ins_float_invariant.c File Reference

#include "subsystems/ins/ins_float_invariant.h"
#include "subsystems/ahrs/ahrs_int_utils.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_rk_float.h"
#include "math/pprz_isa.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	INS_INV_LV   2.
#define	INS_INV_LB   6.
#define	INS_INV_MV   8.
#define	INS_INV_MVZ   15.
#define	INS_INV_MH   0.2
#define	INS_INV_NX   0.8
#define	INS_INV_NXZ   0.5
#define	INS_INV_NH   1.2
#define	INS_INV_OV   1.2
#define	INS_INV_OB   1.
#define	INS_INV_RV   4.
#define	INS_INV_RH   8.
#define	INS_INV_SH   0.01
#define	B   ins_float_inv.mag_h
#define	MAG_FROZEN_COUNT   30

Functions
static void	error_output (struct InsFloatInv *_ins)
	Compute correction vectors E = ( ŷ - y ) LE, ME, NE, OE : ( gain matrix * error ) More...
static void	invariant_model (float *o, const float *x, const int n, const float *u, const int m)
	Compute dynamic mode. More...
void	float_quat_vmul_right (struct FloatQuat *mright, const struct FloatQuat *q, struct FloatVect3 *vi)
	Right multiplication by a quaternion. More...
static void	init_invariant_state (void)
static void	send_inv_filter (struct transport_tx *trans, struct link_device *dev)
void	ins_float_invariant_init (void)
void	ins_reset_local_origin (void)
	INS local origin reset. More...
void	ins_reset_altitude_ref (void)
	INS altitude reference reset. More...
void	ins_float_invariant_align (struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag)
void	ins_float_invariant_propagate (struct FloatRates *gyro, struct FloatVect3 *accel, float dt)
void	ins_float_invariant_update_gps (struct GpsState *gps_s)
void	ins_float_invariant_update_baro (float pressure)
void	ins_float_invariant_update_mag (struct FloatVect3 *mag)
void	ins_float_inv_set_body_to_imu_quat (struct FloatQuat *q_b2i)

Variables
struct InsFloatInv	ins_float_inv
static const struct FloatVect3	A = { 0.f, 0.f, 9.81f }
bool	ins_baro_initialized
bool	ins_gps_fix_once

Detailed Description

Author

Jean-Philippe Condomines jp.co.nosp@m.ndom.nosp@m.ines@.nosp@m.gmai.nosp@m.l.com

INS using invariant filter.

Definition in file ins_float_invariant.c.

Macro Definition Documentation

#define B   ins_float_inv.mag_h

Definition at line 145 of file ins_float_invariant.c.

Referenced by error_output(), and ins_float_invariant_init().

#define INS_INV_LB   6.

Definition at line 90 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_LV   2.

Definition at line 86 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_MH   0.2

Definition at line 102 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_MV   8.

Definition at line 94 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_MVZ   15.

Definition at line 98 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_NH   1.2

Definition at line 114 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_NX   0.8

Definition at line 106 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_NXZ   0.5

Definition at line 110 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_OB   1.

Definition at line 122 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_OV   1.2

Definition at line 118 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_RH   8.

Definition at line 130 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_RV   4.

Definition at line 126 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define INS_INV_SH   0.01

Definition at line 134 of file ins_float_invariant.c.

Referenced by ins_float_invariant_init().

#define MAG_FROZEN_COUNT   30

Definition at line 488 of file ins_float_invariant.c.

Referenced by ins_float_invariant_update_mag().

Function Documentation

static void error_output ( struct InsFloatInv *  _ins )

inlinestatic

Compute correction vectors E = ( ŷ - y ) LE, ME, NE, OE : ( gain matrix * error )

Definition at line 581 of file ins_float_invariant.c.

References inv_command::accel, inv_state::as, B, inv_measures::baro_alt, InsFloatInv::cmd, InsFloatInv::corr, GpsState::fix, float_quat_invert(), float_quat_vmult(), FLOAT_VECT3_ZERO, InsFloatInv::gains, gps, GPS_FIX_3D, inv_state::hb, ins_float_inv, ins_gps_fix_once, InsFloatInv::is_aligned, inv_gains::lb, inv_correction_gains::LE, inv_gains::lv, inv_measures::mag, inv_correction_gains::ME, InsFloatInv::meas, inv_gains::mh, inv_gains::mv, inv_gains::mvz, inv_correction_gains::NE, State::ned_initialized_f, inv_gains::nh, inv_gains::nx, inv_gains::nxz, inv_gains::ob, inv_correction_gains::OE, inv_gains::ov, inv_state::pos, inv_measures::pos_gps, inv_state::quat, inv_correction_gains::RE, inv_gains::rh, inv_gains::rv, inv_correction_gains::SE, inv_gains::sh, inv_state::speed, inv_measures::speed_gps, state, InsFloatInv::state, State::utm_initialized_f, VECT3_ADD, VECT3_COPY, VECT3_CROSS_PRODUCT, VECT3_DIFF, VECT3_DOT_PRODUCT, VECT3_SMUL, FloatVect3::x, FloatVect3::y, FloatVect3::z, and NedCoor_f::z.

Referenced by ins_float_invariant_propagate().

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void float_quat_vmul_right	(	struct FloatQuat *	mright,
		const struct FloatQuat *	q,
		struct FloatVect3 *	vi
	)

Right multiplication by a quaternion.

vi * q

Definition at line 672 of file ins_float_invariant.c.

References FLOAT_QUAT_EXTRACT, FloatQuat::qi, QUAT_ASSIGN, VECT3_ADD, VECT3_CROSS_PRODUCT, VECT3_DOT_PRODUCT, VECT3_SMUL, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by invariant_model().

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static void init_invariant_state ( void  )

inlinestatic

Definition at line 168 of file ins_float_invariant.c.

References inv_state::as, inv_measures::baro_alt, inv_state::bias, float_quat_identity(), FLOAT_RATES_ZERO, FLOAT_VECT3_ZERO, inv_state::hb, ins_baro_initialized, ins_float_inv, ins_gps_fix_once, InsFloatInv::meas, inv_state::pos, inv_measures::pos_gps, inv_state::quat, inv_state::speed, inv_measures::speed_gps, and InsFloatInv::state.

Referenced by ins_float_invariant_init(), and ins_float_invariant_propagate().

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void ins_float_inv_set_body_to_imu_quat

(

struct FloatQuat *

q_b2i

)

Definition at line 686 of file ins_float_invariant.c.

References InsFloatInv::body_to_imu, ins_float_inv, InsFloatInv::is_aligned, orientationSetQuat_f(), inv_state::quat, and InsFloatInv::state.

Referenced by body_to_imu_cb().

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void ins_float_invariant_align	(	struct FloatRates *	lp_gyro,
		struct FloatVect3 *	lp_accel,
		struct FloatVect3 *	lp_mag
	)

Definition at line 305 of file ins_float_invariant.c.

References ahrs_float_get_quat_from_accel_mag(), inv_state::bias, ins_float_inv, InsFloatInv::is_aligned, inv_state::quat, InsFloatInv::state, and stateSetNedToBodyQuat_f().

Referenced by aligner_cb().

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void ins_float_invariant_init

(

void

)

Definition at line 215 of file ins_float_invariant.c.

References LlaCoor_i::alt, UtmCoor_f::alt, B, DefaultPeriodic, UtmCoor_f::east, ecef_of_lla_i(), InsFloatInv::gains, LtpDef_i::hmsl, init_invariant_state(), ins_float_inv, INS_INV_LB, INS_INV_LV, INS_INV_MH, INS_INV_MV, INS_INV_MVZ, INS_INV_NH, INS_INV_NX, INS_INV_NXZ, INS_INV_OB, INS_INV_OV, INS_INV_RH, INS_INV_RV, INS_INV_SH, InsFloatInv::is_aligned, LlaCoor_i::lat, inv_gains::lb, LlaCoor_i::lon, ltp_def_from_ecef_i(), inv_gains::lv, inv_gains::mh, inv_gains::mv, inv_gains::mvz, nav_utm_east0, nav_utm_north0, nav_utm_zone0, inv_gains::nh, UtmCoor_f::north, inv_gains::nx, inv_gains::nxz, inv_gains::ob, inv_gains::ov, register_periodic_telemetry(), InsFloatInv::reset, inv_gains::rh, inv_gains::rv, send_inv_filter(), inv_gains::sh, stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), stateSetPositionUtm_f(), and UtmCoor_f::zone.

Referenced by ins_float_invariant_wrapper_init().

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void ins_float_invariant_propagate	(	struct FloatRates *	gyro,
		struct FloatVect3 *	accel,
		float	dt
	)

Definition at line 322 of file ins_float_invariant.c.

References inv_command::accel, inv_state::as, inv_measures::baro_alt, inv_state::bias, InsFloatInv::body_to_imu, InsFloatInv::cmd, DefaultChannel, DefaultDevice, error_output(), float_quat_invert(), float_quat_normalize(), float_quat_vmult(), float_rmat_transp_ratemult(), float_rmat_transp_vmult(), inv_state::hb, init_invariant_state(), ins_float_inv, INV_COMMAND_DIM, INV_STATE_DIM, invariant_model(), InsFloatInv::is_aligned, log_started, inv_measures::mag, InsFloatInv::meas, orientationGetRMat_f(), FloatRates::p, inv_state::pos, inv_measures::pos_gps, pprzLogFile, FloatRates::q, FloatQuat::qi, inv_state::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, inv_command::rates, RATES_DIFF, InsFloatInv::reset, runge_kutta_4_float(), send_inv_filter(), inv_state::speed, inv_measures::speed_gps, InsFloatInv::state, stateSetAccelNed_f(), stateSetBodyRates_f(), stateSetNedToBodyQuat_f(), stateSetPositionNed_f(), stateSetSpeedNed_f(), VECT3_ADD, VECT3_SMUL, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

Referenced by gyro_cb().

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void ins_float_invariant_update_baro

(

float

pressure

)

Definition at line 454 of file ins_float_invariant.c.

References alpha, inv_measures::baro_alt, ins_baro_initialized, ins_float_inv, InsFloatInv::meas, and pprz_isa_height_of_pressure().

Referenced by baro_cb().

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void ins_float_invariant_update_gps

(

struct GpsState *

gps_s

)

Definition at line 420 of file ins_float_invariant.c.

References UtmCoor_f::alt, UtmCoor_f::east, ECEF_FLOAT_OF_BFP, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, GPS_FIX_3D, ins_float_inv, ins_gps_fix_once, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_VECT3_SCALE_2, InsFloatInv::is_aligned, InsFloatInv::meas, nav_utm_zone0, NED_FLOAT_OF_BFP, State::ned_initialized_f, ned_of_ecef_point_i(), ned_of_ecef_vect_f(), State::ned_origin_f, State::ned_origin_i, GpsState::ned_vel, UtmCoor_f::north, inv_measures::pos_gps, inv_measures::speed_gps, state, utm_float_from_gps(), State::utm_initialized_f, State::utm_origin_f, NedCoor_f::x, NedCoor_i::x, NedCoor_f::y, NedCoor_i::y, NedCoor_f::z, and NedCoor_i::z.

Referenced by gps_cb().

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void ins_float_invariant_update_mag

(

struct FloatVect3 *

mag

)

Definition at line 490 of file ins_float_invariant.c.

References InsFloatInv::body_to_imu, float_rmat_transp_vmult(), FLOAT_VECT3_ZERO, ins_float_inv, inv_measures::mag, MAG_FROZEN_COUNT, InsFloatInv::meas, orientationGetRMat_f(), and FloatVect3::x.

Referenced by mag_cb().

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void ins_reset_altitude_ref

(

void

)

INS altitude reference reset.

Reset only vertical reference to the current altitude. Does nothing if not implemented by specific INS algorithm.

Definition at line 286 of file ins_float_invariant.c.

References LlaCoor_i::alt, UtmCoor_f::alt, gps, GpsState::hmsl, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, GpsState::lla_pos, LlaCoor_i::lon, ltp_def_from_lla_i(), State::ned_origin_i, state, stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), and State::utm_origin_f.

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void ins_reset_local_origin

(

void

)

INS local origin reset.

Reset horizontal and vertical reference to the current position. Does nothing if not implemented by specific INS algorithm.

INS local origin reset.

Definition at line 272 of file ins_float_invariant.c.

References GpsState::ecef_pos, gps, GpsState::hmsl, LtpDef_i::hmsl, ltp_def_from_ecef_i(), stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), and utm_float_from_gps().

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static void invariant_model ( float *  o, const float *  x, const int  n, const float *  u, const int  m  )

inlinestatic

Compute dynamic mode.

x_dot = evolution_model + (gain_matrix * error)

Definition at line 518 of file ins_float_invariant.c.

References inv_command::accel, inv_state::as, inv_state::bias, InsFloatInv::corr, float_quat_derivative(), float_quat_invert(), FLOAT_QUAT_NORM2, float_quat_vmul_right(), float_quat_vmult(), float_vect_zero(), inv_state::hb, ins_float_inv, inv_correction_gains::LE, inv_correction_gains::ME, inv_correction_gains::NE, inv_correction_gains::OE, inv_state::pos, inv_state::quat, QUAT_ADD, QUAT_SMUL, inv_command::rates, RATES_ASSIGN, RATES_DIFF, inv_correction_gains::RE, inv_correction_gains::SE, inv_state::speed, VECT3_ADD, VECT3_SMUL, VECT3_SUM, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ins_float_invariant_propagate().

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static void send_inv_filter ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 189 of file ins_float_invariant.c.

References inv_state::as, inv_measures::baro_alt, inv_state::bias, float_eulers_of_quat(), inv_state::hb, ins_float_inv, InsFloatInv::meas, FloatRates::p, FloatEulers::phi, inv_state::pos, inv_measures::pos_gps, FloatEulers::psi, FloatRates::q, FloatQuat::qi, inv_state::quat, FloatRates::r, inv_state::speed, InsFloatInv::state, FloatEulers::theta, NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by ins_float_invariant_init(), and ins_float_invariant_propagate().

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Variable Documentation

const struct FloatVect3 A = { 0.f, 0.f, 9.81f }

static

Definition at line 141 of file ins_float_invariant.c.

bool ins_baro_initialized

Definition at line 148 of file ins_float_invariant.c.

Referenced by init_invariant_state(), and ins_float_invariant_update_baro().

struct InsFloatInv ins_float_inv

Definition at line 138 of file ins_float_invariant.c.

Referenced by aligner_cb(), error_output(), geo_mag_cb(), init_invariant_state(), ins_float_inv_set_body_to_imu_quat(), ins_float_invariant_align(), ins_float_invariant_init(), ins_float_invariant_propagate(), ins_float_invariant_update_baro(), ins_float_invariant_update_gps(), ins_float_invariant_update_mag(), invariant_model(), mag_cb(), send_filter_status(), and send_inv_filter().

bool ins_gps_fix_once

Definition at line 151 of file ins_float_invariant.c.

Referenced by error_output(), init_invariant_state(), and ins_float_invariant_update_gps().