Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ahrs_aligner.c
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@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)
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10  *
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14  * GNU General Public License for more details.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
29 #include "ahrs_aligner.h"
30 
31 #include <stdlib.h> /* for abs() */
32 #include "modules/imu/imu.h"
33 #include "led.h"
34 #include "modules/core/abi.h"
35 #include "mcu_periph/sys_time.h"
36 
38 
39 #ifndef AHRS_ALIGNER_SAMPLES_NB
40 #define AHRS_ALIGNER_SAMPLES_NB 100
41 #endif
42 
43 static struct Int32Rates gyro_sum;
44 static struct Int32Vect3 accel_sum;
45 static struct Int32Vect3 mag_sum;
48 
49 #ifndef AHRS_ALIGNER_IMU_ID
50 #define AHRS_ALIGNER_IMU_ID ABI_BROADCAST
51 #endif
53 
54 static void gyro_cb(uint8_t sender_id __attribute__((unused)),
55  uint32_t stamp __attribute__((unused)),
56  struct Int32Rates *gyro __attribute__((unused)))
57 {
60  }
61 }
62 
63 #if PERIODIC_TELEMETRY
65 
66 static void send_aligner(struct transport_tx *trans, struct link_device *dev)
67 {
68  struct imu_gyro_t *gyro = imu_get_gyro(AHRS_ALIGNER_IMU_ID, false);
69  if(gyro != NULL) {
70  pprz_msg_send_FILTER_ALIGNER(trans, dev, AC_ID,
74  &gyro->scaled.p,
75  &gyro->scaled.q,
76  &gyro->scaled.r,
80  }
81 }
82 #endif
83 
85 {
87 
88  // for now: only bind to gyro message and still read from global imu struct
89  AbiBindMsgIMU_GYRO(AHRS_ALIGNER_IMU_ID, &gyro_ev, gyro_cb);
90 
91 #if PERIODIC_TELEMETRY
92  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FILTER_ALIGNER, send_aligner);
93 #endif
94 }
95 
97 {
102  samples_idx = 0;
103  ahrs_aligner.noise = 0;
105 }
106 
107 #ifndef LOW_NOISE_THRESHOLD
108 #define LOW_NOISE_THRESHOLD 90000
109 #endif
110 
111 #ifndef LOW_NOISE_TIME
112 #define LOW_NOISE_TIME 5
113 #endif
114 
116 {
117  struct imu_gyro_t *gyro = imu_get_gyro(AHRS_ALIGNER_IMU_ID, false);
118  struct imu_accel_t *accel = imu_get_accel(AHRS_ALIGNER_IMU_ID, false);
119  struct imu_mag_t *mag = imu_get_mag(AHRS_ALIGNER_IMU_ID, false);
120 
121  // Could not find all sensors
122  if(gyro == NULL || accel == NULL)
123  return;
124 
125  RATES_ADD(gyro_sum, gyro->scaled);
126  VECT3_ADD(accel_sum, accel->scaled);
127  if(mag != NULL)
128  VECT3_ADD(mag_sum, mag->scaled);
129 
131  samples_idx++;
132 
133 #ifdef AHRS_ALIGNER_LED
134  RunOnceEvery(50, {LED_TOGGLE(AHRS_ALIGNER_LED);});
135 #endif
136 
138  int32_t avg_ref_sensor = accel_sum.z;
139  if (avg_ref_sensor >= 0) {
140  avg_ref_sensor += AHRS_ALIGNER_SAMPLES_NB / 2;
141  } else {
142  avg_ref_sensor -= AHRS_ALIGNER_SAMPLES_NB / 2;
143  }
144  avg_ref_sensor /= AHRS_ALIGNER_SAMPLES_NB;
145 
146  ahrs_aligner.noise = 0;
147  int i;
148  for (i = 0; i < AHRS_ALIGNER_SAMPLES_NB; i++) {
149  int32_t diff = ref_sensor_samples[i] - avg_ref_sensor;
150  ahrs_aligner.noise += abs(diff);
151  }
152 
156 
160  samples_idx = 0;
161 
164  } else if (ahrs_aligner.low_noise_cnt > 0) {
166  }
167 
170 #ifdef AHRS_ALIGNER_LED
171  LED_ON(AHRS_ALIGNER_LED);
172 #endif
173  uint32_t now_ts = get_sys_time_usec();
174  AbiSendMsgIMU_LOWPASSED(AHRS_ALIGNER_ID, now_ts, &ahrs_aligner.lp_gyro,
176  }
177  }
178 
179 }
LOW_NOISE_THRESHOLD
#define LOW_NOISE_THRESHOLD
Definition: ahrs_aligner.c:108
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
AHRS_ALIGNER_SAMPLES_NB
#define AHRS_ALIGNER_SAMPLES_NB
Definition: ahrs_aligner.c:40
Int32Rates
angular rates
Definition: pprz_algebra_int.h:179
samples_idx
static uint32_t samples_idx
Definition: ahrs_aligner.c:47
INT_RATES_ZERO
#define INT_RATES_ZERO(_e)
Definition: pprz_algebra_int.h:576
abi.h
Int32Rates::q
int32_t q
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:181
mag_sum
static struct Int32Vect3 mag_sum
Definition: ahrs_aligner.c:45
imu_get_gyro
struct imu_gyro_t * imu_get_gyro(uint8_t sender_id, bool create)
Find or create the gyro in the imu structure.
Definition: imu.c:658
Int32Vect3::z
int32_t z
Definition: pprz_algebra_int.h:91
imu_mag_t::scaled
struct Int32Vect3 scaled
Last scaled values in body frame.
Definition: imu.h:74
abi_struct
Event structure to store callbacks in a linked list.
Definition: abi_common.h:66
send_aligner
static void send_aligner(struct transport_tx *trans, struct link_device *dev)
Definition: ahrs_aligner.c:66
VECT3_SDIV
#define VECT3_SDIV(_vo, _vi, _s)
Definition: pprz_algebra.h:196
gyro_cb
static void gyro_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates *gyro)
Definition: ahrs_aligner.c:54
imu_get_mag
struct imu_mag_t * imu_get_mag(uint8_t sender_id, bool create)
Find or create the mag in the imu structure.
Definition: imu.c:705
AhrsAligner::low_noise_cnt
int32_t low_noise_cnt
Definition: ahrs_aligner.h:44
imu_get_accel
struct imu_accel_t * imu_get_accel(uint8_t sender_id, bool create)
Find or create the accel in the imu structure.
Definition: imu.c:681
AhrsAligner
Definition: ahrs_aligner.h:39
LED_ON
#define LED_ON(i)
Definition: led_hw.h:51
VECT3_ADD
#define VECT3_ADD(_a, _b)
Definition: pprz_algebra.h:147
LED_TOGGLE
#define LED_TOGGLE(i)
Definition: led_hw.h:53
ahrs_aligner.h
AhrsAligner::lp_gyro
struct Int32Rates lp_gyro
Definition: ahrs_aligner.h:40
AHRS_ALIGNER_LOCKED
#define AHRS_ALIGNER_LOCKED
Definition: ahrs_aligner.h:37
get_sys_time_usec
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:75
Int32Rates::p
int32_t p
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:180
telemetry.h
imu.h
AHRS_ALIGNER_IMU_ID
#define AHRS_ALIGNER_IMU_ID
Definition: ahrs_aligner.c:50
AhrsAligner::lp_mag
struct Int32Vect3 lp_mag
Definition: ahrs_aligner.h:42
dev
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:74
AHRS_ALIGNER_RUNNING
#define AHRS_ALIGNER_RUNNING
Definition: ahrs_aligner.h:36
ahrs_aligner
struct AhrsAligner ahrs_aligner
Definition: ahrs_aligner.c:37
AhrsAligner::status
uint8_t status
Definition: ahrs_aligner.h:45
imu_mag_t
Definition: imu.h:71
Int32Vect3
Definition: pprz_algebra_int.h:88
sys_time.h
Architecture independent timing functions.
register_periodic_telemetry
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:51
AhrsAligner::noise
int32_t noise
Definition: ahrs_aligner.h:43
led.h
arch independent LED (Light Emitting Diodes) API
gyro_sum
static struct Int32Rates gyro_sum
Definition: ahrs_aligner.c:43
RATES_ADD
#define RATES_ADD(_a, _b)
Definition: pprz_algebra.h:344
ahrs_aligner_restart
void ahrs_aligner_restart(void)
Definition: ahrs_aligner.c:96
AhrsAligner::lp_accel
struct Int32Vect3 lp_accel
Definition: ahrs_aligner.h:41
LOW_NOISE_TIME
#define LOW_NOISE_TIME
Number of cycles (100 samples each) with low noise.
Definition: ahrs_aligner.c:112
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
imu_accel_t
Definition: imu.h:59
RATES_SDIV
#define RATES_SDIV(_ro, _ri, _s)
Definition: pprz_algebra.h:386
imu_gyro_t::scaled
struct Int32Rates scaled
Last scaled values in body frame.
Definition: imu.h:51
imu_accel_t::scaled
struct Int32Vect3 scaled
Last scaled values in body frame.
Definition: imu.h:63
gyro_ev
static abi_event gyro_ev
Definition: ahrs_aligner.c:52
imu_gyro_t
Definition: imu.h:47
INT_VECT3_ZERO
#define INT_VECT3_ZERO(_v)
Definition: pprz_algebra_int.h:288
AHRS_ALIGNER_ID
#define AHRS_ALIGNER_ID
Definition: abi_sender_ids.h:395
ahrs_aligner_run
void ahrs_aligner_run(void)
Definition: ahrs_aligner.c:115
ref_sensor_samples
static int32_t ref_sensor_samples[AHRS_ALIGNER_SAMPLES_NB]
Definition: ahrs_aligner.c:46
Int32Rates::r
int32_t r
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:182
accel_sum
static struct Int32Vect3 accel_sum
Definition: ahrs_aligner.c:44
DefaultPeriodic
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
ahrs_aligner_init
void ahrs_aligner_init(void)
Definition: ahrs_aligner.c:84