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Code Issues Releases Activity

Changed code for attitude initialisation so it works when the board is upside down

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This commit is contained in:
Corvus Corax 2013-04-28 16:57:40 +02:00
parent a47f092a9d
commit 14f72459c6
1 changed files with 48 additions and 7 deletions
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55
flight/modules/Attitude/revolution/attitude.c
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@ -299,9 +299,29 @@ static int32_t updateAttitudeComplementary(bool first_run)
AttitudeActualData attitudeActual; AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual); AttitudeActualGet(&attitudeActual);
init = 0; init = 0;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F; // Set initial attitude. Use accels to determine roll and pitch, rotate magnetic measurement accordingly,
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F; // so pseudo "north" vector can be estimated even if the board is not level
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z);
float zn = cos(attitudeActual.Roll) * magData.z + sin(attitudeActual.Roll) * magData.y;
float yn = cos(attitudeActual.Roll) * magData.y - sin(attitudeActual.Roll) * magData.z;
// rotate accels z vector according to roll
float azn = cos(attitudeActual.Roll) * accelsData.z + sin(attitudeActual.Roll) * accelsData.y;
attitudeActual.Pitch = atan2f(accelsData.x, -azn);
float xn = cos(attitudeActual.Pitch) * magData.x + sin(attitudeActual.Pitch) * zn;
attitudeActual.Yaw = atan2f(-yn, xn);
// TODO: This is still a hack
// Put this in a proper generic function in CoordinateConversion.c
// should take 4 vectors: g (0,0,-9.81), accels, Be (or 1,0,0 if no home loc) and magnetometers (or 1,0,0 if no mags)
// should calculate the rotation in 3d space using proper cross product math
// SUBTODO: formulate the math required
attitudeActual.Roll *= 180.0f / M_PI_F;
attitudeActual.Pitch *= 180.0f / M_PI_F;
attitudeActual.Yaw *= 180.0f / M_PI_F;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1); RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual); AttitudeActualSet(&attitudeActual);
@ -681,11 +701,32 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS); xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData); MagnetometerGet(&magData);
// Set initial attitude
AttitudeActualData attitudeActual; AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / M_PI_F; AttitudeActualGet (&attitudeActual);
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / M_PI_F;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / M_PI_F; // Set initial attitude. Use accels to determine roll and pitch, rotate magnetic measurement accordingly,
// so pseudo "north" vector can be estimated even if the board is not level
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z);
float zn = cos(attitudeActual.Roll) * magData.z + sin(attitudeActual.Roll) * magData.y;
float yn = cos(attitudeActual.Roll) * magData.y - sin(attitudeActual.Roll) * magData.z;
// rotate accels z vector according to roll
float azn = cos(attitudeActual.Roll) * accelsData.z + sin(attitudeActual.Roll) * accelsData.y;
attitudeActual.Pitch = atan2f(accelsData.x, -azn);
float xn = cos(attitudeActual.Pitch) * magData.x + sin(attitudeActual.Pitch) * zn;
attitudeActual.Yaw = atan2f(-yn, xn);
// TODO: This is still a hack
// Put this in a proper generic function in CoordinateConversion.c
// should take 4 vectors: g (0,0,-9.81), accels, Be (or 1,0,0 if no home loc) and magnetometers (or 1,0,0 if no mags)
// should calculate the rotation in 3d space using proper cross product math
// SUBTODO: formulate the math required
attitudeActual.Roll *= 180.0f / M_PI_F;
attitudeActual.Pitch *= 180.0f / M_PI_F;
attitudeActual.Yaw *= 180.0f / M_PI_F;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1); RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual); AttitudeActualSet(&attitudeActual);