Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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ins_gps_passthrough.c
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1 /*
2  * Copyright (C) 2004-2012 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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10  *
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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20  */
21 
30 #include "subsystems/ins.h"
31 
32 #include <inttypes.h>
33 #include <math.h>
34 
35 #include "state.h"
36 #include "subsystems/gps.h"
37 #include "subsystems/abi.h"
38 
39 #ifndef USE_INS_NAV_INIT
40 #define USE_INS_NAV_INIT TRUE
41 PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
42 #endif
43 
44 #if USE_INS_NAV_INIT
45 #include "generated/flight_plan.h"
46 #endif
47 
48 
50  struct LtpDef_i ltp_def;
52 
53  /* output LTP NED */
57 };
58 
60 
63 #ifndef INS_PT_IMU_ID
64 #define INS_PT_IMU_ID ABI_BROADCAST
65 #endif
67 static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel);
68 
70 static void body_to_imu_cb(uint8_t sender_id, struct FloatQuat *q_b2i_f);
72 
73 
77 #ifndef INS_PT_GPS_ID
78 #define INS_PT_GPS_ID GPS_MULTI_ID
79 #endif
80 PRINT_CONFIG_VAR(INS_PT_GPS_ID)
82 
83 static void gps_cb(uint8_t sender_id __attribute__((unused)),
84  uint32_t stamp __attribute__((unused)),
85  struct GpsState *gps_s)
86 {
87  if (gps_s->fix < GPS_FIX_3D) {
88  return;
89  }
90  if (!ins_gp.ltp_initialized) {
92  }
93 
94  /* simply scale and copy pos/speed from gps */
95  struct NedCoor_i gps_pos_cm_ned;
96  ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_gp.ltp_def, &gps_s->ecef_pos);
97  INT32_VECT3_SCALE_2(ins_gp.ltp_pos, gps_pos_cm_ned,
100 
101  struct NedCoor_i gps_speed_cm_s_ned;
102  ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_gp.ltp_def, &gps_s->ecef_vel);
103  INT32_VECT3_SCALE_2(ins_gp.ltp_speed, gps_speed_cm_s_ned,
106 }
107 
108 
109 #if PERIODIC_TELEMETRY
111 
112 static void send_ins(struct transport_tx *trans, struct link_device *dev)
113 {
114  pprz_msg_send_INS(trans, dev, AC_ID,
118 }
119 
120 static void send_ins_z(struct transport_tx *trans, struct link_device *dev)
121 {
122  static float fake_baro_z = 0.0;
123  pprz_msg_send_INS_Z(trans, dev, AC_ID,
124  (float *)&fake_baro_z, &ins_gp.ltp_pos.z,
126 }
127 
128 static void send_ins_ref(struct transport_tx *trans, struct link_device *dev)
129 {
130  static float fake_qfe = 0.0;
131  if (ins_gp.ltp_initialized) {
132  pprz_msg_send_INS_REF(trans, dev, AC_ID,
135  &ins_gp.ltp_def.hmsl, (float *)&fake_qfe);
136  }
137 }
138 #endif
139 
141 {
142 
143 #if USE_INS_NAV_INIT
144  struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
145  llh_nav0.lat = NAV_LAT0;
146  llh_nav0.lon = NAV_LON0;
147  /* NAV_ALT0 = ground alt above msl, NAV_MSL0 = geoid-height (msl) over ellipsoid */
148  llh_nav0.alt = NAV_ALT0 + NAV_MSL0;
149 
150  struct EcefCoor_i ecef_nav0;
151  ecef_of_lla_i(&ecef_nav0, &llh_nav0);
152 
153  ltp_def_from_ecef_i(&ins_gp.ltp_def, &ecef_nav0);
154  ins_gp.ltp_def.hmsl = NAV_ALT0;
156 
157  ins_gp.ltp_initialized = true;
158 #else
159  ins_gp.ltp_initialized = false;
160 #endif
161 
165 
166 #if PERIODIC_TELEMETRY
170 #endif
171 
172  AbiBindMsgGPS(INS_PT_GPS_ID, &gps_ev, gps_cb);
173  AbiBindMsgIMU_ACCEL_INT32(INS_PT_IMU_ID, &accel_ev, accel_cb);
174  AbiBindMsgBODY_TO_IMU_QUAT(INS_PT_IMU_ID, &body_to_imu_ev, body_to_imu_cb);
175 }
176 
178 {
183  ins_gp.ltp_initialized = true;
184 }
185 
187 {
188  struct LlaCoor_i lla = {
190  .lon = state.ned_origin_i.lla.lon,
191  .alt = gps.lla_pos.alt
192  };
196 }
197 
198 static void accel_cb(uint8_t sender_id __attribute__((unused)),
199  uint32_t stamp __attribute__((unused)),
200  struct Int32Vect3 *accel)
201 {
202  // untilt accel and remove gravity
203  struct Int32Vect3 accel_body, accel_ned;
204  struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&body_to_imu);
205  int32_rmat_transp_vmult(&accel_body, body_to_imu_rmat, accel);
206  stateSetAccelBody_i(&accel_body);
207  struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
208  int32_rmat_transp_vmult(&accel_ned, ned_to_body_rmat, &accel_body);
209  accel_ned.z += ACCEL_BFP_OF_REAL(9.81);
210  stateSetAccelNed_i((struct NedCoor_i *)&accel_ned);
211  VECT3_COPY(ins_gp.ltp_accel, accel_ned);
212 }
213 
214 static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)),
215  struct FloatQuat *q_b2i_f)
216 {
218 }
219 
#define INT32_VECT3_SCALE_2(_a, _b, _num, _den)
static void stateSetPositionNed_i(struct NedCoor_i *ned_pos)
Set position from local NED coordinates (int).
Definition: state.h:531
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
int32_t z
in centimeters
static void orientationSetQuat_f(struct OrientationReps *orientation, struct FloatQuat *quat)
Set vehicle body attitude from quaternion (float).
static struct Int32RMat * orientationGetRMat_i(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (int).
static void send_ins_ref(struct transport_tx *trans, struct link_device *dev)
definition of the local (flat earth) coordinate system
Periodic telemetry system header (includes downlink utility and generated code).
static struct Int32RMat * stateGetNedToBodyRMat_i(void)
Get vehicle body attitude rotation matrix (int).
Definition: state.h:1119
vector in EarthCenteredEarthFixed coordinates
int32_t y
in centimeters
#define VECT3_COPY(_a, _b)
Definition: pprz_algebra.h:140
#define INT32_VECT3_ZERO(_v)
static void stateSetAccelBody_i(struct Int32Vect3 *body_accel)
Set acceleration in Body coordinates (int).
Definition: state.h:855
Main include for ABI (AirBorneInterface).
#define INS_PT_GPS_ID
ABI binding for gps data.
struct NedCoor_i ltp_speed
Integrated Navigation System interface.
void ins_reset_altitude_ref(void)
INS altitude reference reset.
#define INT32_SPEED_OF_CM_S_DEN
vector in Latitude, Longitude and Altitude
static void stateSetSpeedNed_i(struct NedCoor_i *ned_speed)
Set ground speed in local NED coordinates (int).
Definition: state.h:763
#define GPS_FIX_3D
3D GPS fix
Definition: gps.h:39
void ltp_def_from_lla_i(struct LtpDef_i *def, struct LlaCoor_i *lla)
int32_t z
Down.
void ned_of_ecef_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
Rotate a vector from ECEF to NED.
static struct OrientationReps body_to_imu
struct EcefCoor_i ecef
Reference point in ecef.
int32_t hmsl
Height above mean sea level in mm.
static abi_event accel_ev
int32_t alt
in millimeters above WGS84 reference ellipsoid
Roation quaternion.
int32_t y
East.
static void stateSetAccelNed_i(struct NedCoor_i *ned_accel)
Set acceleration in NED coordinates (int).
Definition: state.h:986
int32_t hmsl
height above mean sea level (MSL) in mm
Definition: gps.h:94
#define INS_PT_IMU_ID
ABI bindings on ACCEL data.
data structure for GPS information
Definition: gps.h:87
#define INT32_POS_OF_CM_NUM
static void send_ins_z(struct transport_tx *trans, struct link_device *dev)
static abi_event body_to_imu_ev
static void stateSetLocalOrigin_i(struct LtpDef_i *ltp_def)
Set the local (flat earth) coordinate frame origin (int).
Definition: state.h:457
Device independent GPS code (interface)
int32_t x
North.
unsigned long uint32_t
Definition: types.h:18
struct EcefCoor_i ecef_pos
position in ECEF in cm
Definition: gps.h:91
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
struct LlaCoor_i lla
Reference point in lla.
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
int32_t lon
in degrees*1e7
static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
struct NedCoor_i ltp_accel
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
struct LtpDef_i ned_origin_i
Definition of the local (flat earth) coordinate system.
Definition: state.h:166
struct NedCoor_i ltp_pos
static void body_to_imu_cb(uint8_t sender_id, struct FloatQuat *q_b2i_f)
static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
#define INT32_POS_OF_CM_DEN
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
void ned_of_ecef_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
Convert a point from ECEF to local NED.
vector in North East Down coordinates
void ins_gps_passthrough_init(void)
#define INT32_SPEED_OF_CM_S_NUM
static void send_ins(struct transport_tx *trans, struct link_device *dev)
struct InsGpsPassthrough ins_gp
void int32_rmat_transp_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_b2a, struct Int32Vect3 *va)
rotate 3D vector by transposed rotation matrix.
int32_t x
in centimeters
rotation matrix
void ecef_of_lla_i(struct EcefCoor_i *out, struct LlaCoor_i *in)
Convert a LLA to ECEF.
void ins_reset_local_origin(void)
INS local origin reset.
struct LlaCoor_i lla_pos
position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
Definition: gps.h:92
static abi_event gps_ev
#define ACCEL_BFP_OF_REAL(_af)
Simply passes GPS through to the state interface.
int32_t lat
in degrees*1e7
struct GpsState gps
global GPS state
Definition: gps.c:69
void ltp_def_from_ecef_i(struct LtpDef_i *def, struct EcefCoor_i *ecef)
struct State state
Definition: state.c:36
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:46
struct LtpDef_i ltp_def