Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ahrs_float_dcm.c File Reference
#include "std.h"
#include "modules/ahrs/ahrs_float_dcm.h"
#include "modules/ahrs/ahrs_float_utils.h"
#include "autopilot.h"
#include "modules/ahrs/ahrs_float_dcm_algebra.h"
#include "math/pprz_algebra_float.h"
#include "modules/gps/gps.h"
#include <string.h>
#include "led.h"
+ Include dependency graph for ahrs_float_dcm.c:

Go to the source code of this file.

Macros

#define ACCEL_WEIGHT_FILTER   8
 
#define ACCEL_WEIGHT_BAND   1.f
 

Functions

static void compute_ahrs_representations (void)
 
static void set_dcm_matrix_from_rmat (struct FloatRMat *rmat)
 
void Normalize (void)
 
void Drift_correction (void)
 
void Matrix_update (float dt)
 
void ahrs_dcm_init (void)
 
bool ahrs_dcm_align (struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
 
void ahrs_dcm_propagate (struct FloatRates *gyro, float dt)
 
void ahrs_dcm_update_gps (struct GpsState *gps_s UNUSED)
 
void ahrs_dcm_update_accel (struct FloatVect3 *accel)
 
void ahrs_dcm_update_mag (struct FloatVect3 *mag)
 
void ahrs_dcm_set_body_to_imu (struct OrientationReps *body_to_imu)
 
void ahrs_dcm_set_body_to_imu_quat (struct FloatQuat *q_b2i)
 

Variables

struct AhrsFloatDCM ahrs_dcm
 
struct FloatVect3 accel_float = {0, 0, 0}
 
struct FloatVect3 mag_float = {0, 0, 0}
 
float Omega_Vector [3] = {0, 0, 0}
 
float Omega_P [3] = {0, 0, 0}
 
float Omega_I [3] = {0, 0, 0}
 
float Omega [3] = {0, 0, 0}
 
float DCM_Matrix [3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
 
float Update_Matrix [3][3] = {{0, 1, 2}, {3, 4, 5}, {6, 7, 8}}
 
float Temporary_Matrix [3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}
 
float MAG_Heading_X = 1
 
float MAG_Heading_Y = 0
 

Detailed Description

Attitude estimation for fixedwings based on the DCM.

Theory: http://code.google.com/p/gentlenav/downloads/list file DCMDraft2.pdf

Options:

  • USE_MAGNETOMETER_ONGROUND: use magnetic compensation before takeoff only while GPS course not good
  • USE_AHRS_GPS_ACCELERATIONS: forward acceleration compensation from GPS speed

Definition in file ahrs_float_dcm.c.

Macro Definition Documentation

◆ ACCEL_WEIGHT_BAND

#define ACCEL_WEIGHT_BAND   1.f

Definition at line 376 of file ahrs_float_dcm.c.

◆ ACCEL_WEIGHT_FILTER

#define ACCEL_WEIGHT_FILTER   8

Definition at line 369 of file ahrs_float_dcm.c.

Function Documentation

◆ ahrs_dcm_align()

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

◆ ahrs_dcm_init()

◆ ahrs_dcm_propagate()

void ahrs_dcm_propagate ( struct FloatRates gyro,
float  dt 
)

Definition at line 148 of file ahrs_float_dcm.c.

References ahrs_dcm, compute_ahrs_representations(), AhrsFloatDCM::gyro_bias, AhrsFloatDCM::imu_rate, Matrix_update(), Normalize(), FloatRates::p, FloatRates::q, FloatRates::r, and RATES_DIFF.

Referenced by gyro_cb().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ ahrs_dcm_set_body_to_imu()

void ahrs_dcm_set_body_to_imu ( struct OrientationReps body_to_imu)

Definition at line 536 of file ahrs_float_dcm.c.

References ahrs_dcm_set_body_to_imu_quat(), body_to_imu, and orientationGetQuat_f().

+ Here is the call graph for this function:

◆ ahrs_dcm_set_body_to_imu_quat()

void ahrs_dcm_set_body_to_imu_quat ( struct FloatQuat q_b2i)

Definition at line 541 of file ahrs_float_dcm.c.

References ahrs_dcm, AhrsFloatDCM::body_to_imu, AhrsFloatDCM::is_aligned, AhrsFloatDCM::ltp_to_imu_euler, orientationGetEulers_f(), and orientationSetQuat_f().

Referenced by ahrs_dcm_set_body_to_imu(), and body_to_imu_cb().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ ahrs_dcm_update_accel()

void ahrs_dcm_update_accel ( struct FloatVect3 accel)

Definition at line 200 of file ahrs_float_dcm.c.

References accel_float, ahrs_dcm, Drift_correction(), AhrsFloatDCM::gps_acceleration, AhrsFloatDCM::gps_age, AhrsFloatDCM::gps_speed, Omega, PRINT_CONFIG_MSG(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by accel_cb().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ ahrs_dcm_update_gps()

void ahrs_dcm_update_gps ( struct GpsState *gps_s  UNUSED)

◆ ahrs_dcm_update_mag()

void ahrs_dcm_update_mag ( struct FloatVect3 mag)

Definition at line 227 of file ahrs_float_dcm.c.

References ahrs_dcm, DefaultChannel, DefaultDevice, AhrsFloatDCM::ltp_to_imu_euler, MAG_Heading_X, MAG_Heading_Y, FloatEulers::phi, FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by mag_cb().

+ Here is the caller graph for this function:

◆ compute_ahrs_representations()

static void compute_ahrs_representations ( void  )
static

◆ Drift_correction()

◆ Matrix_update()

void Matrix_update ( float  dt)

Definition at line 486 of file ahrs_float_dcm.c.

References ahrs_dcm, DCM_Matrix, AhrsFloatDCM::imu_rate, Matrix_Multiply(), Omega, Omega_I, Omega_P, Omega_Vector, FloatRates::p, FloatRates::q, FloatRates::r, Temporary_Matrix, Update_Matrix, Vector_Add(), FloatVect3::x, and FloatVect3::y.

Referenced by ahrs_dcm_propagate().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ Normalize()

void Normalize ( void  )

Definition at line 286 of file ahrs_float_dcm.c.

References ahrs_dcm, AhrsFloatDCM::body_to_imu, DCM_Matrix, f, orientationGetRMat_f(), renorm_blowup_count, renorm_sqrt_count, set_dcm_matrix_from_rmat(), Vector_Add(), Vector_Cross_Product(), Vector_Dot_Product(), and Vector_Scale().

Referenced by ahrs_dcm_propagate().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ set_dcm_matrix_from_rmat()

static void set_dcm_matrix_from_rmat ( struct FloatRMat rmat)
inlinestatic

Definition at line 90 of file ahrs_float_dcm.c.

References DCM_Matrix, and RMAT_ELMT.

Referenced by ahrs_dcm_align(), ahrs_dcm_init(), and Normalize().

+ Here is the caller graph for this function:

Variable Documentation

◆ accel_float

struct FloatVect3 accel_float = {0, 0, 0}

◆ ahrs_dcm

◆ DCM_Matrix

float DCM_Matrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}

◆ mag_float

struct FloatVect3 mag_float = {0, 0, 0}

Definition at line 60 of file ahrs_float_dcm.c.

Referenced by send_mag().

◆ MAG_Heading_X

float MAG_Heading_X = 1

Definition at line 72 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_mag(), and Drift_correction().

◆ MAG_Heading_Y

float MAG_Heading_Y = 0

Definition at line 73 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_mag(), and Drift_correction().

◆ Omega

float Omega[3] = {0, 0, 0}

Definition at line 65 of file ahrs_float_dcm.c.

Referenced by ahrs_dcm_update_accel(), and Matrix_update().

◆ Omega_I

float Omega_I[3] = {0, 0, 0}

Definition at line 64 of file ahrs_float_dcm.c.

Referenced by Drift_correction(), and Matrix_update().

◆ Omega_P

float Omega_P[3] = {0, 0, 0}

Definition at line 63 of file ahrs_float_dcm.c.

Referenced by Drift_correction(), and Matrix_update().

◆ Omega_Vector

float Omega_Vector[3] = {0, 0, 0}

Definition at line 62 of file ahrs_float_dcm.c.

Referenced by Matrix_update().

◆ Temporary_Matrix

float Temporary_Matrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}

Definition at line 69 of file ahrs_float_dcm.c.

Referenced by Matrix_update().

◆ Update_Matrix

float Update_Matrix[3][3] = {{0, 1, 2}, {3, 4, 5}, {6, 7, 8}}

Definition at line 68 of file ahrs_float_dcm.c.

Referenced by Matrix_update().