Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
ins_int.c
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2008-2010 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #include "subsystems/ins/ins_int.h"
30 
31 #include "subsystems/abi.h"
32 
33 #include "subsystems/imu.h"
34 #include "subsystems/gps.h"
35 
36 #include "generated/airframe.h"
37 
38 #if USE_VFF_EXTENDED
39 #include "subsystems/ins/vf_extended_float.h"
40 #else
41 #include "subsystems/ins/vf_float.h"
42 #endif
43 
44 #if USE_HFF
45 #include "subsystems/ins/hf_float.h"
46 #endif
47 
48 #if defined SITL && USE_NPS
49 //#include "nps_fdm.h"
50 #include "nps_autopilot.h"
51 #include <stdio.h>
52 #endif
53 
54 #include "math/pprz_geodetic_int.h"
55 #include "math/pprz_isa.h"
56 #include "math/pprz_stat.h"
57 
58 #ifndef VFF_R_AGL
59 #define VFF_R_AGL 0.2
60 #endif
61 
62 #if USE_SONAR
63 #if !USE_VFF_EXTENDED
64 #error USE_SONAR needs USE_VFF_EXTENDED
65 #endif
66 
67 #ifdef INS_SONAR_THROTTLE_THRESHOLD
68 #include "firmwares/rotorcraft/stabilization.h"
69 #endif
70 
71 #ifndef INS_SONAR_MIN_RANGE
72 #define INS_SONAR_MIN_RANGE 0.001
73 #endif
74 #ifndef INS_SONAR_MAX_RANGE
75 #define INS_SONAR_MAX_RANGE 4.0
76 #endif
77 #define VFF_R_SONAR_0 0.2
78 #ifndef VFF_R_SONAR_OF_M
79 #define VFF_R_SONAR_OF_M 0.2
80 #endif
81 
82 #endif // USE_SONAR
83 
84 #if USE_GPS
85 #ifndef INS_VFF_R_GPS
86 #define INS_VFF_R_GPS 2.0
87 #endif
88 
89 #ifndef INS_VFF_VZ_R_GPS
90 #define INS_VFF_VZ_R_GPS 2.0
91 #endif
92 #endif // USE_GPS
93 
95 #ifndef INS_MAX_PROPAGATION_STEPS
96 #define INS_MAX_PROPAGATION_STEPS 200
97 #endif
98 
99 #ifndef USE_INS_NAV_INIT
100 #define USE_INS_NAV_INIT TRUE
101 PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
102 #endif
103 
105 #define INS_BARO_MAX_INIT_VAR 1.f // variance threshold to set initial baro measurement
106 #ifndef INS_INT_BARO_ID
107 #if USE_BARO_BOARD
108 #define INS_INT_BARO_ID BARO_BOARD_SENDER_ID
109 #else
110 #define INS_INT_BARO_ID ABI_BROADCAST
111 #endif
112 #endif
113 PRINT_CONFIG_VAR(INS_INT_BARO_ID)
114 abi_event baro_ev;
115 static void baro_cb(uint8_t sender_id, uint32_t stamp, float pressure);
116 
120 #ifndef INS_INT_IMU_ID
121 #define INS_INT_IMU_ID ABI_BROADCAST
122 #endif
123 static abi_event accel_ev;
124 static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel);
125 
126 #ifndef INS_INT_GPS_ID
127 #define INS_INT_GPS_ID GPS_MULTI_ID
128 #endif
129 static abi_event gps_ev;
130 static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s);
131 
135 #ifndef INS_INT_VEL_ID
136 #define INS_INT_VEL_ID ABI_BROADCAST
137 #endif
138 static abi_event vel_est_ev;
139 static void vel_est_cb(uint8_t sender_id,
140  uint32_t stamp,
141  float x, float y, float z,
142  float noise_x, float noise_y, float noise_z);
143 #ifndef INS_INT_POS_ID
144 #define INS_INT_POS_ID ABI_BROADCAST
145 #endif
146 static abi_event pos_est_ev;
147 static void pos_est_cb(uint8_t sender_id,
148  uint32_t stamp,
149  float x, float y, float z,
150  float noise_x, float noise_y, float noise_z);
151 
155 #ifndef INS_INT_AGL_ID
156 #define INS_INT_AGL_ID ABI_BROADCAST
157 #endif
158 static abi_event agl_ev;
159 static void agl_cb(uint8_t sender_id, uint32_t stamp, float distance);
160 
161 struct InsInt ins_int;
162 
163 #if PERIODIC_TELEMETRY
164 #include "subsystems/datalink/telemetry.h"
165 
166 static void send_ins(struct transport_tx *trans, struct link_device *dev)
167 {
168  pprz_msg_send_INS(trans, dev, AC_ID,
169  &ins_int.ltp_pos.x, &ins_int.ltp_pos.y, &ins_int.ltp_pos.z,
170  &ins_int.ltp_speed.x, &ins_int.ltp_speed.y, &ins_int.ltp_speed.z,
171  &ins_int.ltp_accel.x, &ins_int.ltp_accel.y, &ins_int.ltp_accel.z);
172 }
173 
174 static void send_ins_z(struct transport_tx *trans, struct link_device *dev)
175 {
176  pprz_msg_send_INS_Z(trans, dev, AC_ID,
177  &ins_int.baro_z, &ins_int.ltp_pos.z, &ins_int.ltp_speed.z, &ins_int.ltp_accel.z);
178 }
179 
180 static void send_ins_ref(struct transport_tx *trans, struct link_device *dev)
181 {
182  if (ins_int.ltp_initialized) {
183  pprz_msg_send_INS_REF(trans, dev, AC_ID,
184  &ins_int.ltp_def.ecef.x, &ins_int.ltp_def.ecef.y, &ins_int.ltp_def.ecef.z,
185  &ins_int.ltp_def.lla.lat, &ins_int.ltp_def.lla.lon, &ins_int.ltp_def.lla.alt,
186  &ins_int.ltp_def.hmsl, &ins_int.qfe);
187  }
188 }
189 #endif
190 
191 static void ins_ned_to_state(void);
192 static void ins_update_from_vff(void);
193 #if USE_HFF
194 static void ins_update_from_hff(void);
195 #endif
196 
197 
198 void ins_int_init(void)
199 {
200 
201 #if USE_INS_NAV_INIT
202  ins_init_origin_i_from_flightplan(&ins_int.ltp_def);
203  ins_int.ltp_initialized = true;
204 #else
205  ins_int.ltp_initialized = false;
206 #endif
207 
208  /* we haven't had any measurement updates yet, so set the counter to max */
209  ins_int.propagation_cnt = INS_MAX_PROPAGATION_STEPS;
210 
211  // Bind to BARO_ABS message
212  AbiBindMsgBARO_ABS(INS_INT_BARO_ID, &baro_ev, baro_cb);
213  ins_int.baro_initialized = false;
214 
215  ins_int.vf_reset = false;
216  ins_int.hf_realign = false;
217 
218  /* init vertical and horizontal filters */
219  vff_init_zero();
220 #if USE_HFF
221  hff_init(0., 0., 0., 0.);
222 #endif
223 
224  INT32_VECT3_ZERO(ins_int.ltp_pos);
225  INT32_VECT3_ZERO(ins_int.ltp_speed);
226  INT32_VECT3_ZERO(ins_int.ltp_accel);
227 
228 #if PERIODIC_TELEMETRY
229  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS, send_ins);
230  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS_Z, send_ins_z);
231  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS_REF, send_ins_ref);
232 #endif
233 
234  /*
235  * Subscribe to scaled IMU measurements and attach callbacks
236  */
237  AbiBindMsgIMU_ACCEL_INT32(INS_INT_IMU_ID, &accel_ev, accel_cb);
238  AbiBindMsgGPS(INS_INT_GPS_ID, &gps_ev, gps_cb);
239  AbiBindMsgVELOCITY_ESTIMATE(INS_INT_VEL_ID, &vel_est_ev, vel_est_cb);
240  AbiBindMsgPOSITION_ESTIMATE(INS_INT_POS_ID, &pos_est_ev, pos_est_cb);
241  AbiBindMsgAGL(INS_INT_AGL_ID, &agl_ev, agl_cb); // ABI to the altitude above ground level
242 }
243 
244 void ins_reset_local_origin(void)
245 {
246 #if USE_GPS
247  if (GpsFixValid()) {
248  ltp_def_from_ecef_i(&ins_int.ltp_def, &gps.ecef_pos);
249  ins_int.ltp_def.lla.alt = gps.lla_pos.alt;
250  ins_int.ltp_def.hmsl = gps.hmsl;
251  ins_int.ltp_initialized = true;
252  stateSetLocalOrigin_i(&ins_int.ltp_def);
253  } else {
254  ins_int.ltp_initialized = false;
255  }
256 #else
257  ins_int.ltp_initialized = false;
258 #endif
259 
260 #if USE_HFF
261  ins_int.hf_realign = true;
262 #endif
263  ins_int.vf_reset = true;
264 }
265 
266 void ins_reset_altitude_ref(void)
267 {
268 #if USE_GPS
269  if (GpsFixValid()) {
270  struct LlaCoor_i lla = {
271  .lat = state.ned_origin_i.lla.lat,
272  .lon = state.ned_origin_i.lla.lon,
273  .alt = gps.lla_pos.alt
274  };
275  ltp_def_from_lla_i(&ins_int.ltp_def, &lla);
276  ins_int.ltp_def.hmsl = gps.hmsl;
277  stateSetLocalOrigin_i(&ins_int.ltp_def);
278  }
279 #endif
280  ins_int.vf_reset = true;
281 }
282 
283 void ins_int_propagate(struct Int32Vect3 *accel, float dt)
284 {
285  /* untilt accels */
286  struct Int32Vect3 accel_meas_body;
287  struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&imu.body_to_imu);
288  int32_rmat_transp_vmult(&accel_meas_body, body_to_imu_rmat, accel);
289  stateSetAccelBody_i(&accel_meas_body);
290  struct Int32Vect3 accel_meas_ltp;
291  int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), &accel_meas_body);
292 
293  float z_accel_meas_float = ACCEL_FLOAT_OF_BFP(accel_meas_ltp.z);
294 
295  /* Propagate only if we got any measurement during the last INS_MAX_PROPAGATION_STEPS.
296  * Otherwise halt the propagation to not diverge and only set the acceleration.
297  * This should only be relevant in the startup phase when the baro is not yet initialized
298  * and there is no gps fix yet...
299  */
300  if (ins_int.propagation_cnt < INS_MAX_PROPAGATION_STEPS) {
301  vff_propagate(z_accel_meas_float, dt);
302  ins_update_from_vff();
303  } else {
304  // feed accel from the sensors
305  // subtract -9.81m/s2 (acceleration measured due to gravity,
306  // but vehicle not accelerating in ltp)
307  ins_int.ltp_accel.z = accel_meas_ltp.z + ACCEL_BFP_OF_REAL(9.81);
308  }
309 
310 #if USE_HFF
311  /* propagate horizontal filter */
312  hff_propagate();
313  /* convert and copy result to ins_int */
314  ins_update_from_hff();
315 #else
316  ins_int.ltp_accel.x = accel_meas_ltp.x;
317  ins_int.ltp_accel.y = accel_meas_ltp.y;
318 #endif /* USE_HFF */
319 
320  ins_ned_to_state();
321 
322  /* increment the propagation counter, while making sure it doesn't overflow */
323  if (ins_int.propagation_cnt < 100 * INS_MAX_PROPAGATION_STEPS) {
324  ins_int.propagation_cnt++;
325  }
326 }
327 
328 static void baro_cb(uint8_t __attribute__((unused)) sender_id, __attribute__((unused)) uint32_t stamp, float pressure)
329 {
330  if (pressure < 1.f)
331  {
332  // bad baro pressure, don't use
333  return;
334  }
335 
336  if (!ins_int.baro_initialized) {
337 #define press_hist_len 10
338  static float press_hist[press_hist_len];
339  static uint8_t idx = 0;
340 
341  press_hist[idx] = pressure;
342  idx = (idx + 1) % press_hist_len;
343  float var = variance_f(press_hist, press_hist_len);
344  if (var < INS_BARO_MAX_INIT_VAR){
345  // wait for a first positive value
346  ins_int.vf_reset = true;
347  ins_int.baro_initialized = true;
348  }
349  }
350 
351  if (ins_int.baro_initialized) {
352  float height_correction = 0.f;
353  if(ins_int.ltp_initialized){
354  // Calculate the distance to the origin
355  struct EnuCoor_f *enu = stateGetPositionEnu_f();
356  double dist2_to_origin = enu->x * enu->x + enu->y * enu->y;
357 
358  // correction for the earth's curvature
359  const double earth_radius = 6378137.0;
360  height_correction = (float)(sqrt(earth_radius * earth_radius + dist2_to_origin) - earth_radius);
361  }
362 
363  if (ins_int.vf_reset) {
364  ins_int.vf_reset = false;
365  ins_int.qfe = pressure;
366  vff_realign(height_correction);
367  ins_update_from_vff();
368  }
369 
370  float baro_up = pprz_isa_height_of_pressure(pressure, ins_int.qfe);
371 
372  // The VFF will update in the NED frame
373  ins_int.baro_z = -(baro_up - height_correction);
374 
375 #if USE_VFF_EXTENDED
376  vff_update_baro(ins_int.baro_z);
377 #else
378  vff_update(ins_int.baro_z);
379 #endif
380 
381  /* reset the counter to indicate we just had a measurement update */
382  ins_int.propagation_cnt = 0;
383  }
384 }
385 
386 #if USE_GPS
387 void ins_int_update_gps(struct GpsState *gps_s)
388 {
389  if (gps_s->fix < GPS_FIX_3D) {
390  return;
391  }
392 
393  if (!ins_int.ltp_initialized) {
394  ins_reset_local_origin();
395  }
396 
397  struct NedCoor_i gps_pos_cm_ned;
398  ned_of_ecef_point_i(&gps_pos_cm_ned, &ins_int.ltp_def, &gps_s->ecef_pos);
399 
400  /* calculate body frame position taking BODY_TO_GPS translation (in cm) into account */
401 #ifdef INS_BODY_TO_GPS_X
402  /* body2gps translation in body frame */
403  struct Int32Vect3 b2g_b = {
404  .x = INS_BODY_TO_GPS_X,
405  .y = INS_BODY_TO_GPS_Y,
406  .z = INS_BODY_TO_GPS_Z
407  };
408  /* rotate offset given in body frame to navigation/ltp frame using current attitude */
409  struct Int32Quat q_b2n = *stateGetNedToBodyQuat_i();
410  QUAT_INVERT(q_b2n, q_b2n);
411  struct Int32Vect3 b2g_n;
412  int32_quat_vmult(&b2g_n, &q_b2n, &b2g_b);
413  /* subtract body2gps translation in ltp from gps position */
414  VECT3_SUB(gps_pos_cm_ned, b2g_n);
415 #endif
416 
418  struct NedCoor_i gps_speed_cm_s_ned;
419  ned_of_ecef_vect_i(&gps_speed_cm_s_ned, &ins_int.ltp_def, &gps_s->ecef_vel);
420 
421 #if INS_USE_GPS_ALT
422  vff_update_z_conf(((float)gps_pos_cm_ned.z) / 100.0, INS_VFF_R_GPS);
423 #endif
424 #if INS_USE_GPS_ALT_SPEED
425  vff_update_vz_conf(((float)gps_speed_cm_s_ned.z) / 100.0, INS_VFF_VZ_R_GPS);
426  ins_int.propagation_cnt = 0;
427 #endif
428 
429 #if USE_HFF
430  /* horizontal gps transformed to NED in meters as float */
431  struct FloatVect2 gps_pos_m_ned;
432  VECT2_ASSIGN(gps_pos_m_ned, gps_pos_cm_ned.x, gps_pos_cm_ned.y);
433  VECT2_SDIV(gps_pos_m_ned, gps_pos_m_ned, 100.0f);
434 
435  struct FloatVect2 gps_speed_m_s_ned;
436  VECT2_ASSIGN(gps_speed_m_s_ned, gps_speed_cm_s_ned.x, gps_speed_cm_s_ned.y);
437  VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.f);
438 
439  if (ins_int.hf_realign) {
440  ins_int.hf_realign = false;
441  hff_realign(gps_pos_m_ned, gps_speed_m_s_ned);
442  }
443  // run horizontal filter
444  hff_update_gps(&gps_pos_m_ned, &gps_speed_m_s_ned);
445  // convert and copy result to ins_int
446  ins_update_from_hff();
447 
448 #else /* hff not used */
449  /* simply copy horizontal pos/speed from gps */
450  INT32_VECT2_SCALE_2(ins_int.ltp_pos, gps_pos_cm_ned,
451  INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
452  INT32_VECT2_SCALE_2(ins_int.ltp_speed, gps_speed_cm_s_ned,
453  INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
454 #endif /* USE_HFF */
455 
456  ins_ned_to_state();
457 
458  /* reset the counter to indicate we just had a measurement update */
459  ins_int.propagation_cnt = 0;
460 }
461 #else
462 void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {}
463 #endif /* USE_GPS */
464 
469 #if USE_VFF_EXTENDED
470 static void agl_cb(uint8_t __attribute__((unused)) sender_id, __attribute__((unused)) uint32_t stamp, float distance) {
471  if (distance <= 0 || !(ins_int.baro_initialized)) {
472  return;
473  }
474 
475 #if USE_SONAR
476  if (distance > INS_SONAR_MAX_RANGE || distance < INS_SONAR_MIN_RANGE){
477  return;
478  }
479 #endif
480 #ifdef INS_AGL_THROTTLE_THRESHOLD
481  if(stabilization_cmd[COMMAND_THRUST] < INS_AGL_THROTTLE_THRESHOLD){
482  return;
483  }
484 #endif
485 #ifdef INS_AGL_BARO_THRESHOLD
486  if(ins_int.baro_z < -INS_SONAR_BARO_THRESHOLD){ /* z down */
487  return;
488  }
489 #endif
490 
491 #if USE_SONAR
492  vff_update_agl(-distance, VFF_R_SONAR_0 + VFF_R_SONAR_OF_M * fabsf(distance));
493 #else
494  // TODO: this assumes that you will either have sonar or other agl sensor never both
495  vff_update_agl(-distance, VFF_R_AGL);
496 #endif
497  /* reset the counter to indicate we just had a measurement update */
498  ins_int.propagation_cnt = 0;
499 }
500 #else
501 static void agl_cb(uint8_t __attribute__((unused)) sender_id, __attribute__((unused)) uint32_t stamp, __attribute__((unused)) float distance) {}
502 #endif
503 
505 static void ins_ned_to_state(void)
506 {
507  stateSetPositionNed_i(&ins_int.ltp_pos);
508  stateSetSpeedNed_i(&ins_int.ltp_speed);
509  stateSetAccelNed_i(&ins_int.ltp_accel);
510 
511 #if defined SITL && USE_NPS
512  if (nps_bypass_ins) {
513  sim_overwrite_ins();
514  }
515 #endif
516 }
517 
519 static void ins_update_from_vff(void)
520 {
521  ins_int.ltp_accel.z = ACCEL_BFP_OF_REAL(vff.zdotdot);
522  ins_int.ltp_speed.z = SPEED_BFP_OF_REAL(vff.zdot);
523  ins_int.ltp_pos.z = POS_BFP_OF_REAL(vff.z);
524 }
525 
526 #if USE_HFF
527 
528 static void ins_update_from_hff(void)
529 {
530  ins_int.ltp_accel.x = ACCEL_BFP_OF_REAL(hff.xdotdot);
531  ins_int.ltp_accel.y = ACCEL_BFP_OF_REAL(hff.ydotdot);
532  ins_int.ltp_speed.x = SPEED_BFP_OF_REAL(hff.xdot);
533  ins_int.ltp_speed.y = SPEED_BFP_OF_REAL(hff.ydot);
534  ins_int.ltp_pos.x = POS_BFP_OF_REAL(hff.x);
535  ins_int.ltp_pos.y = POS_BFP_OF_REAL(hff.y);
536 }
537 #endif
538 
539 
540 static void accel_cb(uint8_t sender_id __attribute__((unused)),
541  uint32_t stamp, struct Int32Vect3 *accel)
542 {
543  PRINT_CONFIG_MSG("Calculating dt for INS int propagation.")
544  /* timestamp in usec when last callback was received */
545  static uint32_t last_stamp = 0;
546 
547  if (last_stamp > 0) {
548  float dt = (float)(stamp - last_stamp) * 1e-6;
549  ins_int_propagate(accel, dt);
550  }
551  last_stamp = stamp;
552 }
553 
554 static void gps_cb(uint8_t sender_id __attribute__((unused)),
555  uint32_t stamp __attribute__((unused)),
556  struct GpsState *gps_s)
557 {
558  ins_int_update_gps(gps_s);
559 }
560 
561 /* body relative velocity estimate
562  *
563  */
564 static void vel_est_cb(uint8_t sender_id __attribute__((unused)),
565  uint32_t stamp __attribute__((unused)),
566  float x, float y, float z,
567  float noise_x, float noise_y, float noise_z)
568 {
569  struct FloatVect3 vel_body = {x, y, z};
570 
571  /* rotate velocity estimate to nav/ltp frame */
572  struct FloatQuat q_b2n = *stateGetNedToBodyQuat_f();
573  QUAT_INVERT(q_b2n, q_b2n);
574  struct FloatVect3 vel_ned;
575  float_quat_vmult(&vel_ned, &q_b2n, &vel_body);
576 
577  // abi message contains an update to the horizontal velocity estimate
578 #if USE_HFF
579  struct FloatVect2 vel = {vel_ned.x, vel_ned.y};
580  struct FloatVect2 Rvel = {noise_x, noise_y};
581 
582  hff_update_vel(vel, Rvel);
583  ins_update_from_hff();
584 #else
585  if (noise_x >= 0.f)
586  {
587  ins_int.ltp_speed.x = SPEED_BFP_OF_REAL(vel_ned.x);
588  }
589  if (noise_y >= 0.f)
590  {
591  ins_int.ltp_speed.y = SPEED_BFP_OF_REAL(vel_ned.y);
592  }
593 
594  static uint32_t last_stamp_x = 0, last_stamp_y = 0;
595  if (noise_x >= 0.f) {
596  if (last_stamp_x > 0)
597  {
598  float dt = (float)(stamp - last_stamp_x) * 1e-6;
599  ins_int.ltp_pos.x += lround(POS_BFP_OF_REAL(dt * vel_ned.x));
600  }
601  last_stamp_x = stamp;
602  }
603 
604  if (noise_y >= 0.f)
605  {
606  if (last_stamp_y > 0)
607  {
608  float dt = (float)(stamp - last_stamp_y) * 1e-6;
609  ins_int.ltp_pos.y += lround(POS_BFP_OF_REAL(dt * vel_ned.y));
610  }
611  last_stamp_y = stamp;
612  }
613 #endif
614 
615  // abi message contains an update to the vertical velocity estimate
616  vff_update_vz_conf(vel_ned.z, noise_z);
617 
618  ins_ned_to_state();
619 
620  /* reset the counter to indicate we just had a measurement update */
621  ins_int.propagation_cnt = 0;
622 }
623 
624 /* NED position estimate relative to ltp origin
625  */
626 static void pos_est_cb(uint8_t sender_id __attribute__((unused)),
627  uint32_t stamp __attribute__((unused)),
628  float x, float y, float z,
629  float noise_x, float noise_y, float noise_z)
630 {
631 
632 #if USE_HFF
633  struct FloatVect2 pos = {x, y};
634  struct FloatVect2 Rpos = {noise_x, noise_y};
635 
636  hff_update_pos(pos, Rpos);
637  ins_update_from_hff();
638 #else
639  if (noise_x >= 0.f)
640  {
641  ins_int.ltp_pos.x = POS_BFP_OF_REAL(x);
642  }
643  if (noise_y >= 0.f)
644  {
645  ins_int.ltp_pos.y = POS_BFP_OF_REAL(y);
646  }
647 #endif
648 
649  vff_update_z_conf(z, noise_z);
650 
651  ins_ned_to_state();
652 
653  /* reset the counter to indicate we just had a measurement update */
654  ins_int.propagation_cnt = 0;
655 }
stateSetAccelNed_i
static void stateSetAccelNed_i(struct NedCoor_i *ned_accel)
Set acceleration in NED coordinates (int).
Definition: state.h:986
ins_update_from_vff
static void ins_update_from_vff(void)
update ins state from vertical filter
Definition: ins_int.c:519
LlaCoor_i::lon
int32_t lon
in degrees*1e7
Definition: pprz_geodetic_int.h:61
vf_extended_float.h
ins_reset_local_origin
void ins_reset_local_origin(void)
INS local origin reset.
Definition: ins_int.c:244
LlaCoor_i::alt
int32_t alt
in millimeters above WGS84 reference ellipsoid
Definition: pprz_geodetic_int.h:62
InsInt::hf_realign
bool hf_realign
request to realign horizontal filter.
Definition: ins_int.h:48
InsInt::baro_z
float baro_z
z-position calculated from baro in meters (z-down)
Definition: ins_int.h:61
INS_INT_GPS_ID
#define INS_INT_GPS_ID
Definition: ins_int.c:127
Int32RMat
rotation matrix
Definition: pprz_algebra_int.h:159
ins_int_propagate
void ins_int_propagate(struct Int32Vect3 *accel, float dt)
Definition: ins_int.c:283
ltp_def_from_ecef_i
void ltp_def_from_ecef_i(struct LtpDef_i *def, struct EcefCoor_i *ecef)
Definition: pprz_geodetic_int.c:60
InsInt::ltp_accel
struct NedCoor_i ltp_accel
Definition: ins_int.h:58
State::ned_origin_i
struct LtpDef_i ned_origin_i
Definition of the local (flat earth) coordinate system.
Definition: state.h:166
abi.h
NedCoor_i::y
int32_t y
East.
Definition: pprz_geodetic_int.h:70
vff_update_vz_conf
void vff_update_vz_conf(float vz_meas, float conf)
Definition: vf_extended_float.c:433
pprz_geodetic_int.h
Paparazzi fixed point math for geodetic calculations.
Int32Vect3::z
int32_t z
Definition: pprz_algebra_int.h:91
ins_int_update_gps
void ins_int_update_gps(struct GpsState *gps_s)
Definition: ins_int.c:387
LtpDef_i::ecef
struct EcefCoor_i ecef
Reference point in ecef.
Definition: pprz_geodetic_int.h:99
Int32Quat
Rotation quaternion.
Definition: pprz_algebra_int.h:99
GpsState
data structure for GPS information
Definition: gps.h:87
stateGetPositionEnu_f
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
Definition: state.h:719
stateGetNedToBodyQuat_i
static struct Int32Quat * stateGetNedToBodyQuat_i(void)
Get vehicle body attitude quaternion (int).
Definition: state.h:1113
EcefCoor_i::x
int32_t x
in centimeters
Definition: pprz_geodetic_int.h:51
abi_struct
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
SPEED_BFP_OF_REAL
#define SPEED_BFP_OF_REAL(_af)
Definition: pprz_algebra_int.h:218
baro_ev
abi_event baro_ev
Definition: ins_int.c:114
Imu::body_to_imu
struct OrientationReps body_to_imu
rotation from body to imu frame
Definition: imu.h:49
HfilterFloat::xdot
float xdot
Definition: hf_float.h:42
uint32_t
unsigned long uint32_t
Definition: types.h:18
InsInt::ltp_def
struct LtpDef_i ltp_def
Definition: ins_int.h:40
InsInt::propagation_cnt
uint32_t propagation_cnt
number of propagation steps since the last measurement update
Definition: ins_int.h:43
ins_int.h
vff_update_z_conf
void vff_update_z_conf(float z_meas, float conf)
Definition: vf_extended_float.c:310
nps_bypass_ins
bool nps_bypass_ins
Definition: nps_autopilot_fixedwing.c:65
VECT3_SUB
#define VECT3_SUB(_a, _b)
Definition: pprz_algebra.h:154
baro_cb
static void baro_cb(uint8_t sender_id, uint32_t stamp, float pressure)
Definition: ins_int.c:328
send_ins_z
static void send_ins_z(struct transport_tx *trans, struct link_device *dev)
Definition: ins_int.c:174
nps_autopilot.h
stateSetAccelBody_i
static void stateSetAccelBody_i(struct Int32Vect3 *body_accel)
Set acceleration in Body coordinates (int).
Definition: state.h:855
INT32_POS_OF_CM_NUM
#define INT32_POS_OF_CM_NUM
Definition: pprz_algebra_int.h:70
VffExtended::z
float z
z-position estimate in m (NED, z-down)
Definition: vf_extended_float.h:37
InsInt::qfe
float qfe
Definition: ins_int.h:62
INS_INT_IMU_ID
#define INS_INT_IMU_ID
ABI binding for IMU data.
Definition: ins_int.c:121
EnuCoor_f::y
float y
in meters
Definition: pprz_geodetic_float.h:74
idx
static uint32_t idx
Definition: nps_radio_control_spektrum.c:105
INS_SONAR_MIN_RANGE
#define INS_SONAR_MIN_RANGE
Default AGL sensor minimum range.
Definition: ins_ekf2.cpp:57
INT32_POS_OF_CM_DEN
#define INT32_POS_OF_CM_DEN
Definition: pprz_algebra_int.h:71
EcefCoor_i::y
int32_t y
in centimeters
Definition: pprz_geodetic_int.h:52
NedCoor_i::z
int32_t z
Down.
Definition: pprz_geodetic_int.h:71
VECT2_SDIV
#define VECT2_SDIV(_vo, _vi, _s)
Definition: pprz_algebra.h:104
gps_cb
static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
Definition: ins_int.c:554
FloatVect2
Definition: pprz_algebra_float.h:49
FloatVect3
Definition: pprz_algebra_float.h:54
LlaCoor_i::lat
int32_t lat
in degrees*1e7
Definition: pprz_geodetic_int.h:60
vff_update
void vff_update(float z_meas)
Definition: vf_float.c:189
INT32_VECT3_ZERO
#define INT32_VECT3_ZERO(_v)
Definition: pprz_algebra_int.h:288
telemetry.h
stateGetNedToBodyRMat_i
static struct Int32RMat * stateGetNedToBodyRMat_i(void)
Get vehicle body attitude rotation matrix (int).
Definition: state.h:1119
imu.h
FloatQuat
Roation quaternion.
Definition: pprz_algebra_float.h:63
hff_init
void hff_init(float init_x, float init_xdot, float init_y, float init_ydot)
Definition: hf_float.c:274
INS_MAX_PROPAGATION_STEPS
#define INS_MAX_PROPAGATION_STEPS
maximum number of propagation steps without any updates in between
Definition: ins_int.c:96
HfilterFloat::ydot
float ydot
Definition: hf_float.h:46
accel_cb
static void accel_cb(uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
Definition: ins_int.c:540
EcefCoor_i::z
int32_t z
in centimeters
Definition: pprz_geodetic_int.h:53
ACCEL_FLOAT_OF_BFP
#define ACCEL_FLOAT_OF_BFP(_ai)
Definition: pprz_algebra_int.h:221
HfilterFloat::x
float x
Definition: hf_float.h:41
gps.h
Device independent GPS code (interface)
int32_quat_vmult
void int32_quat_vmult(struct Int32Vect3 *v_out, struct Int32Quat *q, struct Int32Vect3 *v_in)
rotate 3D vector by quaternion.
Definition: pprz_algebra_int.c:353
GpsState::fix
uint8_t fix
status of fix
Definition: gps.h:107
INS_BARO_MAX_INIT_VAR
#define INS_BARO_MAX_INIT_VAR
default barometer to use in INS
Definition: ins_int.c:105
vff_update_agl
void vff_update_agl(float z_meas, float conf)
Definition: vf_extended_float.c:321
HfilterFloat::y
float y
Definition: hf_float.h:45
int32_rmat_transp_vmult
void int32_rmat_transp_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_b2a, struct Int32Vect3 *va)
rotate 3D vector by transposed rotation matrix.
Definition: pprz_algebra_int.c:117
InsInt::ltp_pos
struct NedCoor_i ltp_pos
Definition: ins_int.h:56
stateGetNedToBodyQuat_f
static struct FloatQuat * stateGetNedToBodyQuat_f(void)
Get vehicle body attitude quaternion (float).
Definition: state.h:1131
press_hist_len
#define press_hist_len
InsInt::baro_initialized
bool baro_initialized
Definition: ins_int.h:63
NedCoor_i
vector in North East Down coordinates
Definition: pprz_geodetic_int.h:68
dev
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:74
INT32_SPEED_OF_CM_S_DEN
#define INT32_SPEED_OF_CM_S_DEN
Definition: pprz_algebra_int.h:76
hff_update_pos
void hff_update_pos(struct FloatVect2 pos, struct FloatVect2 Rpos)
Update position.
Definition: hf_float.c:711
INS_INT_VEL_ID
#define INS_INT_VEL_ID
ABI binding for VELOCITY_ESTIMATE.
Definition: ins_int.c:136
Int32Vect3
Definition: pprz_algebra_int.h:88
pprz_stat.h
Statistics functions.
ACCEL_BFP_OF_REAL
#define ACCEL_BFP_OF_REAL(_af)
Definition: pprz_algebra_int.h:220
uint8_t
unsigned char uint8_t
Definition: types.h:14
vf_float.h
INS_INT_POS_ID
#define INS_INT_POS_ID
Definition: ins_int.c:144
register_periodic_telemetry
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:46
stateSetLocalOrigin_i
static void stateSetLocalOrigin_i(struct LtpDef_i *ltp_def)
Set the local (flat earth) coordinate frame origin (int).
Definition: state.h:457
hf_float.h
Int32Vect3::y
int32_t y
Definition: pprz_algebra_int.h:90
EnuCoor_f
vector in East North Up coordinates Units: meters
Definition: pprz_geodetic_float.h:72
agl_ev
static abi_event agl_ev
The agl ABI event.
Definition: ins_int.c:158
hff_update_gps
void hff_update_gps(struct FloatVect2 *pos_ned, struct FloatVect2 *speed_ned)
Definition: hf_float.c:541
VffExtended::zdot
float zdot
z-velocity estimate in m/s (NED, z-down)
Definition: vf_extended_float.h:38
accel_ev
static abi_event accel_ev
Definition: ins_int.c:123
ned_of_ecef_vect_i
void ned_of_ecef_vect_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
Rotate a vector from ECEF to NED.
Definition: pprz_geodetic_int.c:186
send_ins
static void send_ins(struct transport_tx *trans, struct link_device *dev)
Definition: ins_int.c:166
ltp_def_from_lla_i
void ltp_def_from_lla_i(struct LtpDef_i *def, struct LlaCoor_i *lla)
Definition: pprz_geodetic_int.c:72
ins_init_origin_i_from_flightplan
void ins_init_origin_i_from_flightplan(struct LtpDef_i *ltp_def)
initialize the local origin (ltp_def in fixed point) from flight plan position
Definition: ins.c:39
stateSetPositionNed_i
static void stateSetPositionNed_i(struct NedCoor_i *ned_pos)
Set position from local NED coordinates (int).
Definition: state.h:531
vff_realign
void vff_realign(float z_meas)
Definition: vf_extended_float.c:384
imu
struct Imu imu
global IMU state
Definition: imu.c:108
InsInt
Ins implementation state (fixed point)
Definition: ins_int.h:39
INS_INT_BARO_ID
#define INS_INT_BARO_ID
Definition: ins_int.c:110
f
uint16_t f
Camera baseline, in meters (i.e. horizontal distance between the two cameras of the stereo setup)
Definition: wedgebug.c:204
float_quat_vmult
void float_quat_vmult(struct FloatVect3 *v_out, struct FloatQuat *q, const struct FloatVect3 *v_in)
rotate 3D vector by quaternion.
Definition: pprz_algebra_float.c:421
send_ins_ref
static void send_ins_ref(struct transport_tx *trans, struct link_device *dev)
Definition: ins_int.c:180
FloatVect3::y
float y
Definition: pprz_algebra_float.h:56
FloatVect2::y
float y
Definition: pprz_algebra_float.h:51
pprz_isa_height_of_pressure
static float pprz_isa_height_of_pressure(float pressure, float ref_p)
Get relative altitude from pressure (using simplified equation).
Definition: pprz_isa.h:102
ins_int_init
void ins_int_init(void)
Definition: ins_int.c:198
HfilterFloat::ydotdot
float ydotdot
Definition: hf_float.h:47
vff_update_baro
void vff_update_baro(float z_meas)
Definition: vf_extended_float.c:333
PRINT_CONFIG_MSG
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
GpsState::ecef_pos
struct EcefCoor_i ecef_pos
position in ECEF in cm
Definition: gps.h:91
VffExtended::zdotdot
float zdotdot
z-acceleration in m/s^2 (NED, z-down)
Definition: vf_extended_float.h:43
QUAT_INVERT
#define QUAT_INVERT(_qo, _qi)
Definition: pprz_algebra.h:627
GpsFixValid
#define GpsFixValid()
Definition: gps.h:43
VECT2_ASSIGN
#define VECT2_ASSIGN(_a, _x, _y)
Definition: pprz_algebra.h:62
sim_overwrite_ins
void sim_overwrite_ins(void)
Definition: nps_autopilot_fixedwing.c:268
agl_cb
static void agl_cb(uint8_t sender_id, uint32_t stamp, float distance)
agl_cb This callback handles all estimates of the height of the vehicle above the ground under it Thi...
Definition: ins_int.c:501
variance_f
float variance_f(float *array, uint32_t n_elements)
Compute the variance of an array of values (float).
Definition: pprz_stat.c:139
LlaCoor_i
vector in Latitude, Longitude and Altitude
Definition: pprz_geodetic_int.h:59
FloatVect3::x
float x
Definition: pprz_algebra_float.h:55
GpsState::lla_pos
struct LlaCoor_i lla_pos
position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
Definition: gps.h:92
LtpDef_i::hmsl
int32_t hmsl
Height above mean sea level in mm.
Definition: pprz_geodetic_int.h:102
INS_SONAR_MAX_RANGE
#define INS_SONAR_MAX_RANGE
Default AGL sensor maximum range.
Definition: ins_ekf2.cpp:63
ins_ned_to_state
static void ins_ned_to_state(void)
copy position and speed to state interface
Definition: ins_int.c:505
INS_VFF_R_GPS
#define INS_VFF_R_GPS
Definition: ins_int.c:86
vff
struct VffExtended vff
Definition: vf_extended_float.c:89
pos_est_cb
static void pos_est_cb(uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
Definition: ins_int.c:626
vff_init_zero
void vff_init_zero(void)
Definition: vf_extended_float.c:107
ins_reset_altitude_ref
void ins_reset_altitude_ref(void)
INS altitude reference reset.
Definition: ins_int.c:266
vel_est_cb
static void vel_est_cb(uint8_t sender_id, uint32_t stamp, float x, float y, float z, float noise_x, float noise_y, float noise_z)
Definition: ins_int.c:564
vff_propagate
void vff_propagate(float accel, float dt)
Propagate the filter in time.
Definition: vf_extended_float.c:181
GpsState::hmsl
int32_t hmsl
height above mean sea level (MSL) in mm
Definition: gps.h:94
hff_update_vel
void hff_update_vel(struct FloatVect2 vel, struct FloatVect2 Rvel)
Definition: hf_float.c:806
Int32Vect3::x
int32_t x
Definition: pprz_algebra_int.h:89
InsInt::ltp_speed
struct NedCoor_i ltp_speed
Definition: ins_int.h:57
stabilization_cmd
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:32
orientationGetRMat_i
static struct Int32RMat * orientationGetRMat_i(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (int).
Definition: pprz_orientation_conversion.h:207
NedCoor_i::x
int32_t x
North.
Definition: pprz_geodetic_int.h:69
FloatVect3::z
float z
Definition: pprz_algebra_float.h:57
POS_BFP_OF_REAL
#define POS_BFP_OF_REAL(_af)
Definition: pprz_algebra_int.h:216
VFF_R_AGL
#define VFF_R_AGL
Definition: ins_int.c:59
FloatVect2::x
float x
Definition: pprz_algebra_float.h:50
ned_of_ecef_point_i
void ned_of_ecef_point_i(struct NedCoor_i *ned, struct LtpDef_i *def, struct EcefCoor_i *ecef)
Convert a point from ECEF to local NED.
Definition: pprz_geodetic_int.c:116
EnuCoor_f::x
float x
in meters
Definition: pprz_geodetic_float.h:73
stabilization.h
InsInt::vf_reset
bool vf_reset
request to reset vertical filter.
Definition: ins_int.h:53
GpsState::ecef_vel
struct EcefCoor_i ecef_vel
speed ECEF in cm/s
Definition: gps.h:95
hff_propagate
void hff_propagate(void)
Definition: hf_float.c:479
gps_ev
static abi_event gps_ev
Definition: ins_int.c:129
hff_realign
void hff_realign(struct FloatVect2 pos, struct FloatVect2 vel)
Definition: hf_float.c:602
INS_INT_AGL_ID
#define INS_INT_AGL_ID
ABI binding for AGL.
Definition: ins_int.c:156
state
struct State state
Definition: state.c:36
pos_est_ev
static abi_event pos_est_ev
Definition: ins_int.c:146
gps
struct GpsState gps
global GPS state
Definition: gps.c:69
stateSetSpeedNed_i
static void stateSetSpeedNed_i(struct NedCoor_i *ned_speed)
Set ground speed in local NED coordinates (int).
Definition: state.h:763
GPS_FIX_3D
#define GPS_FIX_3D
3D GPS fix
Definition: gps.h:39
LtpDef_i::lla
struct LlaCoor_i lla
Reference point in lla.
Definition: pprz_geodetic_int.h:100
vel_est_ev
static abi_event vel_est_ev
Definition: ins_int.c:138
hff
struct HfilterFloat hff
Definition: hf_float.c:124
INT32_SPEED_OF_CM_S_NUM
#define INT32_SPEED_OF_CM_S_NUM
Definition: pprz_algebra_int.h:75
DefaultPeriodic
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
pprz_isa.h
Paparazzi atmospheric pressure conversion utilities.
INS_VFF_VZ_R_GPS
#define INS_VFF_VZ_R_GPS
Definition: ins_int.c:90
HfilterFloat::xdotdot
float xdotdot
Definition: hf_float.h:43
ins_int
struct InsInt ins_int
global INS state
Definition: ins_int.c:161
InsInt::ltp_initialized
bool ltp_initialized
Definition: ins_int.h:41
INT32_VECT2_SCALE_2
#define INT32_VECT2_SCALE_2(_a, _b, _num, _den)
Definition: pprz_algebra_int.h:278