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ahrs_float_dcm.c File Reference

Attitude estimation for fixedwings based on the DCM. More...

#include "std.h"
#include "subsystems/ahrs/ahrs_float_dcm.h"
#include "subsystems/ahrs/ahrs_float_utils.h"
#include "autopilot.h"
#include "subsystems/ahrs/ahrs_float_dcm_algebra.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/gps.h"
#include <string.h>
#include "led.h"
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Macros

#define ACCEL_WEIGHT_FILTER   8
 
#define ACCEL_WEIGHT_BAND   1.f
 

Functions

static void compute_ahrs_representations (void)
 
static void set_dcm_matrix_from_rmat (struct FloatRMat *rmat)
 
void Normalize (void)
 
void Drift_correction (void)
 
void Matrix_update (float dt)
 
void ahrs_dcm_init (void)
 
bool ahrs_dcm_align (struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
 
void ahrs_dcm_propagate (struct FloatRates *gyro, float dt)
 
void ahrs_dcm_update_gps (struct GpsState *gps_s)
 
void ahrs_dcm_update_accel (struct FloatVect3 *accel)
 
void ahrs_dcm_update_mag (struct FloatVect3 *mag)
 
void ahrs_dcm_set_body_to_imu (struct OrientationReps *body_to_imu)
 
void ahrs_dcm_set_body_to_imu_quat (struct FloatQuat *q_b2i)
 

Variables

struct AhrsFloatDCM ahrs_dcm
 
struct FloatVect3 accel_float = {0, 0, 0}
 
struct FloatVect3 mag_float = {0, 0, 0}
 
float Omega_Vector [3] = {0, 0, 0}
 
float Omega_P [3] = {0, 0, 0}
 
float Omega_I [3] = {0, 0, 0}
 
float Omega [3] = {0, 0, 0}
 
float DCM_Matrix [3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
 
float Update_Matrix [3][3] = {{0, 1, 2}, {3, 4, 5}, {6, 7, 8}}
 
float Temporary_Matrix [3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}
 
float MAG_Heading_X = 1
 
float MAG_Heading_Y = 0
 

Detailed Description

Attitude estimation for fixedwings based on the DCM.

Theory: http://code.google.com/p/gentlenav/downloads/list file DCMDraft2.pdf

Options:

  • USE_MAGNETOMETER_ONGROUND: use magnetic compensation before takeoff only while GPS course not good
  • USE_AHRS_GPS_ACCELERATIONS: forward acceleration compensation from GPS speed

Definition in file ahrs_float_dcm.c.

Macro Definition Documentation

#define ACCEL_WEIGHT_BAND   1.f

Definition at line 370 of file ahrs_float_dcm.c.

Referenced by Drift_correction().

#define ACCEL_WEIGHT_FILTER   8

Definition at line 363 of file ahrs_float_dcm.c.

Referenced by Drift_correction().

Function Documentation

bool ahrs_dcm_align ( struct FloatRates lp_gyro,
struct FloatVect3 lp_accel,
struct FloatVect3 lp_mag 
)

Definition at line 119 of file ahrs_float_dcm.c.

References ahrs_dcm, AHRS_DCM_RUNNING, ahrs_float_get_euler_from_accel_mag(), float_rmat_of_eulers, AhrsFloatDCM::gyro_bias, AhrsFloatDCM::is_aligned, AhrsFloatDCM::ltp_to_imu_euler, set_dcm_matrix_from_rmat(), and AhrsFloatDCM::status.

Referenced by aligner_cb().

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void ahrs_dcm_propagate ( struct FloatRates gyro,
float  dt 
)

Definition at line 142 of file ahrs_float_dcm.c.

References ahrs_dcm, compute_ahrs_representations(), AhrsFloatDCM::gyro_bias, AhrsFloatDCM::imu_rate, Matrix_update(), Normalize(), FloatRates::p, FloatRates::q, FloatRates::r, and RATES_DIFF.

Referenced by gyro_cb().

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void ahrs_dcm_set_body_to_imu ( struct OrientationReps body_to_imu)

Definition at line 530 of file ahrs_float_dcm.c.

References ahrs_dcm_set_body_to_imu_quat(), and orientationGetQuat_f().

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void ahrs_dcm_set_body_to_imu_quat ( struct FloatQuat q_b2i)

Definition at line 535 of file ahrs_float_dcm.c.

References ahrs_dcm, AhrsFloatDCM::body_to_imu, AhrsFloatDCM::is_aligned, AhrsFloatDCM::ltp_to_imu_euler, orientationGetEulers_f(), and orientationSetQuat_f().

Referenced by ahrs_dcm_set_body_to_imu(), and body_to_imu_cb().

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void ahrs_dcm_update_accel ( struct FloatVect3 accel)

Definition at line 194 of file ahrs_float_dcm.c.

References ahrs_dcm, Drift_correction(), AhrsFloatDCM::gps_acceleration, AhrsFloatDCM::gps_age, AhrsFloatDCM::gps_speed, Omega, PRINT_CONFIG_MSG(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by accel_cb().

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void ahrs_dcm_update_gps ( struct GpsState gps_s)
void ahrs_dcm_update_mag ( struct FloatVect3 mag)

Definition at line 221 of file ahrs_float_dcm.c.

References ahrs_dcm, DefaultChannel, DefaultDevice, AhrsFloatDCM::ltp_to_imu_euler, MAG_Heading_X, MAG_Heading_Y, FloatEulers::phi, FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by mag_cb().

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static void compute_ahrs_representations ( void  )
static

Definition at line 516 of file ahrs_float_dcm.c.

References ahrs_dcm, DCM_Matrix, GRAVITY, AhrsFloatDCM::ltp_to_imu_euler, FloatEulers::phi, FloatEulers::psi, FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_dcm_propagate().

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void Matrix_update ( float  dt)

Definition at line 480 of file ahrs_float_dcm.c.

References ahrs_dcm, DCM_Matrix, AhrsFloatDCM::imu_rate, Matrix_Multiply(), Omega, Omega_I, Omega_P, Omega_Vector, FloatRates::p, FloatRates::q, FloatRates::r, Temporary_Matrix, Update_Matrix, Vector_Add(), FloatVect3::x, and FloatVect3::y.

Referenced by ahrs_dcm_propagate().

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void Normalize ( void  )

Definition at line 280 of file ahrs_float_dcm.c.

References ahrs_dcm, AhrsFloatDCM::body_to_imu, DCM_Matrix, orientationGetRMat_f(), renorm_blowup_count, renorm_sqrt_count, set_dcm_matrix_from_rmat(), Vector_Add(), Vector_Cross_Product(), Vector_Dot_Product(), and Vector_Scale().

Referenced by ahrs_dcm_propagate().

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static void set_dcm_matrix_from_rmat ( struct FloatRMat rmat)
inlinestatic

Definition at line 90 of file ahrs_float_dcm.c.

References DCM_Matrix, and RMAT_ELMT.

Referenced by ahrs_dcm_align(), ahrs_dcm_init(), and Normalize().

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Variable Documentation

struct FloatVect3 accel_float = {0, 0, 0}

Definition at line 59 of file ahrs_float_dcm.c.

float DCM_Matrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
struct FloatVect3 mag_float = {0, 0, 0}

Definition at line 60 of file ahrs_float_dcm.c.

float MAG_Heading_X = 1

Definition at line 72 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_mag(), and Drift_correction().

float MAG_Heading_Y = 0

Definition at line 73 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_mag(), and Drift_correction().

float Omega[3] = {0, 0, 0}

Definition at line 65 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_accel(), and Matrix_update().

float Omega_I[3] = {0, 0, 0}

Definition at line 64 of file ahrs_float_dcm.c.

Referenced by Drift_correction(), and Matrix_update().

float Omega_P[3] = {0, 0, 0}

Definition at line 63 of file ahrs_float_dcm.c.

Referenced by Drift_correction(), and Matrix_update().

float Omega_Vector[3] = {0, 0, 0}

Definition at line 62 of file ahrs_float_dcm.c.

Referenced by Matrix_update().

float Temporary_Matrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}

Definition at line 69 of file ahrs_float_dcm.c.

Referenced by Matrix_update().

float Update_Matrix[3][3] = {{0, 1, 2}, {3, 4, 5}, {6, 7, 8}}

Definition at line 68 of file ahrs_float_dcm.c.

Referenced by Matrix_update().