ahrs_float_dcm.h File Reference

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

#include <inttypes.h>
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
#include "modules/gps/gps.h"

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Data Structures
struct	AhrsFloatDCM

Macros
#define	Kp_ROLLPITCH   0.015
#define	Ki_ROLLPITCH   0.000010
#define	Kp_YAW   0.9
#define	Ki_YAW   0.00005
#define	GRAVITY   9.81
#define	OUTPUTMODE   1
#define	AHRS_FLOAT_MIN_SPEED_GPS_COURSE   5
#define	PERFORMANCE_REPORTING   1

Enumerations
enum	AhrsDCMStatus { AHRS_DCM_UNINIT , AHRS_DCM_RUNNING }

Functions
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_accel (struct FloatVect3 *accel)
void	ahrs_dcm_update_mag (struct FloatVect3 *mag)
void	ahrs_dcm_update_gps (struct GpsState *gps_s)

Variables
struct AhrsFloatDCM	ahrs_dcm
int	renorm_sqrt_count
int	renorm_blowup_count
float	imu_health

Detailed Description

Attitude estimation for fixedwings based on the DCM.

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

Definition in file ahrs_float_dcm.h.

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Data Structure Documentation

AhrsFloatDCM

struct AhrsFloatDCM

Definition at line 37 of file ahrs_float_dcm.h.

Collaboration diagram for AhrsFloatDCM:

Data Fields
struct FloatRates	body_rate
float	gps_acceleration
uint8_t	gps_age
float	gps_course
bool	gps_course_valid
float	gps_speed
struct FloatRates	gyro_bias
bool	is_aligned
struct FloatEulers	ltp_to_body_euler
struct FloatRates	rate_correction
enum AhrsDCMStatus	status

Macro Definition Documentation

AHRS_FLOAT_MIN_SPEED_GPS_COURSE

#define AHRS_FLOAT_MIN_SPEED_GPS_COURSE   5

Definition at line 74 of file ahrs_float_dcm.h.

GRAVITY

#define GRAVITY   9.81

Definition at line 63 of file ahrs_float_dcm.h.

Ki_ROLLPITCH

#define Ki_ROLLPITCH   0.000010

Definition at line 59 of file ahrs_float_dcm.h.

Ki_YAW

#define Ki_YAW   0.00005

Definition at line 61 of file ahrs_float_dcm.h.

Kp_ROLLPITCH

#define Kp_ROLLPITCH   0.015

Definition at line 58 of file ahrs_float_dcm.h.

Kp_YAW

#define Kp_YAW   0.9

Definition at line 60 of file ahrs_float_dcm.h.

OUTPUTMODE

#define OUTPUTMODE   1

Definition at line 67 of file ahrs_float_dcm.h.

PERFORMANCE_REPORTING

#define PERFORMANCE_REPORTING   1

Definition at line 77 of file ahrs_float_dcm.h.

Enumeration Type Documentation

AhrsDCMStatus

enum AhrsDCMStatus

Enumerator
AHRS_DCM_UNINIT
AHRS_DCM_RUNNING

Definition at line 32 of file ahrs_float_dcm.h.

Function Documentation

ahrs_dcm_align()

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

Definition at line 120 of file ahrs_float_dcm.c.

References ahrs_dcm, AHRS_DCM_RUNNING, ahrs_float_get_quat_from_accel(), ahrs_float_get_quat_from_accel_mag(), float_eulers_of_quat(), float_rmat_of_quat(), AhrsFloatDCM::gyro_bias, AhrsFloatDCM::is_aligned, AhrsFloatDCM::ltp_to_body_euler, set_dcm_matrix_from_rmat(), and AhrsFloatDCM::status.

Referenced by aligner_cb().

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ahrs_dcm_init()

void ahrs_dcm_init

(

void

)

Definition at line 99 of file ahrs_float_dcm.c.

References ahrs_dcm, AHRS_DCM_UNINIT, AhrsFloatDCM::body_rate, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, float_rmat_identity(), AhrsFloatDCM::gps_acceleration, AhrsFloatDCM::gps_age, AhrsFloatDCM::gps_course, AhrsFloatDCM::gps_course_valid, AhrsFloatDCM::gps_speed, AhrsFloatDCM::is_aligned, AhrsFloatDCM::ltp_to_body_euler, set_dcm_matrix_from_rmat(), and AhrsFloatDCM::status.

Referenced by ahrs_dcm_register().

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ahrs_dcm_propagate()

void ahrs_dcm_propagate	(	struct FloatRates *	gyro,
		float	dt
	)

Definition at line 149 of file ahrs_float_dcm.c.

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

Referenced by gyro_cb().

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ahrs_dcm_update_accel()

void ahrs_dcm_update_accel

(

struct FloatVect3 *

accel

)

Definition at line 201 of file ahrs_float_dcm.c.

References accel_float, 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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ahrs_dcm_update_gps()

void ahrs_dcm_update_gps

(

struct GpsState *

gps_s

)

ahrs_dcm_update_mag()

void ahrs_dcm_update_mag

(

struct FloatVect3 *

mag

)

Definition at line 228 of file ahrs_float_dcm.c.

References ahrs_dcm, DefaultChannel, DefaultDevice, AhrsFloatDCM::ltp_to_body_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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Variable Documentation

ahrs_dcm

struct AhrsFloatDCM ahrs_dcm

extern

Definition at line 1 of file ahrs_float_dcm.c.

Referenced by accel_cb(), ahrs_dcm_align(), ahrs_dcm_init(), ahrs_dcm_propagate(), ahrs_dcm_update_accel(), ahrs_dcm_update_gps(), ahrs_dcm_update_mag(), aligner_cb(), compute_ahrs_representations(), Drift_correction(), gyro_cb(), mag_cb(), Matrix_update(), send_filter_status(), and set_body_orientation_and_rates().

imu_health

float imu_health

extern

Referenced by Drift_correction().

renorm_blowup_count

int renorm_blowup_count

extern

Referenced by Normalize().

renorm_sqrt_count

int renorm_sqrt_count

extern

Referenced by Normalize().