Paparazzi UAS  v5.15_devel-50-g4d7045d
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ahrs_int_cmpl_euler_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_ICE_OUTPUT_ENABLED
33 #define AHRS_ICE_OUTPUT_ENABLED TRUE
34 #endif
35 PRINT_CONFIG_VAR(AHRS_ICE_OUTPUT_ENABLED)
36 
37 
41 
42 static void set_body_state_from_euler(void);
43 
44 #if PERIODIC_TELEMETRY
46 #include "mcu_periph/sys_time.h"
47 #include "state.h"
48 
49 static void send_filter(struct transport_tx *trans, struct link_device *dev)
50 {
51  pprz_msg_send_FILTER(trans, dev, AC_ID,
67  &ahrs_ice_id);
68 }
69 
70 static void send_euler(struct transport_tx *trans, struct link_device *dev)
71 {
72  struct Int32Eulers *eulers = stateGetNedToBodyEulers_i();
73  pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
77  &(eulers->phi),
78  &(eulers->theta),
79  &(eulers->psi),
80  &ahrs_ice_id);
81 }
82 
83 static void send_bias(struct transport_tx *trans, struct link_device *dev)
84 {
85  pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
88 }
89 
90 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
91 {
92  uint8_t mde = 3;
93  uint16_t val = 0;
94  if (!ahrs_ice.is_aligned) { mde = 2; }
96  /* set lost if no new gyro measurements for 50ms */
97  if (t_diff > 50000) { mde = 5; }
98  pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &ahrs_ice_id, &mde, &val);
99 }
100 #endif
101 
105 #ifndef AHRS_ICE_IMU_ID
106 #define AHRS_ICE_IMU_ID ABI_BROADCAST
107 #endif
108 PRINT_CONFIG_VAR(AHRS_ICE_IMU_ID)
112 #ifndef AHRS_ICE_MAG_ID
113 #define AHRS_ICE_MAG_ID AHRS_ICE_IMU_ID
114 #endif
115 PRINT_CONFIG_VAR(AHRS_ICE_MAG_ID)
121 
122 
123 static void gyro_cb(uint8_t sender_id __attribute__((unused)),
124  uint32_t stamp, struct Int32Rates *gyro)
125 {
126  ahrs_ice_last_stamp = stamp;
127  if (ahrs_ice.is_aligned) {
128  ahrs_ice_propagate(gyro);
130  }
131 }
132 
133 static void accel_cb(uint8_t sender_id __attribute__((unused)),
134  uint32_t stamp __attribute__((unused)),
135  struct Int32Vect3 *accel)
136 {
137  if (ahrs_ice.is_aligned) {
138  ahrs_ice_update_accel(accel);
139  }
140 }
141 
142 static void mag_cb(uint8_t sender_id __attribute__((unused)),
143  uint32_t stamp __attribute__((unused)),
144  struct Int32Vect3 *mag)
145 {
146  if (ahrs_ice.is_aligned) {
147  ahrs_ice_update_mag(mag);
148  }
149 }
150 
151 static void aligner_cb(uint8_t __attribute__((unused)) sender_id,
152  uint32_t stamp __attribute__((unused)),
153  struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel,
154  struct Int32Vect3 *lp_mag)
155 {
156  if (!ahrs_ice.is_aligned) {
157  if (ahrs_ice_align(lp_gyro, lp_accel, lp_mag)) {
159  }
160  }
161 }
162 
163 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
164  struct FloatQuat *q_b2i_f)
165 {
167 }
168 
169 static bool ahrs_ice_enable_output(bool enable)
170 {
171  ahrs_ice_output_enabled = enable;
173 }
174 
175 /* Rotate angles and rates from imu to body frame and set state */
176 static void set_body_state_from_euler(void)
177 {
178  if (ahrs_ice_output_enabled) {
179  struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&ahrs_ice.body_to_imu);
180  struct Int32RMat ltp_to_imu_rmat, ltp_to_body_rmat;
181  /* Compute LTP to IMU rotation matrix */
182  int32_rmat_of_eulers(&ltp_to_imu_rmat, &ahrs_ice.ltp_to_imu_euler);
183  /* Compute LTP to BODY rotation matrix */
184  int32_rmat_comp_inv(&ltp_to_body_rmat, &ltp_to_imu_rmat, body_to_imu_rmat);
185  /* Set state */
186  stateSetNedToBodyRMat_i(&ltp_to_body_rmat);
187 
188  struct Int32Rates body_rate;
189  /* compute body rates */
190  int32_rmat_transp_ratemult(&body_rate, body_to_imu_rmat, &ahrs_ice.imu_rate);
191  /* Set state */
192  stateSetBodyRates_i(&body_rate);
193  }
194 }
195 
197 {
198  ahrs_ice_output_enabled = AHRS_ICE_OUTPUT_ENABLED;
199  ahrs_ice_init();
201 
202  /*
203  * Subscribe to scaled IMU measurements and attach callbacks
204  */
205  AbiBindMsgIMU_GYRO_INT32(AHRS_ICE_IMU_ID, &gyro_ev, gyro_cb);
206  AbiBindMsgIMU_ACCEL_INT32(AHRS_ICE_IMU_ID, &accel_ev, accel_cb);
207  AbiBindMsgIMU_MAG_INT32(AHRS_ICE_MAG_ID, &mag_ev, mag_cb);
208  AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
209  AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
210 
211 #if PERIODIC_TELEMETRY
213  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_EULER_INT, send_euler);
214  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_GYRO_BIAS_INT, send_bias);
215  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STATE_FILTER_STATUS, send_filter_status);
216 #endif
217 }
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
bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
angular rates
#define AHRS_ICE_IMU_ID
ABI binding for IMU data.
struct Int32Eulers ltp_to_imu_euler
static struct Int32RMat * orientationGetRMat_i(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (int).
void ahrs_ice_propagate(struct Int32Rates *gyro)
void ahrs_ice_register(void)
Dispatcher to register actual AHRS implementations.
static uint8_t ahrs_ice_id
static uint32_t ahrs_ice_last_stamp
Periodic telemetry system header (includes downlink utility and generated code).
void ahrs_ice_init(void)
int32_t theta
in rad with INT32_ANGLE_FRAC
static void send_filter(struct transport_tx *trans, struct link_device *dev)
#define AHRS_COMP_ID_ICE
Definition: ahrs.h:36
static void gyro_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i)
Main include for ABI (AirBorneInterface).
struct AhrsIntCmplEuler ahrs_ice
void ahrs_ice_update_mag(struct Int32Vect3 *mag)
Roation quaternion.
static abi_event mag_ev
int32_t r
in rad/s with INT32_RATE_FRAC
static abi_event body_to_imu_ev
void int32_rmat_comp_inv(struct Int32RMat *m_a2b, struct Int32RMat *m_a2c, struct Int32RMat *m_b2c)
Composition (multiplication) of two rotation matrices.
static abi_event aligner_ev
static void send_euler(struct transport_tx *trans, struct link_device *dev)
void ahrs_register_impl(AhrsEnableOutput enable)
Register an AHRS implementation.
Definition: ahrs.c:62
static void aligner_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
Architecture independent timing functions.
euler angles
uint16_t val[TCOUPLE_NB]
#define AHRS_ICE_MAG_ID
ABI binding for magnetometer data.
unsigned long uint32_t
Definition: types.h:18
static bool ahrs_ice_output_enabled
if TRUE with push the estimation results to the state interface
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
static bool ahrs_ice_enable_output(bool enable)
static abi_event gyro_ev
struct Int32Eulers measure
#define AHRS_ICE_OUTPUT_ENABLED
static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
struct Int32Eulers hi_res_euler
static void stateSetBodyRates_i(struct Int32Rates *body_rate)
Set vehicle body angular rate (int).
Definition: state.h:1173
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
static abi_event accel_ev
struct OrientationReps body_to_imu
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.
struct Int32Rates imu_rate
void ahrs_ice_update_accel(struct Int32Vect3 *accel)
int32_t p
in rad/s with INT32_RATE_FRAC
static void mag_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *mag)
#define ABI_BROADCAST
Broadcast address.
Definition: abi_common.h:56
static void send_bias(struct transport_tx *trans, struct link_device *dev)
rotation matrix
Paparazzi specific wrapper to run floating point DCM filter.
static void set_body_state_from_euler(void)
static struct Int32Eulers * stateGetNedToBodyEulers_i(void)
Get vehicle body attitude euler angles (int).
Definition: state.h:1125
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
void int32_rmat_transp_ratemult(struct Int32Rates *rb, struct Int32RMat *m_b2a, struct Int32Rates *ra)
rotate anglular rates by transposed rotation matrix.
struct Int32Rates gyro_bias
static void body_to_imu_cb(uint8_t sender_id, struct FloatQuat *q_b2i_f)
static void stateSetNedToBodyRMat_i(struct Int32RMat *ned_to_body_rmat)
Set vehicle body attitude from rotation matrix (int).
Definition: state.h:1081
int32_t q
in rad/s with INT32_RATE_FRAC
#define int32_rmat_of_eulers
Rotation matrix from Euler angles.
struct Int32Eulers residual
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:46