (AHRS_PROPAGATE_FREQUENCY);
162  ahrs_fc_propagate(&gyro_f, dt);
164  }
165 #endif
166 }
167 
168 static void accel_cb(uint8_t __attribute__((unused)) sender_id,
169  uint32_t __attribute__((unused)) stamp,
170  struct Int32Vect3 *accel)
171 {
172  struct FloatVect3 accel_f;
173  ACCELS_FLOAT_OF_BFP(accel_f, *accel);
174 
175 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_CORRECT_FREQUENCY)
176  PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl accel update.")
177  static uint32_t last_stamp = 0;
178  if (last_stamp > 0 && ahrs_fc.is_aligned) {
179  float dt = (float)(stamp - last_stamp) * 1e-6;
180  ahrs_fc_update_accel(&accel_f, dt);
181  }
182  last_stamp = stamp;
183 #else
184  PRINT_CONFIG_MSG("Using fixed AHRS_CORRECT_FREQUENCY for AHRS float_cmpl accel update.")
185  PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
186  if (ahrs_fc.is_aligned) {
187  const float dt = 1. / (AHRS_CORRECT_FREQUENCY);
188  ahrs_fc_update_accel(&accel_f, dt);
189  }
190 #endif
191 }
192 
193 static void mag_cb(uint8_t __attribute__((unused)) sender_id,
194  uint32_t __attribute__((unused)) stamp,
195  struct Int32Vect3 *mag)
196 {
197  struct FloatVect3 mag_f;
198  MAGS_FLOAT_OF_BFP(mag_f, *mag);
199 
200 #if USE_AUTO_AHRS_FREQ || !defined(AHRS_MAG_CORRECT_FREQUENCY)
201  PRINT_CONFIG_MSG("Calculating dt for AHRS float_cmpl mag update.")
202  static uint32_t last_stamp = 0;
203  if (last_stamp > 0 && ahrs_fc.is_aligned) {
204  float dt = (float)(stamp - last_stamp) * 1e-6;
205  ahrs_fc_update_mag(&mag_f, dt);
206  }
207  last_stamp = stamp;
208 #else
209  PRINT_CONFIG_MSG("Using fixed AHRS_MAG_CORRECT_FREQUENCY for AHRS float_cmpl mag update.")
210  PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
211  if (ahrs_fc.is_aligned) {
212  const float dt = 1. / (AHRS_MAG_CORRECT_FREQUENCY);
213  ahrs_fc_update_mag(&mag_f, dt);
214  }
215 #endif
216 }
217 
218 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
219  uint32_t stamp __attribute__((unused)),
220  struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
221  struct Int32Vect3 *lp_mag)
222 {
223  if (!ahrs_fc.is_aligned) {
224  /* convert to float */
225  struct FloatRates gyro_f;
226  RATES_FLOAT_OF_BFP(gyro_f, *lp_gyro);
227  struct FloatVect3 accel_f;
228  ACCELS_FLOAT_OF_BFP(accel_f, *lp_accel);
229  struct FloatVect3 mag_f;
230  MAGS_FLOAT_OF_BFP(mag_f, *lp_mag);
231  /* use low passed values to align */
232  if (ahrs_fc_align(&gyro_f, &accel_f, &mag_f)) {
234  }
235  }
236 }
237 
238 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
239  struct FloatQuat *q_b2i_f)
240 {
242 }
243 
244 static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVect3 *h)
245 {
246  ahrs_fc.mag_h = *h;
247 }
248 
249 static void gps_cb(uint8_t sender_id __attribute__((unused)),
250  uint32_t stamp __attribute__((unused)),
251  struct GpsState *gps_s)
252 {
253  ahrs_fc_update_gps(gps_s);
255 }
256 
257 static bool ahrs_fc_enable_output(bool enable)
258 {
259  ahrs_fc_output_enabled = enable;
260  return ahrs_fc_output_enabled;
261 }
262 
267 {
268  if (ahrs_fc_output_enabled) {
269  /* recompute LTP to BODY quaternion */
271  struct FloatQuat *ltp_to_body_quat = orientationGetQuat_f(&ahrs_fc.ltp_to_body);
272  /* Set state */
273  stateSetNedToBodyQuat_f(ltp_to_body_quat);
274 
275  /* compute body rates */
276  struct FloatRates body_rate;
277  struct FloatRMat *body_to_imu_rmat = orientationGetRMat_f(&ahrs_fc.body_to_imu);
278  float_rmat_transp_ratemult(&body_rate, body_to_imu_rmat, &ahrs_fc.imu_rate);
279  stateSetBodyRates_f(&body_rate);
280  }
281 }
282 
284 {
285  ahrs_fc_output_enabled = AHRS_FC_OUTPUT_ENABLED;
286  ahrs_fc_init();
288 
289  /*
290  * Subscribe to scaled IMU measurements and attach callbacks
291  */
292  AbiBindMsgIMU_GYRO_INT32(AHRS_FC_IMU_ID, &gyro_ev, gyro_cb);
293  AbiBindMsgIMU_ACCEL_INT32(AHRS_FC_IMU_ID, &accel_ev, accel_cb);
294  AbiBindMsgIMU_MAG_INT32(AHRS_FC_MAG_ID, &mag_ev, mag_cb);
295  AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
296  AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
297  AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);
298  AbiBindMsgGPS(AHRS_FC_GPS_ID, &gps_ev, gps_cb);
299 
300 #if PERIODIC_TELEMETRY
301  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_EULER, send_euler);
302  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_GYRO_BIAS_INT, send_bias);
303  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_EULER_INT, send_euler_int);
305  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STATE_FILTER_STATUS, send_filter_status);
306 #endif
307 }
int32_t psi
in rad with INT32_ANGLE_FRAC
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
unsigned short uint16_t
Definition: types.h:16
#define AHRS_FC_IMU_ID
ABI binding for IMU data.
angular rates
#define RATES_BFP_OF_REAL(_ri, _rf)
Definition: pprz_algebra.h:765
Dispatcher to register actual AHRS implementations.
static void send_euler(struct transport_tx *trans, struct link_device *dev)
float phi
in radians
static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
struct FloatRates gyro_bias
static abi_event accel_ev
static void geo_mag_cb(uint8_t sender_id, struct FloatVect3 *h)
#define AHRS_PROPAGATE_FREQUENCY
Definition: hf_float.c:55
#define EULERS_BFP_OF_REAL(_ei, _ef)
Definition: pprz_algebra.h:715
Periodic telemetry system header (includes downlink utility and generated code).
void ahrs_fc_propagate(struct FloatRates *gyro, float dt)
int32_t theta
in rad with INT32_ANGLE_FRAC
static struct Int32Eulers * orientationGetEulers_i(struct OrientationReps *orientation)
Get vehicle body attitude euler angles (int).
static void gyro_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
static struct FloatRMat * orientationGetRMat_f(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (float).
static abi_event gps_ev
static abi_event aligner_ev
Main include for ABI (AirBorneInterface).
static void stateSetNedToBodyQuat_f(struct FloatQuat *ned_to_body_quat)
Set vehicle body attitude from quaternion (float).
Definition: state.h:1093
bool ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
float psi
in radians
static abi_event gyro_ev
void ahrs_fc_update_mag(struct FloatVect3 *mag, float dt)
void ahrs_fc_init(void)
static uint32_t ahrs_fc_last_stamp
struct FloatQuat ltp_to_imu_quat
euler angles
Roation quaternion.
static abi_event mag_ev
float theta
in radians
int32_t r
in rad/s with INT32_RATE_FRAC
static bool ahrs_fc_enable_output(bool enable)
static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static void send_euler_int(struct transport_tx *trans, struct link_device *dev)
#define RATES_FLOAT_OF_BFP(_rf, _ri)
Definition: pprz_algebra.h:759
void ahrs_fc_update_accel(struct FloatVect3 *accel, float dt)
void ahrs_register_impl(AhrsEnableOutput enable)
Register an AHRS implementation.
Definition: ahrs.c:62
static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
Architecture independent timing functions.
data structure for GPS information
Definition: gps.h:87
static bool ahrs_fc_output_enabled
if TRUE with push the estimation results to the state interface
euler angles
uint16_t val[TCOUPLE_NB]
#define AHRS_COMP_ID_FC
Definition: ahrs.h:37
#define AHRS_FC_MAG_ID
ABI binding for magnetometer data.
unsigned long uint32_t
Definition: types.h:18
static void compute_body_orientation_and_rates(void)
Compute body orientation and rates from imu orientation and rates.
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
void ahrs_fc_register(void)
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
static abi_event body_to_imu_ev
struct FloatVect3 mag_h
void ahrs_fc_set_body_to_imu_quat(struct FloatQuat *q_b2i)
#define ACCELS_FLOAT_OF_BFP(_ef, _ei)
Definition: pprz_algebra.h:795
#define AHRS_FC_GPS_ID
ABI binding for gps data.
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
static void body_to_imu_cb(uint8_t sender_id, struct FloatQuat *q_b2i_f)
static uint8_t ahrs_fc_id
static void h(const real32_T x[7], const real32_T q[4], real32_T y[6])
int32_t phi
in rad with INT32_ANGLE_FRAC
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
void float_rmat_transp_ratemult(struct FloatRates *rb, struct FloatRMat *m_b2a, struct FloatRates *ra)
rotate anglular rates by transposed rotation matrix.
struct FloatRates imu_rate
void ahrs_fc_update_gps(struct GpsState *gps_s)
struct OrientationReps body_to_imu
Paparazzi specific wrapper to run floating point complementary filter.
void ahrs_fc_recompute_ltp_to_body(void)
int32_t p
in rad/s with INT32_RATE_FRAC
rotation matrix
#define ABI_BROADCAST
Broadcast address.
Definition: abi_common.h:56
#define MAGS_FLOAT_OF_BFP(_ef, _ei)
Definition: pprz_algebra.h:807
static void send_bias(struct transport_tx *trans, struct link_device *dev)
static void aligner_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
enum AhrsFCStatus status
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
static void stateSetBodyRates_f(struct FloatRates *body_rate)
Set vehicle body angular rate (float).
Definition: state.h:1181
void float_eulers_of_quat(struct FloatEulers *e, struct FloatQuat *q)
euler rotation 'ZYX'
int32_t q
in rad/s with INT32_RATE_FRAC
struct AhrsFloatCmpl ahrs_fc
angular rates
static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
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 struct FloatQuat * orientationGetQuat_f(struct OrientationReps *orientation)
Get vehicle body attitude quaternion (float).
static abi_event geo_mag_ev
struct OrientationReps ltp_to_body
#define AHRS_FC_OUTPUT_ENABLED
static void mag_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)