Paparazzi UAS  v5.18.0_stable
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ahrs_int_cmpl_quat.h File Reference
#include "subsystems/ahrs.h"
#include "subsystems/gps.h"
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_orientation_conversion.h"
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Data Structures

struct  AhrsIntCmplQuat
 Ahrs implementation specifc values. More...
 

Enumerations

enum  AhrsICQStatus { AHRS_ICQ_UNINIT, AHRS_ICQ_RUNNING }
 

Functions

void ahrs_icq_init (void)
 
void ahrs_icq_set_body_to_imu (struct OrientationReps *body_to_imu)
 
void ahrs_icq_set_body_to_imu_quat (struct FloatQuat *q_b2i)
 
bool ahrs_icq_align (struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag)
 
void ahrs_icq_propagate (struct Int32Rates *gyro, float dt)
 
void ahrs_icq_update_accel (struct Int32Vect3 *accel, float dt)
 
void ahrs_icq_update_mag (struct Int32Vect3 *mag, float dt)
 
void ahrs_icq_update_gps (struct GpsState *gps_s)
 
void ahrs_icq_update_heading (int32_t heading)
 Update yaw based on a heading measurement. More...
 
void ahrs_icq_realign_heading (int32_t heading)
 Hard reset yaw to a heading. More...
 
void ahrs_icq_set_accel_gains (void)
 update pre-computed inv_kp and inv_ki gains from acc_omega and acc_zeta More...
 
static void ahrs_int_cmpl_quat_SetAccelOmega (float omega)
 
static void ahrs_int_cmpl_quat_SetAccelZeta (float zeta)
 
void ahrs_icq_set_mag_gains (void)
 update pre-computed kp and ki gains from mag_omega and mag_zeta More...
 
static void ahrs_int_cmpl_quat_SetMagOmega (float omega)
 
static void ahrs_int_cmpl_quat_SetMagZeta (float zeta)
 

Variables

struct AhrsIntCmplQuat ahrs_icq
 Default Rate filter Low pass. More...
 

Detailed Description

Quaternion complementary filter (fixed-point).

Estimate the attitude, heading and gyro bias.

Definition in file ahrs_int_cmpl_quat.h.

Data Structure Documentation

◆ AhrsIntCmplQuat

struct AhrsIntCmplQuat

Ahrs implementation specifc values.

Definition at line 48 of file ahrs_int_cmpl_quat.h.

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Data Fields
uint16_t accel_cnt number of propagations since last accel update
float accel_inv_ki
float accel_inv_kp
float accel_omega filter cut-off frequency for correcting the attitude from accels.

(pseudo-gravity measurement) only update through ahrs_int_cmpl_quat_SetAccelOmega

float accel_zeta filter damping for correcting the gyro-bias from accels.

(pseudo-gravity measurement) only update through ahrs_int_cmpl_quat_SetAccelZeta

struct OrientationReps body_to_imu
bool correct_gravity enable gravity vector correction by removing centrifugal acceleration
uint8_t gravity_heuristic_factor sets how strongly the gravity heuristic reduces accel correction.

Set to zero in order to disable gravity heuristic.

struct Int32Rates gyro_bias
bool heading_aligned
struct Int64Rates high_rez_bias
struct Int64Quat high_rez_quat
struct Int32Rates imu_rate
bool is_aligned
struct Int32Quat ltp_to_imu_quat
int32_t ltp_vel_norm
bool ltp_vel_norm_valid
uint16_t mag_cnt number of propagations since last mag update
struct Int32Vect3 mag_h
float mag_ki
float mag_kp
float mag_omega filter cut-off frequency for correcting the attitude (heading) from magnetometer.

only update through ahrs_int_cmpl_quat_SetMagOmega

float mag_zeta filter damping for correcting the gyro bias from magnetometer.

only update through ahrs_int_cmpl_quat_SetMagZeta

struct Int32Rates rate_correction
enum AhrsICQStatus status status of the AHRS, AHRS_ICQ_UNINIT or AHRS_ICQ_RUNNING
float weight

Enumeration Type Documentation

◆ AhrsICQStatus

enum AhrsICQStatus
Enumerator
AHRS_ICQ_UNINIT 
AHRS_ICQ_RUNNING 

Definition at line 40 of file ahrs_int_cmpl_quat.h.

Function Documentation

◆ ahrs_icq_align()

bool ahrs_icq_align ( struct Int32Rates *  lp_gyro,
struct Int32Vect3 *  lp_accel,
struct Int32Vect3 *  lp_mag 
)

Definition at line 158 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AHRS_ICQ_RUNNING, ahrs_int_get_quat_from_accel(), ahrs_int_get_quat_from_accel_mag(), AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::heading_aligned, AhrsIntCmplQuat::high_rez_bias, INT_RATES_LSHIFT, AhrsIntCmplQuat::is_aligned, AhrsIntCmplQuat::ltp_to_imu_quat, RATES_COPY, and AhrsIntCmplQuat::status.

Referenced by aligner_cb().

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◆ ahrs_icq_init()

void ahrs_icq_init ( void  )

Definition at line 115 of file ahrs_int_cmpl_quat.c.

References AhrsIntCmplQuat::accel_cnt, AhrsIntCmplQuat::accel_omega, AhrsIntCmplQuat::accel_zeta, AHRS_ACCEL_OMEGA, AHRS_ACCEL_ZETA, AHRS_GRAVITY_HEURISTIC_FACTOR, ahrs_icq, ahrs_icq_set_accel_gains(), ahrs_icq_set_mag_gains(), AHRS_ICQ_UNINIT, AHRS_MAG_OMEGA, AHRS_MAG_ZETA, AhrsIntCmplQuat::correct_gravity, AhrsIntCmplQuat::gravity_heuristic_factor, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::heading_aligned, AhrsIntCmplQuat::high_rez_bias, AhrsIntCmplQuat::imu_rate, int32_quat_identity(), INT_RATES_ZERO, AhrsIntCmplQuat::is_aligned, AhrsIntCmplQuat::ltp_to_imu_quat, AhrsIntCmplQuat::ltp_vel_norm_valid, MAG_BFP_OF_REAL, AhrsIntCmplQuat::mag_cnt, AhrsIntCmplQuat::mag_h, AhrsIntCmplQuat::mag_omega, AhrsIntCmplQuat::mag_zeta, AhrsIntCmplQuat::rate_correction, AhrsIntCmplQuat::status, and VECT3_ASSIGN.

Referenced by ahrs_icq_register().

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◆ ahrs_icq_propagate()

void ahrs_icq_propagate ( struct Int32Rates *  gyro,
float  dt 
)

Definition at line 187 of file ahrs_int_cmpl_quat.c.

References AhrsIntCmplQuat::accel_cnt, ahrs_icq, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::high_rez_quat, AhrsIntCmplQuat::imu_rate, int32_quat_integrate_fi(), int32_quat_normalize(), INT_RATES_ZERO, AhrsIntCmplQuat::ltp_to_imu_quat, AhrsIntCmplQuat::mag_cnt, AhrsIntCmplQuat::rate_correction, RATES_ADD, RATES_COPY, RATES_DIFF, RATES_SDIV, and RATES_SMUL.

Referenced by gyro_cb().

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◆ ahrs_icq_realign_heading()

void ahrs_icq_realign_heading ( int32_t  heading)

Hard reset yaw to a heading.

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

Parameters
headingHeading in body frame, radians (CW/north) with INT32_ANGLE_FRAC

Definition at line 627 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::body_to_imu, heading, AhrsIntCmplQuat::heading_aligned, int32_quat_comp(), int32_quat_comp_inv(), int32_quat_comp_norm_shortest(), int32_quat_inv_comp_norm_shortest(), int32_quat_normalize(), AhrsIntCmplQuat::ltp_to_imu_quat, orientationGetQuat_i(), PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, QUAT_COPY, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by ahrs_icq_update_gps().

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◆ ahrs_icq_set_accel_gains()

void ahrs_icq_set_accel_gains ( void  )

update pre-computed inv_kp and inv_ki gains from acc_omega and acc_zeta

Definition at line 220 of file ahrs_int_cmpl_quat.c.

References AhrsIntCmplQuat::accel_inv_ki, AhrsIntCmplQuat::accel_inv_kp, AhrsIntCmplQuat::accel_omega, AhrsIntCmplQuat::accel_zeta, and ahrs_icq.

Referenced by ahrs_icq_init(), ahrs_int_cmpl_quat_SetAccelOmega(), and ahrs_int_cmpl_quat_SetAccelZeta().

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◆ ahrs_icq_set_body_to_imu()

void ahrs_icq_set_body_to_imu ( struct OrientationReps *  body_to_imu)

Definition at line 662 of file ahrs_int_cmpl_quat.c.

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

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◆ ahrs_icq_set_body_to_imu_quat()

void ahrs_icq_set_body_to_imu_quat ( struct FloatQuat *  q_b2i)

Definition at line 667 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::body_to_imu, AhrsIntCmplQuat::is_aligned, AhrsIntCmplQuat::ltp_to_imu_quat, orientationGetQuat_i(), and orientationSetQuat_f().

Referenced by ahrs_icq_set_body_to_imu(), and body_to_imu_cb().

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◆ ahrs_icq_set_mag_gains()

void ahrs_icq_set_mag_gains ( void  )

update pre-computed kp and ki gains from mag_omega and mag_zeta

Definition at line 401 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::mag_ki, AhrsIntCmplQuat::mag_kp, AhrsIntCmplQuat::mag_omega, and AhrsIntCmplQuat::mag_zeta.

Referenced by ahrs_icq_init(), ahrs_int_cmpl_quat_SetMagOmega(), and ahrs_int_cmpl_quat_SetMagZeta().

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◆ ahrs_icq_update_accel()

void ahrs_icq_update_accel ( struct Int32Vect3 *  accel,
float  dt 
)

Definition at line 241 of file ahrs_int_cmpl_quat.c.

References ACC_FROM_CROSS_FRAC, AhrsIntCmplQuat::accel_cnt, AhrsIntCmplQuat::accel_inv_ki, AhrsIntCmplQuat::accel_inv_kp, ACCELS_FLOAT_OF_BFP, ahrs_icq, AhrsIntCmplQuat::body_to_imu, c2, COMPUTATION_FRAC, AhrsIntCmplQuat::correct_gravity, FIR_FILTER_SIZE, FLOAT_VECT3_NORM, AhrsIntCmplQuat::gravity_heuristic_factor, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::high_rez_bias, AhrsIntCmplQuat::imu_rate, int32_rmat_of_quat(), int32_rmat_transp_ratemult(), int32_rmat_vmult(), INT32_VECT3_RSHIFT, INT_RATES_RSHIFT, AhrsIntCmplQuat::ltp_to_imu_quat, AhrsIntCmplQuat::ltp_vel_norm, AhrsIntCmplQuat::ltp_vel_norm_valid, orientationGetRMat_i(), Int32Rates::p, Int64Rates::p, Int32Rates::q, Int64Rates::q, Int32Rates::r, Int64Rates::r, AhrsIntCmplQuat::rate_correction, RMAT_ELMT, VECT3_ADD, VECT3_COPY, VECT3_CROSS_PRODUCT, VECT3_DIFF, VECT3_RATES_CROSS_VECT3, VECT3_SDIV, VECT3_SMUL, AhrsIntCmplQuat::weight, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by accel_cb().

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◆ ahrs_icq_update_gps()

void ahrs_icq_update_gps ( struct GpsState *  gps_s)

Definition at line 529 of file ahrs_int_cmpl_quat.c.

References AHRS_HEADING_UPDATE_GPS_MIN_SPEED, ahrs_icq, ahrs_icq_realign_heading(), ahrs_icq_update_heading(), course, GPS_FIX_3D, AhrsIntCmplQuat::heading_aligned, INT32_ANGLE_FRAC, AhrsIntCmplQuat::ltp_vel_norm, AhrsIntCmplQuat::ltp_vel_norm_valid, and SPEED_BFP_OF_REAL.

Referenced by gps_cb().

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◆ ahrs_icq_update_heading()

void ahrs_icq_update_heading ( int32_t  heading)

Update yaw based on a heading measurement.

e.g. from GPS course

Parameters
headingHeading in body frame, radians (CW/north) with INT32_ANGLE_FRAC

Definition at line 565 of file ahrs_int_cmpl_quat.c.

References AHRS_BIAS_UPDATE_HEADING_THRESHOLD, ahrs_icq, AhrsIntCmplQuat::body_to_imu, AhrsIntCmplQuat::gyro_bias, heading, AhrsIntCmplQuat::high_rez_bias, INT32_ANGLE_FRAC, INT32_ANGLE_NORMALIZE, int32_quat_comp_inv(), int32_rmat_of_quat(), int32_rmat_vmult(), INT_RATES_RSHIFT, AhrsIntCmplQuat::ltp_to_imu_quat, orientationGetQuat_i(), Int32Rates::p, Int64Rates::p, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Rates::q, Int64Rates::q, Int32Rates::r, Int64Rates::r, AhrsIntCmplQuat::rate_correction, RMAT_ELMT, TRIG_BFP_OF_REAL, Int32Vect2::x, Int32Vect3::x, Int32Vect2::y, Int32Vect3::y, and Int32Vect3::z.

Referenced by ahrs_icq_update_gps().

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◆ ahrs_icq_update_mag()

void ahrs_icq_update_mag ( struct Int32Vect3 *  mag,
float  dt 
)

Definition at line 384 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, ahrs_icq_update_mag_2d(), ahrs_icq_update_mag_full(), and AhrsIntCmplQuat::mag_cnt.

Referenced by mag_cb().

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◆ ahrs_int_cmpl_quat_SetAccelOmega()

static void ahrs_int_cmpl_quat_SetAccelOmega ( float  omega)
inlinestatic

Definition at line 136 of file ahrs_int_cmpl_quat.h.

References AhrsIntCmplQuat::accel_omega, ahrs_icq, and ahrs_icq_set_accel_gains().

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◆ ahrs_int_cmpl_quat_SetAccelZeta()

static void ahrs_int_cmpl_quat_SetAccelZeta ( float  zeta)
inlinestatic

Definition at line 142 of file ahrs_int_cmpl_quat.h.

References AhrsIntCmplQuat::accel_zeta, ahrs_icq, and ahrs_icq_set_accel_gains().

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◆ ahrs_int_cmpl_quat_SetMagOmega()

static void ahrs_int_cmpl_quat_SetMagOmega ( float  omega)
inlinestatic

Definition at line 151 of file ahrs_int_cmpl_quat.h.

References ahrs_icq, ahrs_icq_set_mag_gains(), and AhrsIntCmplQuat::mag_omega.

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◆ ahrs_int_cmpl_quat_SetMagZeta()

static void ahrs_int_cmpl_quat_SetMagZeta ( float  zeta)
inlinestatic

Definition at line 157 of file ahrs_int_cmpl_quat.h.

References ahrs_icq, ahrs_icq_set_mag_gains(), and AhrsIntCmplQuat::mag_zeta.

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Variable Documentation

◆ ahrs_icq

struct AhrsIntCmplQuat ahrs_icq

Default Rate filter Low pass.

Definition at line 110 of file ahrs_int_cmpl_quat.c.

Referenced by accel_cb(), ahrs_icq_align(), ahrs_icq_init(), ahrs_icq_propagate(), ahrs_icq_realign_heading(), ahrs_icq_set_accel_gains(), ahrs_icq_set_body_to_imu_quat(), ahrs_icq_set_mag_gains(), ahrs_icq_update_accel(), ahrs_icq_update_gps(), ahrs_icq_update_heading(), ahrs_icq_update_mag(), ahrs_icq_update_mag_2d(), ahrs_icq_update_mag_full(), ahrs_int_cmpl_quat_SetAccelOmega(), ahrs_int_cmpl_quat_SetAccelZeta(), ahrs_int_cmpl_quat_SetMagOmega(), ahrs_int_cmpl_quat_SetMagZeta(), aligner_cb(), geo_mag_cb(), gyro_cb(), mag_cb(), send_bias(), send_euler(), send_filter_status(), send_geo_mag(), send_quat(), and set_body_state_from_quat().