Quaternion complementary filter (fixed-point). More...

#include "generated/airframe.h"
#include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
#include "subsystems/ahrs/ahrs_int_utils.h"
#include "subsystems/gps.h"
#include "math/pprz_trig_int.h"
#include "math/pprz_algebra_int.h"

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Macros
#define	AHRS_ACCEL_OMEGA 0.063

#define	AHRS_ACCEL_ZETA 0.9

#define	AHRS_MAG_OMEGA 0.04

#define	AHRS_MAG_ZETA 0.9

#define	AHRS_GRAVITY_HEURISTIC_FACTOR 30
	by default use the gravity heuristic to reduce gain More...

#define	AHRS_BIAS_UPDATE_HEADING_THRESHOLD 5.0
	don't update gyro bias if heading deviation is above this threshold in degrees More...

#define	AHRS_HEADING_UPDATE_GPS_MIN_SPEED 5.0
	Minimum speed in m/s for heading update via GPS. More...

#define	COMPUTATION_FRAC 16

#define	ACC_FROM_CROSS_FRAC INT32_RATE_FRAC + INT32_SPEED_FRAC - INT32_ACCEL_FRAC - COMPUTATION_FRAC

#define	FIR_FILTER_SIZE 8

Functions
static void UNUSED	ahrs_icq_update_mag_full (struct Int32Vect3 *mag, float dt)

static void	ahrs_icq_update_mag_2d (struct Int32Vect3 *mag, float dt)

void	ahrs_icq_init (void)

bool_t	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_set_accel_gains (void)
	update pre-computed inv_kp and inv_ki gains from acc_omega and acc_zeta More...

void	ahrs_icq_update_accel (struct Int32Vect3 *accel, float dt)

void	ahrs_icq_update_mag (struct Int32Vect3 *mag, float dt)

void	ahrs_icq_set_mag_gains (void)
	update pre-computed kp and ki gains from mag_omega and mag_zeta More...

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_body_to_imu (struct OrientationReps *body_to_imu)

void	ahrs_icq_set_body_to_imu_quat (struct FloatQuat *q_b2i)

Variables
struct AhrsIntCmplQuat	ahrs_icq

Detailed Description

Quaternion complementary filter (fixed-point).

Estimate the attitude, heading and gyro bias.

Definition in file ahrs_int_cmpl_quat.c.

Macro Definition Documentation

#define ACC_FROM_CROSS_FRAC INT32_RATE_FRAC + INT32_SPEED_FRAC - INT32_ACCEL_FRAC - COMPUTATION_FRAC

Referenced by ahrs_icq_update_accel().

#define AHRS_ACCEL_OMEGA 0.063

Definition at line 66 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_init().

#define AHRS_ACCEL_ZETA 0.9

Definition at line 69 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_init().

#define AHRS_BIAS_UPDATE_HEADING_THRESHOLD 5.0

don't update gyro bias if heading deviation is above this threshold in degrees

Definition at line 93 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_update_heading().

#define AHRS_GRAVITY_HEURISTIC_FACTOR 30

by default use the gravity heuristic to reduce gain

Definition at line 88 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_init().

#define AHRS_HEADING_UPDATE_GPS_MIN_SPEED 5.0

Minimum speed in m/s for heading update via GPS.

Don't update heading from GPS course if GPS ground speed is below is this threshold

Definition at line 100 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_update_gps().

#define AHRS_MAG_OMEGA 0.04

Definition at line 76 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_init().

#define AHRS_MAG_ZETA 0.9

Definition at line 79 of file ahrs_int_cmpl_quat.c.

Referenced by ahrs_icq_init().

#define COMPUTATION_FRAC 16

Referenced by ahrs_icq_update_accel().

#define FIR_FILTER_SIZE 8

Referenced by ahrs_icq_update_accel().

Function Documentation

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

Definition at line 151 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(), FALSE, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::heading_aligned, AhrsIntCmplQuat::high_rez_bias, INT_RATES_LSHIFT, AhrsIntCmplQuat::is_aligned, AhrsIntCmplQuat::ltp_to_imu_quat, RATES_COPY, AhrsIntCmplQuat::status, and TRUE.

Referenced by aligner_cb().

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void ahrs_icq_init ( void )

Definition at line 108 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, FALSE, 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, TRUE, and VECT3_ASSIGN.

Referenced by ahrs_icq_register().

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void ahrs_icq_propagate	(	struct Int32Rates *	gyro,
		float	dt
	)

Definition at line 180 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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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

heading Heading in body frame, radians (CW/north) with INT32_ANGLE_FRAC

Definition at line 612 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::body_to_imu, 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, Int32Quat::qz, and TRUE.

Referenced by ahrs_icq_update_gps().

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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 213 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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void ahrs_icq_set_body_to_imu ( struct OrientationReps * body_to_imu )

Definition at line 647 of file ahrs_int_cmpl_quat.c.

References ahrs_icq_set_body_to_imu_quat(), and orientationGetQuat_f().

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void ahrs_icq_set_body_to_imu_quat ( struct FloatQuat * q_b2i )

Definition at line 652 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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void ahrs_icq_set_mag_gains ( void )

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

Definition at line 386 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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void ahrs_icq_update_accel	(	struct Int32Vect3 *	accel,
		float	dt
	)

Definition at line 234 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, 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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void ahrs_icq_update_gps ( struct GpsState * gps_s )

Definition at line 514 of file ahrs_int_cmpl_quat.c.

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

Referenced by gps_cb().

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void ahrs_icq_update_heading ( int32_t heading )

Update yaw based on a heading measurement.

e.g. from GPS course

Parameters

heading Heading in body frame, radians (CW/north) with INT32_ANGLE_FRAC

Definition at line 550 of file ahrs_int_cmpl_quat.c.

References AHRS_BIAS_UPDATE_HEADING_THRESHOLD, ahrs_icq, AhrsIntCmplQuat::body_to_imu, AhrsIntCmplQuat::gyro_bias, 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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void ahrs_icq_update_mag	(	struct Int32Vect3 *	mag,
		float	dt
	)

Definition at line 369 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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static void ahrs_icq_update_mag_2d	(	struct Int32Vect3 *	mag,
		float	dt
	)

inlinestatic

Definition at line 448 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::high_rez_bias, INT32_MAG_FRAC, int32_rmat_of_quat(), int32_rmat_transp_vmult(), int32_rmat_vmult(), int32_vect2_normalize(), INT_RATES_RSHIFT, AhrsIntCmplQuat::ltp_to_imu_quat, AhrsIntCmplQuat::mag_cnt, AhrsIntCmplQuat::mag_h, AhrsIntCmplQuat::mag_ki, AhrsIntCmplQuat::mag_kp, Int32Rates::p, Int64Rates::p, Int32Rates::q, Int64Rates::q, Int32Rates::r, Int64Rates::r, AhrsIntCmplQuat::rate_correction, Int32Vect2::x, Int32Vect3::x, Int32Vect2::y, Int32Vect3::y, and Int32Vect3::z.

Referenced by ahrs_icq_update_mag().

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static void ahrs_icq_update_mag_full	(	struct Int32Vect3 *	mag,
		float	dt
	)

inlinestatic

Definition at line 395 of file ahrs_int_cmpl_quat.c.

References ahrs_icq, AhrsIntCmplQuat::gyro_bias, AhrsIntCmplQuat::high_rez_bias, int32_rmat_of_quat(), int32_rmat_vmult(), INT_RATES_RSHIFT, AhrsIntCmplQuat::ltp_to_imu_quat, AhrsIntCmplQuat::mag_cnt, AhrsIntCmplQuat::mag_h, AhrsIntCmplQuat::mag_ki, AhrsIntCmplQuat::mag_kp, Int32Rates::p, Int64Rates::p, Int32Rates::q, Int64Rates::q, Int32Rates::r, Int64Rates::r, AhrsIntCmplQuat::rate_correction, VECT3_CROSS_PRODUCT, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by ahrs_icq_update_mag().

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Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation