#include "subsystems/ins/ins_float_invariant.h"
#include "subsystems/ahrs/ahrs_int_utils.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	INS_INV_HEADING_UPDATE_GPS_MIN_SPEED 5.f

#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

◆ B

#define B ins_float_inv.mag_h

Definition at line 144 of file ins_float_invariant.c.

◆ INS_INV_HEADING_UPDATE_GPS_MIN_SPEED

#define INS_INV_HEADING_UPDATE_GPS_MIN_SPEED 5.f

Definition at line 154 of file ins_float_invariant.c.

◆ INS_INV_LB

#define INS_INV_LB 6.

Definition at line 89 of file ins_float_invariant.c.

◆ INS_INV_LV

#define INS_INV_LV 2.

Definition at line 85 of file ins_float_invariant.c.

◆ INS_INV_MH

#define INS_INV_MH 0.2

Definition at line 101 of file ins_float_invariant.c.

◆ INS_INV_MV

#define INS_INV_MV 8.

Definition at line 93 of file ins_float_invariant.c.

◆ INS_INV_MVZ

#define INS_INV_MVZ 15.

Definition at line 97 of file ins_float_invariant.c.

◆ INS_INV_NH

#define INS_INV_NH 1.2

Definition at line 113 of file ins_float_invariant.c.

◆ INS_INV_NX

#define INS_INV_NX 0.8

Definition at line 105 of file ins_float_invariant.c.

◆ INS_INV_NXZ

#define INS_INV_NXZ 0.5

Definition at line 109 of file ins_float_invariant.c.

◆ INS_INV_OB

#define INS_INV_OB 1.

Definition at line 121 of file ins_float_invariant.c.

◆ INS_INV_OV

#define INS_INV_OV 1.2

Definition at line 117 of file ins_float_invariant.c.

◆ INS_INV_RH

#define INS_INV_RH 8.

Definition at line 129 of file ins_float_invariant.c.

◆ INS_INV_RV

#define INS_INV_RV 4.

Definition at line 125 of file ins_float_invariant.c.

◆ INS_INV_SH

#define INS_INV_SH 0.01

Definition at line 133 of file ins_float_invariant.c.

◆ MAG_FROZEN_COUNT

#define MAG_FROZEN_COUNT 30

Definition at line 525 of file ins_float_invariant.c.

Function Documentation

◆ error_output()

static void error_output ( struct InsFloatInv * _ins )

inlinestatic

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

Definition at line 614 of file ins_float_invariant.c.

References inv_command::accel, inv_state::as, B, inv_measures::baro_alt, InsFloatInv::cmd, InsFloatInv::corr, Ex, GpsState::fix, float_quat_invert(), float_quat_vmult(), FLOAT_VECT3_ZERO, InsFloatInv::gains, gps, GPS_FIX_3D, inv_state::hb, I, 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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◆ float_quat_vmul_right()

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 699 of file ins_float_invariant.c.

References FLOAT_QUAT_EXTRACT, FloatQuat::qi, QUAT_ASSIGN, v1, v2, VECT3_ADD, VECT3_CROSS_PRODUCT, VECT3_DOT_PRODUCT, VECT3_SMUL, and vi.

Referenced by invariant_model().

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◆ init_invariant_state()

static void init_invariant_state ( void )

inlinestatic

Definition at line 172 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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◆ ins_float_inv_set_body_to_imu_quat()

void ins_float_inv_set_body_to_imu_quat ( struct FloatQuat * q_b2i )

Definition at line 713 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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◆ ins_float_invariant_align()

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

Definition at line 315 of file ins_float_invariant.c.

References ahrs_float_get_quat_from_accel(), 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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◆ ins_float_invariant_init()

void ins_float_invariant_init ( void )

Definition at line 219 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, 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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◆ ins_float_invariant_propagate()

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

Definition at line 337 of file ins_float_invariant.c.

References A, inv_command::accel, ACCELS_BFP_OF_REAL, 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, stateSetAccelBody_i(), 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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◆ ins_float_invariant_update_baro()

void ins_float_invariant_update_baro ( float pressure )

Definition at line 491 of file ins_float_invariant.c.

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

Referenced by baro_cb().

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◆ ins_float_invariant_update_gps()

void ins_float_invariant_update_gps ( struct GpsState * gps_s )

Definition at line 439 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, float_vect2_norm(), FLOAT_VECT3_ZERO, GPS_FIX_3D, ins_float_inv, ins_float_invariant_update_mag(), ins_gps_fix_once, INS_INV_HEADING_UPDATE_GPS_MIN_SPEED, INT32_POS_OF_CM_DEN, INT32_POS_OF_CM_NUM, INT32_VECT3_SCALE_2, InsFloatInv::is_aligned, inv_measures::mag, 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, FloatVect2::x, NedCoor_f::x, NedCoor_i::x, FloatVect2::y, NedCoor_f::y, NedCoor_i::y, NedCoor_f::z, and NedCoor_i::z.

Referenced by gps_cb().

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◆ ins_float_invariant_update_mag()

void ins_float_invariant_update_mag ( struct FloatVect3 * mag )

Definition at line 527 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 ins_float_invariant_update_gps(), and mag_cb().

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◆ ins_reset_altitude_ref()

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 296 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, ltp_def_from_lla_i(), State::ned_origin_i, state, stateSetLocalOrigin_i(), stateSetLocalUtmOrigin_f(), and State::utm_origin_f.

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◆ ins_reset_local_origin()

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 282 of file ins_float_invariant.c.

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

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◆ invariant_model()

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 555 of file ins_float_invariant.c.

References A, inv_state::as, inv_state::bias, c(), InsFloatInv::corr, float_quat_derivative(), float_quat_invert(), FLOAT_QUAT_NORM2, float_quat_vmul_right(), float_quat_vmult(), 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, RATES_ASSIGN, RATES_DIFF, inv_correction_gains::RE, s, 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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◆ send_inv_filter()

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

static

Definition at line 193 of file ins_float_invariant.c.

References inv_state::as, inv_measures::baro_alt, inv_state::bias, dev, 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

◆ A

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

static

Definition at line 140 of file ins_float_invariant.c.

Referenced by ins_float_invariant_propagate(), and invariant_model().

◆ ins_baro_initialized

bool ins_baro_initialized

Definition at line 147 of file ins_float_invariant.c.

Referenced by init_invariant_state(), and ins_float_invariant_update_baro().

◆ ins_float_inv

struct InsFloatInv ins_float_inv

Definition at line 137 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().

◆ ins_gps_fix_once

bool ins_gps_fix_once

Definition at line 150 of file ins_float_invariant.c.

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

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ B

◆ INS_INV_HEADING_UPDATE_GPS_MIN_SPEED

◆ 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

◆ MAG_FROZEN_COUNT

Function Documentation

◆ error_output()

◆ float_quat_vmul_right()

◆ 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()

◆ ins_reset_altitude_ref()

◆ ins_reset_local_origin()

◆ invariant_model()

◆ send_inv_filter()

Variable Documentation

◆ A

◆ ins_baro_initialized

◆ ins_float_inv

◆ ins_gps_fix_once