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ahrs_float_cmpl.c File Reference

Complementary filter in float to estimate the attitude, heading and gyro bias. More...

#include "modules/ahrs/ahrs_float_cmpl.h"
#include "modules/ahrs/ahrs_float_utils.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_simple_matrix.h"
#include "generated/airframe.h"
#include "modules/gps/gps.h"
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Macros

#define AHRS_ACCEL_OMEGA   0.063
 
#define AHRS_ACCEL_ZETA   0.9
 
#define AHRS_MAG_OMEGA   0.04
 
#define AHRS_MAG_ZETA   0.9
 
#define AHRS_GRAVITY_HEURISTIC_FACTOR   30
 by default use the gravity heuristic to reduce gain More...
 
#define FIR_FILTER_SIZE   8
 

Functions

void ahrs_fc_update_mag_full (struct FloatVect3 *mag, float dt)
 
void ahrs_fc_update_mag_2d (struct FloatVect3 *mag, float dt)
 
void ahrs_fc_update_mag_2d_dumb (struct FloatVect3 *mag)
 
void ahrs_fc_init (void)
 
bool ahrs_fc_align (struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
 
void ahrs_fc_propagate (struct FloatRates *gyro, float dt)
 
void ahrs_fc_update_accel (struct FloatVect3 *accel, float dt)
 
void ahrs_fc_update_mag (struct FloatVect3 *mag, float dt)
 
void ahrs_fc_update_gps (struct GpsState *gps_s)
 
void ahrs_fc_update_heading (float heading)
 Update yaw based on a heading measurement. More...
 
void ahrs_fc_realign_heading (float heading)
 Hard reset yaw to a heading. More...
 

Variables

struct AhrsFloatCmpl ahrs_fc
 

Detailed Description

Complementary filter in float to estimate the attitude, heading and gyro bias.

Propagation can be done in rotation matrix or quaternion representation.

Definition in file ahrs_float_cmpl.c.

Macro Definition Documentation

◆ AHRS_ACCEL_OMEGA

#define AHRS_ACCEL_OMEGA   0.063

Definition at line 57 of file ahrs_float_cmpl.c.

◆ AHRS_ACCEL_ZETA

#define AHRS_ACCEL_ZETA   0.9

Definition at line 60 of file ahrs_float_cmpl.c.

◆ AHRS_GRAVITY_HEURISTIC_FACTOR

#define AHRS_GRAVITY_HEURISTIC_FACTOR   30

by default use the gravity heuristic to reduce gain

Definition at line 72 of file ahrs_float_cmpl.c.

◆ AHRS_MAG_OMEGA

#define AHRS_MAG_OMEGA   0.04

Definition at line 64 of file ahrs_float_cmpl.c.

◆ AHRS_MAG_ZETA

#define AHRS_MAG_ZETA   0.9

Definition at line 67 of file ahrs_float_cmpl.c.

◆ FIR_FILTER_SIZE

#define FIR_FILTER_SIZE   8

Function Documentation

◆ ahrs_fc_align()

bool ahrs_fc_align ( struct FloatRates lp_gyro,
struct FloatVect3 lp_accel,
struct FloatVect3 lp_mag 
)

◆ ahrs_fc_init()

◆ ahrs_fc_propagate()

◆ ahrs_fc_realign_heading()

void ahrs_fc_realign_heading ( float  heading)

Hard reset yaw to a heading.

Doesn't affect the bias. Sets ahrs_fc.heading_aligned to TRUE.

Parameters
headingHeading in body frame, radians (CW/north)

Definition at line 460 of file ahrs_float_cmpl.c.

References ahrs_fc, FLOAT_ANGLE_NORMALIZE, float_quat_comp_norm_shortest(), float_quat_inv_comp_norm_shortest(), float_quat_normalize(), float_rmat_of_quat(), heading, AhrsFloatCmpl::heading_aligned, AhrsFloatCmpl::ltp_to_body_quat, AhrsFloatCmpl::ltp_to_body_rmat, FloatQuat::qi, QUAT_COPY, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.

Referenced by ahrs_fc_update_gps().

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◆ ahrs_fc_update_accel()

◆ ahrs_fc_update_gps()

void ahrs_fc_update_gps ( struct GpsState gps_s)

Definition at line 388 of file ahrs_float_cmpl.c.

References ahrs_fc, ahrs_fc_realign_heading(), ahrs_fc_update_heading(), course, GPS_FIX_3D, AhrsFloatCmpl::heading_aligned, AhrsFloatCmpl::ltp_vel_norm, and AhrsFloatCmpl::ltp_vel_norm_valid.

Referenced by gps_cb().

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◆ ahrs_fc_update_heading()

void ahrs_fc_update_heading ( float  heading)

Update yaw based on a heading measurement.

e.g. from GPS course

Parameters
headingHeading in body frame, radians (CW/north)

Definition at line 419 of file ahrs_float_cmpl.c.

References ahrs_fc, FLOAT_ANGLE_NORMALIZE, float_rmat_vmult(), AhrsFloatCmpl::gyro_bias, heading, AhrsFloatCmpl::ltp_to_body_rmat, AhrsFloatCmpl::rate_correction, RATES_ADD_SCALED_VECT, RMAT_ELMT, FloatVect2::x, FloatVect2::y, and FloatVect3::z.

Referenced by ahrs_fc_update_gps().

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◆ ahrs_fc_update_mag()

void ahrs_fc_update_mag ( struct FloatVect3 mag,
float  dt 
)

Definition at line 269 of file ahrs_float_cmpl.c.

References ahrs_fc, ahrs_fc_update_mag_2d(), ahrs_fc_update_mag_full(), and AhrsFloatCmpl::mag_cnt.

Referenced by mag_cb().

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◆ ahrs_fc_update_mag_2d()

◆ ahrs_fc_update_mag_2d_dumb()

◆ ahrs_fc_update_mag_full()

void ahrs_fc_update_mag_full ( struct FloatVect3 mag,
float  dt 
)

Variable Documentation

◆ ahrs_fc