Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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ahrs_float_dcm module

AHRS using DCM filter.

No direct gyro bias estimation, but also compensates for attitude drift. Uses GPS speed for heading. Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing). Careful, it doesn't handle all BODY_TO_IMU rotations (mounting positions) correctly!

The algorithm was developed by William Premerlani and Paul Bizard. The algorithm is also used in the AHRS systems of the AdruIMU. The name DCM for the algorithm is really a misnomer, as that just means that the orientation is represented as a DirectionCosineMatrix (rotation matrix). But since people already know it under that name, we kept it.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="ahrs_float_dcm">
2  <define name="USE_MAGNETOMETER_ONGROUND" />
3  <define name="USE_AHRS_GPS_ACCELERATIONS" />
4  <define name="ACCEL_WEIGHT_FILTER" value="8" />
5  <define name="ACCEL_WEIGHT_BAND" value="1." />
6  <configure name="USE_MAGNETOMETER" value="FALSE" />
7  <configure name="AHRS_ALIGNER_LED" value="1" />
8 </module>

Module configuration options

Configure Options

  • name: USE_MAGNETOMETER value: FALSE
    Description: set to FALSE to disable magnetometer
  • name: AHRS_ALIGNER_LED value: 1
    Description: LED number to indicate AHRS alignment, none to disable (default is board dependent)

Define Options

  • name: USE_MAGNETOMETER_ONGROUND value: None
    Description: use magnetic compensation before takeoff only while GPS course not good
  • name: USE_AHRS_GPS_ACCELERATIONS value: None
    Description: enable forward acceleration compensation from GPS speed
  • name: ACCEL_WEIGHT_FILTER value: 8
    Description: adjust accel drift heuristic filter (default 8, 0 to disable filter)
  • name: ACCEL_WEIGHT_BAND value: 1.
    Description: band size of accel filter: 1. means that there is no correction when accel magnitude exceeds +/- 0.5G around 1G (normal flight)

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw ahrs_float_dcm.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="ahrs_float_dcm" dir="ahrs">
<doc>
<description>
AHRS using DCM filter.
No direct gyro bias estimation, but also compensates for attitude drift.
Uses GPS speed for heading.
Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing).
Careful, it doesn't handle all BODY_TO_IMU rotations (mounting positions) correctly!
The algorithm was developed by William Premerlani and Paul Bizard.
The algorithm is also used in the AHRS systems of the AdruIMU.
The name DCM for the algorithm is really a misnomer, as that just means that the orientation is represented as a DirectionCosineMatrix (rotation matrix).
But since people already know it under that name, we kept it.
</description>
<configure name="USE_MAGNETOMETER" value="FALSE" description="set to FALSE to disable magnetometer"/>
<configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
<define name="USE_MAGNETOMETER_ONGROUND" description="use magnetic compensation before takeoff only while GPS course not good"/>
<define name="USE_AHRS_GPS_ACCELERATIONS" description="enable forward acceleration compensation from GPS speed"/>
<define name="ACCEL_WEIGHT_FILTER" value="8" description="adjust accel drift heuristic filter (default 8, 0 to disable filter)"/>
<define name="ACCEL_WEIGHT_BAND" value="1." description="band size of accel filter: 1. means that there is no correction when accel magnitude exceeds +/- 0.5G around 1G (normal flight)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
</dl_settings>
</dl_settings>
</settings>
<autoload name="ahrs_sim"/>
<header>
<file name="ahrs.h" dir="subsystems"/>
</header>
<makefile target="!sim|fbw">
<configure name="USE_MAGNETOMETER" default="0"/>
<define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
<define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
<define name="USE_AHRS"/>
<define name="USE_AHRS_ALIGNER"/>
<file name="ahrs.c" dir="subsystems"/>
<file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm.c" dir="subsystems/ahrs"/>
<file name="ahrs_float_dcm_wrapper.c" dir="subsystems/ahrs"/>
<raw>
ifdef SECONDARY_AHRS
ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
# this is the secondary AHRS
$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
$(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
else
# this is the primary AHRS
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
$(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
endif
else
# plain old single AHRS usage
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
endif
</raw>
</makefile>
</module>