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Code Issues Releases Activity

OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-23 02:35:39 +00:00 committed by peabody124
parent 0d11493337
commit 2596f43511
3 changed files with 16 additions and 35 deletions
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34
flight/AHRS/ahrs.c
View File

@ -78,8 +78,8 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")))
#define ACCEL_SCALE ( (VDD / FULL_RANGE) / ACCEL_SENSITIVITY * 2 / ACCEL_RANGE * ACCEL_GRAVITY )
#define ACCEL_OFFSET -2048
#define GYRO_SENSITIVITY ( 2.0 / 1000 ) /* V sec deg^-1 */
#define RAD_PER_DEGREE ( 3.14159 / 180 )
#define GYRO_SENSITIVITY ( 2.0 / 1000 ) /* 2 mV / (deg s^-1) */
#define RAD_PER_DEGREE ( M_PI / 180 )
#define GYRO_SCALE ( (VDD / FULL_RANGE) / GYRO_SENSITIVITY * RAD_PER_DEGREE )
#define GYRO_OFFSET -1675 /* From data sheet, zero accel output is 1.35 v */
/**
@ -134,12 +134,6 @@ struct attitude_solution {
float q3;
float q4;
} quaternion;
struct {
float roll;
float pitch;
float yaw;
} euler;
};
struct altitude_sensor {
@ -317,7 +311,6 @@ int main()
if(ahrs_algorithm == INSGPS_Algo)
{
/******************** INS ALGORITHM **************************/
float rpy[3];
// format data for INS algo
gyro[0] = gyro_data.filtered.x;
@ -348,15 +341,10 @@ int main()
else
MagCorrection(mag);
Quaternion2RPY(Nav.q,rpy);
attitude_data.quaternion.q1 = Nav.q[0];
attitude_data.quaternion.q2 = Nav.q[1];
attitude_data.quaternion.q3 = Nav.q[2];
attitude_data.quaternion.q4 = Nav.q[3];
attitude_data.euler.roll = rpy[0];
attitude_data.euler.pitch = rpy[1];
attitude_data.euler.yaw = rpy[2];
if(attitude_data.euler.yaw < 0) attitude_data.euler.yaw += 360;
}
else if( ahrs_algorithm == SIMPLE_Algo )
{
@ -364,10 +352,9 @@ int main()
float rpy[3];
/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
/* Very simple computation of the heading and attitude from accel. */
rpy[2] = attitude_data.euler.yaw = atan2((mag_data.raw.axis[0]), (-1 * mag_data.raw.axis[1])) * 180 / M_PI;
rpy[1] = attitude_data.euler.pitch = -atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
rpy[0] = attitude_data.euler.roll = -atan2(accel_data.filtered.y,accel_data.filtered.z) * 180 / M_PI;
if (attitude_data.euler.yaw < 0) attitude_data.euler.yaw += 360.0;
rpy[2] = atan2((mag_data.raw.axis[0]), (-1 * mag_data.raw.axis[1])) * 180 / M_PI;
rpy[1] = -atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
rpy[0] = -atan2(accel_data.filtered.y,accel_data.filtered.z) * 180 / M_PI;
RPY2Quaternion(rpy,q);
attitude_data.quaternion.q1 = q[0];
@ -557,8 +544,8 @@ void converge_insgps()
// This should be done directly but I'm too dumb.
float rpy[3];
Quaternion2RPY(Nav.q, rpy);
rpy[1] = attitude_data.euler.pitch = -atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
rpy[0] = attitude_data.euler.roll = -atan2(accel_data.filtered.y, accel_data.filtered.z) * 180 / M_PI;
rpy[1] = -atan2(accel_data.filtered.x, accel_data.filtered.z) * 180 / M_PI;
rpy[0] = -atan2(accel_data.filtered.y, accel_data.filtered.z) * 180 / M_PI;
// Get magnetic readings
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
mag[0] = -mag_data.raw.axis[1];
@ -768,9 +755,6 @@ void process_spi_request(void)
user_tx_v1.payload.user.v.rsp.update.quaternion.q2 = attitude_data.quaternion.q2;
user_tx_v1.payload.user.v.rsp.update.quaternion.q3 = attitude_data.quaternion.q3;
user_tx_v1.payload.user.v.rsp.update.quaternion.q4 = attitude_data.quaternion.q4;
user_tx_v1.payload.user.v.rsp.update.euler.roll = attitude_data.euler.roll;
user_tx_v1.payload.user.v.rsp.update.euler.pitch = attitude_data.euler.pitch;
user_tx_v1.payload.user.v.rsp.update.euler.yaw = attitude_data.euler.yaw;
// TODO: separate this from INSGPS
user_tx_v1.payload.user.v.rsp.update.NED[0] = Nav.Pos[0];
@ -783,9 +767,7 @@ void process_spi_request(void)
user_tx_v1.payload.user.v.rsp.update.quaternion.q2 = attitude_data.quaternion.q2;
user_tx_v1.payload.user.v.rsp.update.quaternion.q3 = attitude_data.quaternion.q3;
user_tx_v1.payload.user.v.rsp.update.quaternion.q4 = attitude_data.quaternion.q4;
user_tx_v1.payload.user.v.rsp.update.euler.roll = attitude_data.euler.roll;
user_tx_v1.payload.user.v.rsp.update.euler.pitch = attitude_data.euler.pitch;
user_tx_v1.payload.user.v.rsp.update.euler.yaw = attitude_data.euler.yaw;
dump_spi_message(PIOS_COM_AUX, "U", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;

12
flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
View File

@ -396,10 +396,14 @@ static void process_update(struct opahrs_msg_v1_rsp_update * update)
data.q3 = update->quaternion.q3;
data.q4 = update->quaternion.q4;
data.Roll = update->euler.roll;
data.Pitch = update->euler.pitch;
data.Yaw = update->euler.yaw;
float q[4] = {data.q1, data.q2, data.q3, data.q4};
float rpy[3];
Quaternion2RPY(q,rpy);
data.Roll = rpy[0];
data.Pitch = rpy[1];
data.Yaw = rpy[2];
if(data.Yaw < 0) data.Yaw += 360;
AttitudeActualSet(&data);
/*

5
flight/PiOS/inc/pios_opahrs_proto.h
View File

@ -281,11 +281,6 @@ struct opahrs_msg_v1_rsp_update {
float q3;
float q4;
} quaternion;
struct {
float roll;
float pitch;
float yaw;
} euler;
float NED[3];
float Vel[3];
} __attribute__((__packed__));