mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Refactor the INS code out a bit but still a mess.
This commit is contained in:
James Cotton
parent
c0ead372e1
commit
29026db5d5
@ -80,6 +80,7 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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SRC = ins.c
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SRC += pios_board.c
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SRC += insgps13state.c
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SRC += insgps_helper.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
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3
flight/INS/inc/insgps_helper.h
Normal file
3
flight/INS/inc/insgps_helper.h
Normal file
@ -0,0 +1,3 @@
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void ins_init_algorithm();
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void ins_outdoor_update();
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void ins_indoor_update();
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540
flight/INS/ins.c
540
flight/INS/ins.c
@ -49,13 +49,11 @@
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#include "CoordinateConversions.h"
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#include <stdbool.h>
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#include "fifo_buffer.h"
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#include "insgps_helper.h"
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#define DEG_TO_RAD (M_PI / 180.0)
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#define RAD_TO_DEG (180.0 / M_PI)
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#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
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#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
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#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
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#define INSGPS_MAGLEN 1000
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#define INSGPS_MAGTOL 0.5 /* error in magnetic vector length to use */
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@ -79,7 +77,6 @@ volatile int8_t ahrs_algorithm;
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/* Data accessors */
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void adc_callback(float *);
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bool get_accel_gyro_data();
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void process_mag_data();
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void reset_values();
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void calibrate_sensors(void);
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@ -95,6 +92,11 @@ void settings_callback(AhrsObjHandle obj);
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void affine_rotate(float scale[3][4], float rotation[3]);
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void calibration(float result[3], float scale[3][4], float arg[3]);
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extern void PIOS_Board_Init(void);
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static void panic(uint32_t blinks);
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void simple_update();
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bool get_accel_gyro_data();
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/* Bootloader related functions and var*/
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void firmwareiapobj_callback(AhrsObjHandle obj);
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volatile uint8_t reset_count=0;
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@ -123,9 +125,6 @@ struct altitude_sensor altitude_data;
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//! Contains data from the GPS (via the SPI link)
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struct gps_sensor gps_data;
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//! Offset correction of barometric alt, to match gps data
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static float baro_offset = 0;
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static float mag_len = 0;
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typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
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@ -135,232 +134,154 @@ volatile int32_t ekf_too_slow;
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* @}
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*/
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/* INS functions */
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/**
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* @brief Update the EKF when in outdoor mode. The primary difference is using the GPS values.
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* @brief INS Main function
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*/
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void ins_outdoor_update()
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{
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float gyro[3], accel[3], vel[3];
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static uint32_t last_gps_time = 0;
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uint16_t sensors;
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// format data for INS algo
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gyro[0] = gyro_data.filtered.x;
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gyro[1] = gyro_data.filtered.y;
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gyro[2] = gyro_data.filtered.z;
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accel[0] = accel_data.filtered.x,
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accel[1] = accel_data.filtered.y,
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accel[2] = accel_data.filtered.z,
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int16_t accel_data_glob[3];
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int16_t gyro_data_glob[3];
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int16_t mag_data_glob[3];
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INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
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attitude_data.quaternion.q1 = Nav.q[0];
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attitude_data.quaternion.q2 = Nav.q[1];
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attitude_data.quaternion.q3 = Nav.q[2];
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attitude_data.quaternion.q4 = Nav.q[3];
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send_attitude(); // get message out quickly
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send_velocity();
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send_position();
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INSCovariancePrediction(1 / (float)EKF_RATE);
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uint32_t pin;
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int16_t accel[3];
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sensors = 0;
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uint32_t total_conversion_blocks;
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/*
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* Detect if greater than certain time since last gps update and if so
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* reset EKF to that position since probably drifted too far for safe
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* update
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*/
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uint32_t this_gps_time = timer_count();
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float gps_delay;
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if (this_gps_time < last_gps_time)
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gps_delay = ((0xFFFF - last_gps_time) - this_gps_time) / timer_rate();
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else
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gps_delay = (this_gps_time - last_gps_time) / timer_rate();
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last_gps_time = this_gps_time;
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int32_t gyro_error;
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int16_t gyro[4];
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int16_t mag[3];
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int16_t accel[3];
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float altitude;
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int32_t pressure;
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if (gps_data.updated)
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{
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vel[0] = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD);
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vel[1] = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD);
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vel[2] = 0;
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int32_t dr;
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if(gps_delay > INSGPS_GPS_TIMEOUT)
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INSPosVelReset(gps_data.NED,vel); // position stale, reset
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else {
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sensors |= HORIZ_SENSORS | POS_SENSORS;
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}
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int32_t sclk, sclk_prev;
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int32_t sclk_count;
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/*
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* When using gps need to make sure that barometer is brought into NED frame
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* we should try and see if the altitude from the home location is good enough
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* to use for the offset but for now starting with this conservative filter
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*/
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if(fabs(gps_data.NED[2] + (altitude_data.altitude - baro_offset)) > 10) {
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baro_offset = gps_data.NED[2] + altitude_data.altitude;
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} else {
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/* IIR filter with 100 second or so tau to keep them crudely in the same frame */
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baro_offset = baro_offset * 0.999 + (gps_data.NED[2] + altitude_data.altitude) * 0.001;
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}
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gps_data.updated = false;
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} else if (gps_delay > INSGPS_GPS_TIMEOUT) {
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vel[0] = 0;
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vel[1] = 0;
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vel[2] = 0;
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sensors |= VERT_SENSORS | HORIZ_SENSORS;
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}
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if(mag_data.updated) {
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sensors |= MAG_SENSORS;
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mag_data.updated = false;
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}
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if(altitude_data.updated) {
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sensors |= BARO_SENSOR;
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altitude_data.updated = false;
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}
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/*
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* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
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* although probably should occur within INS itself
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*/
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INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude - baro_offset, sensors);
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}
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/**
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* @brief Update the EKF when in indoor mode
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*/
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void ins_indoor_update()
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{
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float gyro[3], accel[3], vel[3];
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static uint32_t last_indoor_time = 0;
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uint16_t sensors = 0;
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// format data for INS algo
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gyro[0] = gyro_data.filtered.x;
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gyro[1] = gyro_data.filtered.y;
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gyro[2] = gyro_data.filtered.z;
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accel[0] = accel_data.filtered.x,
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accel[1] = accel_data.filtered.y,
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accel[2] = accel_data.filtered.z,
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INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
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attitude_data.quaternion.q1 = Nav.q[0];
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attitude_data.quaternion.q2 = Nav.q[1];
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attitude_data.quaternion.q3 = Nav.q[2];
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attitude_data.quaternion.q4 = Nav.q[3];
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send_attitude(); // get message out quickly
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send_velocity();
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send_position();
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INSCovariancePrediction(1 / (float)EKF_RATE);
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/* Indoors, update with zero position and velocity and high covariance */
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vel[0] = 0;
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vel[1] = 0;
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vel[2] = 0;
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uint32_t this_indoor_time = timer_count();
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float indoor_delay;
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/*
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* Detect if greater than certain time since last gps update and if so
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* reset EKF to that position since probably drifted too far for safe
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* update
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*/
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if (this_indoor_time < last_indoor_time)
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indoor_delay = ((0xFFFF - last_indoor_time) - this_indoor_time) / timer_rate();
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else
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indoor_delay = (this_indoor_time - last_indoor_time) / timer_rate();
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last_indoor_time = this_indoor_time;
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if(indoor_delay > INSGPS_GPS_TIMEOUT)
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INSPosVelReset(vel,vel);
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else
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sensors = HORIZ_SENSORS | VERT_SENSORS;
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if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
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sensors |= MAG_SENSORS;
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mag_data.updated = false;
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}
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if(altitude_data.updated) {
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sensors |= BARO_SENSOR;
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altitude_data.updated = false;
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}
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/*
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* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
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* although probably should occur within INS itself
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*/
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INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
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}
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/**
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* @brief Initialize the EKF assuming stationary
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*/
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void ins_init_algorithm()
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{
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float Rbe[3][3], q[4], accels[3], rpy[3], mag;
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float ge[3]={0,0,-9.81}, zeros[3]={0,0,0}, Pdiag[16]={25,25,25,5,5,5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-4,1e-4,1e-4};
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bool using_mags, using_gps;
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INSGPSInit();
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HomeLocationData home;
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HomeLocationGet(&home);
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accels[0]=accel_data.filtered.x;
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accels[1]=accel_data.filtered.y;
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accels[2]=accel_data.filtered.z;
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using_mags = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR);
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using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
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using_gps = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
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/* Block till a data update */
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get_accel_gyro_data();
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/* Ensure we get mag data in a timely manner */
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uint16_t fail_count = 50; // 50 at 200 Hz is up to 0.25 sec
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while(using_mags && !mag_data.updated && fail_count--) {
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get_accel_gyro_data();
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int main()
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{
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gps_data.quality = -1;
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static int8_t last_ahrs_algorithm;
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ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
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reset_values();
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PIOS_Board_Init();
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PIOS_LED_Off(LED1);
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PIOS_LED_On(LED2);
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#if defined(PIOS_INCLUDE_HMC5883) && defined(PIOS_INCLUDE_I2C)
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// Get 3 ID bytes
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strcpy((char *)mag_data.id, "ZZZ");
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PIOS_HMC5883_ReadID(mag_data.id);
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#endif
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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// Sensors need a second to start
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PIOS_DELAY_WaitmS(100);
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// Sensor test
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if(PIOS_IMU3000_Test() != 0)
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panic(1);
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if(PIOS_BMA180_Test() != 0)
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panic(2);
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if(PIOS_HMC5883_Test() != 0)
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panic(3);
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if(PIOS_BMP085_Test() != 0)
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panic(4);
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PIOS_LED_On(LED1);
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PIOS_LED_Off(LED2);
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// Flash warning light while trying to connect
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uint32_t time_val = PIOS_DELAY_GetRaw();
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uint32_t ms_count = 0;
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while(!AhrsLinkReady()) {
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AhrsPoll();
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}
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using_mags &= mag_data.updated;
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if (using_mags) {
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/* Spin waiting for mag data */
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while(!mag_data.updated) {
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get_accel_gyro_data();
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AhrsPoll();
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if(PIOS_DELAY_DiffuS(time_val) > 1000) {
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ms_count += 1;
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time_val = PIOS_DELAY_GetRaw();
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}
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if(ms_count > 100) {
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PIOS_LED_Toggle(LED2);
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ms_count = 0;
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}
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mag_data.updated = false;
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RotFrom2Vectors(accels, ge, mag_data.scaled.axis, home.Be, Rbe);
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R2Quaternion(Rbe,q);
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if (using_gps)
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INSSetState(gps_data.NED, zeros, q, zeros, zeros);
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else
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INSSetState(zeros, zeros, q, zeros, zeros);
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} else {
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// assume yaw = 0
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mag = VectorMagnitude(accels);
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rpy[1] = asinf(-accels[0]/mag);
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rpy[0] = atan2(accels[1]/mag,accels[2]/mag);
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rpy[2] = 0;
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RPY2Quaternion(rpy,q);
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if (using_gps)
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INSSetState(gps_data.NED, zeros, q, zeros, zeros);
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else
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INSSetState(zeros, zeros, q, zeros, zeros);
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}
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INSResetP(Pdiag);
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// TODO: include initial estimate of gyro bias?
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PIOS_LED_Off(LED2);
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/* we didn't connect the callbacks before because we have to wait
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for all data to be up to date before doing anything*/
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AHRSCalibrationConnectCallback(calibration_callback);
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AHRSSettingsConnectCallback(settings_callback);
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HomeLocationConnectCallback(homelocation_callback);
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FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
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calibration_callback(AHRSCalibrationHandle()); //force an update
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/******************* Main EKF loop ****************************/
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while(1) {
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AhrsPoll();
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AhrsStatusData status;
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AhrsStatusGet(&status);
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status.DroppedUpdates = ekf_too_slow;
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AhrsStatusSet(&status);
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// Alive signal
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if ((total_conversion_blocks % 300) == 0)
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PIOS_LED_Toggle(LED1);
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total_conversion_blocks++;
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// Delay for valid data
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// This function blocks till data avilable
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get_accel_gyro_data();
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// Get any mag data available
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process_mag_data();
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if(ISNAN(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
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ISNAN(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z) ||
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ACCEL_OOB(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
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GYRO_OOB(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z)) {
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// If any values are NaN or huge don't update
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//TODO: add field to ahrs status to track number of these events
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continue;
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}
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// print_ekf_binary();
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/* If algorithm changed reinit. This could go in callback but wouldn't be synchronous */
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if (ahrs_algorithm != last_ahrs_algorithm)
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ins_init_algorithm();
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last_ahrs_algorithm = ahrs_algorithm;
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switch(ahrs_algorithm) {
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case AHRSSETTINGS_ALGORITHM_SIMPLE:
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simple_update();
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break;
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case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
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ins_outdoor_update();
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break;
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case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
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case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
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ins_indoor_update();
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break;
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}
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}
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return 0;
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}
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/**
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* @brief Simple update using just mag and accel. Yaw biased and big attitude changes.
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*/
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@ -415,9 +336,7 @@ void print_ekf_binary()
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void print_ekf_binary() {}
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#endif
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extern void PIOS_Board_Init(void);
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static void panic(int blinks)
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static void panic(uint32_t blinks)
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{
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int blinked = 0;
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while(1) {
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@ -433,181 +352,6 @@ static void panic(int blinks)
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}
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}
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}
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/**
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* @brief INS Main function
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*/
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int16_t accel_data_glob[3];
|
||||
int16_t gyro_data_glob[3];
|
||||
int16_t mag_data_glob[3];
|
||||
|
||||
uint32_t pin;
|
||||
int16_t accel[3];
|
||||
|
||||
uint32_t total_conversion_blocks;
|
||||
|
||||
|
||||
int32_t gyro_error;
|
||||
int16_t gyro[4];
|
||||
int16_t mag[3];
|
||||
int16_t accel[3];
|
||||
float altitude;
|
||||
int32_t pressure;
|
||||
|
||||
int32_t dr;
|
||||
|
||||
int32_t sclk, sclk_prev;
|
||||
int32_t sclk_count;
|
||||
|
||||
int main()
|
||||
{
|
||||
gps_data.quality = -1;
|
||||
static int8_t last_ahrs_algorithm;
|
||||
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
|
||||
|
||||
reset_values();
|
||||
|
||||
PIOS_Board_Init();
|
||||
PIOS_LED_Off(LED1);
|
||||
PIOS_LED_On(LED2);
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883) && defined(PIOS_INCLUDE_I2C)
|
||||
// Get 3 ID bytes
|
||||
strcpy((char *)mag_data.id, "ZZZ");
|
||||
PIOS_HMC5883_ReadID(mag_data.id);
|
||||
#endif
|
||||
PIOS_LED_Off(LED1);
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
// Sensors need a second to start
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
|
||||
// Sensor test
|
||||
if(PIOS_IMU3000_Test() != 0)
|
||||
panic(1);
|
||||
|
||||
if(PIOS_BMA180_Test() != 0)
|
||||
panic(2);
|
||||
|
||||
if(PIOS_HMC5883_Test() != 0)
|
||||
panic(3);
|
||||
|
||||
if(PIOS_BMP085_Test() != 0)
|
||||
panic(4);
|
||||
|
||||
PIOS_LED_On(LED1);
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
/*
|
||||
while(1) {
|
||||
sclk = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15);
|
||||
if(sclk_prev != sclk)
|
||||
sclk_count++;
|
||||
sclk_prev = sclk;
|
||||
dr = SPI2->DR;
|
||||
}
|
||||
*/
|
||||
/*
|
||||
uint32_t count = 500;
|
||||
while(count--) {
|
||||
// Update the pressure data
|
||||
PIOS_BMP085_StartADC(PressureConv);
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
if(PIOS_BMP085_ReadADC() == 0) {
|
||||
pressure = PIOS_BMP085_GetPressure();
|
||||
altitude = 44330.0 * (1.0 - powf((float) pressure / BMP085_P0, (1.0 / 5.255)));
|
||||
}
|
||||
|
||||
PIOS_IMU3000_ReadGyros(gyro);
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
|
||||
PIOS_HMC5883_ReadMag(mag);
|
||||
PIOS_DELAY_WaitmS(50);
|
||||
|
||||
PIOS_BMA180_ReadAccels(accel);
|
||||
PIOS_DELAY_WaitmS(50);;
|
||||
}
|
||||
*/
|
||||
// Flash warning light while trying to connect
|
||||
uint32_t time_val = PIOS_DELAY_GetRaw();
|
||||
uint32_t ms_count = 0;
|
||||
while(!AhrsLinkReady()) {
|
||||
AhrsPoll();
|
||||
if(PIOS_DELAY_DiffuS(time_val) > 1000) {
|
||||
ms_count += 1;
|
||||
time_val = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
if(ms_count > 100) {
|
||||
PIOS_LED_Toggle(LED2);
|
||||
ms_count = 0;
|
||||
}
|
||||
}
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
/* we didn't connect the callbacks before because we have to wait
|
||||
for all data to be up to date before doing anything*/
|
||||
|
||||
AHRSCalibrationConnectCallback(calibration_callback);
|
||||
AHRSSettingsConnectCallback(settings_callback);
|
||||
HomeLocationConnectCallback(homelocation_callback);
|
||||
FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
|
||||
|
||||
calibration_callback(AHRSCalibrationHandle()); //force an update
|
||||
|
||||
/******************* Main EKF loop ****************************/
|
||||
while(1) {
|
||||
|
||||
|
||||
AhrsPoll();
|
||||
AhrsStatusData status;
|
||||
AhrsStatusGet(&status);
|
||||
status.DroppedUpdates = ekf_too_slow;
|
||||
AhrsStatusSet(&status);
|
||||
|
||||
// Alive signal
|
||||
if ((total_conversion_blocks % 300) == 0)
|
||||
PIOS_LED_Toggle(LED1);
|
||||
total_conversion_blocks++;
|
||||
// Delay for valid data
|
||||
|
||||
// This function blocks till data avilable
|
||||
get_accel_gyro_data();
|
||||
|
||||
// Get any mag data available
|
||||
process_mag_data();
|
||||
|
||||
if(ISNAN(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
|
||||
ISNAN(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z) ||
|
||||
ACCEL_OOB(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
|
||||
GYRO_OOB(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z)) {
|
||||
// If any values are NaN or huge don't update
|
||||
//TODO: add field to ahrs status to track number of these events
|
||||
continue;
|
||||
}
|
||||
|
||||
// print_ekf_binary();
|
||||
|
||||
/* If algorithm changed reinit. This could go in callback but wouldn't be synchronous */
|
||||
if (ahrs_algorithm != last_ahrs_algorithm)
|
||||
ins_init_algorithm();
|
||||
last_ahrs_algorithm = ahrs_algorithm;
|
||||
|
||||
switch(ahrs_algorithm) {
|
||||
case AHRSSETTINGS_ALGORITHM_SIMPLE:
|
||||
simple_update();
|
||||
break;
|
||||
case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
|
||||
ins_outdoor_update();
|
||||
break;
|
||||
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
|
||||
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
|
||||
ins_indoor_update();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the accel and gyro data from whichever source when available
|
||||
@ -615,6 +359,7 @@ int main()
|
||||
* This function will act as the HAL for the new INS sensors
|
||||
*/
|
||||
uint16_t accel_samples = 0;
|
||||
uint8_t gyro_len;
|
||||
bool get_accel_gyro_data()
|
||||
{
|
||||
int16_t accel[3];
|
||||
@ -635,9 +380,8 @@ bool get_accel_gyro_data()
|
||||
accel[2] = accel_accum[2] / accel_samples;
|
||||
|
||||
int16_t gyro_fifo[4 * 100];
|
||||
uint8_t gyro_len;
|
||||
int32_t gyro_accum[3] = {0, 0, 0};
|
||||
int16_t gyro[3];
|
||||
int16_t gyro[3];
|
||||
gyro_len = PIOS_IMU3000_ReadFifo((uint8_t *) gyro_fifo, sizeof(gyro_fifo));
|
||||
gyro_len /= 8;
|
||||
for(int i = 0; i < gyro_len; i++) {
|
||||
|
||||
271
flight/INS/insgps_helper.c
Normal file
271
flight/INS/insgps_helper.c
Normal file
@ -0,0 +1,271 @@
|
||||
|
||||
#include "ins.h"
|
||||
#include "pios.h"
|
||||
#include "ahrs_spi_comm.h"
|
||||
#include "insgps.h"
|
||||
#include "CoordinateConversions.h"
|
||||
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
#define RAD_TO_DEG (180.0 / M_PI)
|
||||
|
||||
#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
|
||||
|
||||
#define timer_rate() 100000
|
||||
#define timer_count() 1
|
||||
|
||||
//! Contains the data from the mag sensor chip
|
||||
extern struct mag_sensor mag_data;
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
extern struct accel_sensor accel_data;
|
||||
|
||||
//! Contains the data from the gyro
|
||||
extern struct gyro_sensor gyro_data;
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
extern struct attitude_solution attitude_data;
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
extern struct altitude_sensor altitude_data;
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
extern struct gps_sensor gps_data;
|
||||
|
||||
//! Offset correction of barometric alt, to match gps data
|
||||
static float baro_offset = 0;
|
||||
|
||||
extern void send_calibration(void);
|
||||
extern void send_attitude(void);
|
||||
extern void send_velocity(void);
|
||||
extern void send_position(void);
|
||||
extern volatile int8_t ahrs_algorithm;
|
||||
extern void get_accel_gyro_data();
|
||||
|
||||
/* INS functions */
|
||||
/**
|
||||
* @brief Update the EKF when in outdoor mode. The primary difference is using the GPS values.
|
||||
*/
|
||||
void ins_outdoor_update()
|
||||
{
|
||||
float gyro[3], accel[3], vel[3];
|
||||
static uint32_t last_gps_time = 0;
|
||||
uint16_t sensors;
|
||||
|
||||
// format data for INS algo
|
||||
gyro[0] = gyro_data.filtered.x;
|
||||
gyro[1] = gyro_data.filtered.y;
|
||||
gyro[2] = gyro_data.filtered.z;
|
||||
accel[0] = accel_data.filtered.x,
|
||||
accel[1] = accel_data.filtered.y,
|
||||
accel[2] = accel_data.filtered.z,
|
||||
|
||||
INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
|
||||
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];
|
||||
send_attitude(); // get message out quickly
|
||||
send_velocity();
|
||||
send_position();
|
||||
INSCovariancePrediction(1 / (float)EKF_RATE);
|
||||
|
||||
sensors = 0;
|
||||
|
||||
/*
|
||||
* Detect if greater than certain time since last gps update and if so
|
||||
* reset EKF to that position since probably drifted too far for safe
|
||||
* update
|
||||
*/
|
||||
uint32_t this_gps_time = timer_count();
|
||||
float gps_delay;
|
||||
|
||||
if (this_gps_time < last_gps_time)
|
||||
gps_delay = ((0xFFFF - last_gps_time) - this_gps_time) / timer_rate();
|
||||
else
|
||||
gps_delay = (this_gps_time - last_gps_time) / timer_rate();
|
||||
last_gps_time = this_gps_time;
|
||||
|
||||
if (gps_data.updated)
|
||||
{
|
||||
vel[0] = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD);
|
||||
vel[1] = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD);
|
||||
vel[2] = 0;
|
||||
|
||||
if(gps_delay > INSGPS_GPS_TIMEOUT)
|
||||
INSPosVelReset(gps_data.NED,vel); // position stale, reset
|
||||
else {
|
||||
sensors |= HORIZ_SENSORS | POS_SENSORS;
|
||||
}
|
||||
|
||||
/*
|
||||
* When using gps need to make sure that barometer is brought into NED frame
|
||||
* we should try and see if the altitude from the home location is good enough
|
||||
* to use for the offset but for now starting with this conservative filter
|
||||
*/
|
||||
if(fabs(gps_data.NED[2] + (altitude_data.altitude - baro_offset)) > 10) {
|
||||
baro_offset = gps_data.NED[2] + altitude_data.altitude;
|
||||
} else {
|
||||
/* IIR filter with 100 second or so tau to keep them crudely in the same frame */
|
||||
baro_offset = baro_offset * 0.999 + (gps_data.NED[2] + altitude_data.altitude) * 0.001;
|
||||
}
|
||||
gps_data.updated = false;
|
||||
} else if (gps_delay > INSGPS_GPS_TIMEOUT) {
|
||||
vel[0] = 0;
|
||||
vel[1] = 0;
|
||||
vel[2] = 0;
|
||||
sensors |= VERT_SENSORS | HORIZ_SENSORS;
|
||||
}
|
||||
|
||||
if(mag_data.updated) {
|
||||
sensors |= MAG_SENSORS;
|
||||
mag_data.updated = false;
|
||||
}
|
||||
|
||||
if(altitude_data.updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
altitude_data.updated = false;
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude - baro_offset, sensors);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Update the EKF when in indoor mode
|
||||
*/
|
||||
void ins_indoor_update()
|
||||
{
|
||||
float gyro[3], accel[3], vel[3];
|
||||
static uint32_t last_indoor_time = 0;
|
||||
uint16_t sensors = 0;
|
||||
|
||||
// format data for INS algo
|
||||
gyro[0] = gyro_data.filtered.x;
|
||||
gyro[1] = gyro_data.filtered.y;
|
||||
gyro[2] = gyro_data.filtered.z;
|
||||
accel[0] = accel_data.filtered.x,
|
||||
accel[1] = accel_data.filtered.y,
|
||||
accel[2] = accel_data.filtered.z,
|
||||
|
||||
INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
|
||||
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];
|
||||
send_attitude(); // get message out quickly
|
||||
send_velocity();
|
||||
send_position();
|
||||
INSCovariancePrediction(1 / (float)EKF_RATE);
|
||||
|
||||
/* Indoors, update with zero position and velocity and high covariance */
|
||||
vel[0] = 0;
|
||||
vel[1] = 0;
|
||||
vel[2] = 0;
|
||||
|
||||
uint32_t this_indoor_time = timer_count();
|
||||
float indoor_delay;
|
||||
|
||||
/*
|
||||
* Detect if greater than certain time since last gps update and if so
|
||||
* reset EKF to that position since probably drifted too far for safe
|
||||
* update
|
||||
*/
|
||||
if (this_indoor_time < last_indoor_time)
|
||||
indoor_delay = ((0xFFFF - last_indoor_time) - this_indoor_time) / timer_rate();
|
||||
else
|
||||
indoor_delay = (this_indoor_time - last_indoor_time) / timer_rate();
|
||||
last_indoor_time = this_indoor_time;
|
||||
|
||||
if(indoor_delay > INSGPS_GPS_TIMEOUT)
|
||||
INSPosVelReset(vel,vel);
|
||||
else
|
||||
sensors = HORIZ_SENSORS | VERT_SENSORS;
|
||||
|
||||
if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
|
||||
sensors |= MAG_SENSORS;
|
||||
mag_data.updated = false;
|
||||
}
|
||||
|
||||
if(altitude_data.updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
altitude_data.updated = false;
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the EKF assuming stationary
|
||||
*/
|
||||
void ins_init_algorithm()
|
||||
{
|
||||
float Rbe[3][3], q[4], accels[3], rpy[3], mag;
|
||||
float ge[3]={0,0,-9.81}, zeros[3]={0,0,0}, Pdiag[16]={25,25,25,5,5,5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-4,1e-4,1e-4};
|
||||
bool using_mags, using_gps;
|
||||
|
||||
INSGPSInit();
|
||||
|
||||
HomeLocationData home;
|
||||
HomeLocationGet(&home);
|
||||
|
||||
accels[0]=accel_data.filtered.x;
|
||||
accels[1]=accel_data.filtered.y;
|
||||
accels[2]=accel_data.filtered.z;
|
||||
|
||||
using_mags = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR);
|
||||
using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
|
||||
|
||||
using_gps = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
|
||||
|
||||
/* Block till a data update */
|
||||
get_accel_gyro_data();
|
||||
|
||||
/* Ensure we get mag data in a timely manner */
|
||||
uint16_t fail_count = 50; // 50 at 200 Hz is up to 0.25 sec
|
||||
while(using_mags && !mag_data.updated && fail_count--) {
|
||||
get_accel_gyro_data();
|
||||
AhrsPoll();
|
||||
}
|
||||
using_mags &= mag_data.updated;
|
||||
|
||||
if (using_mags) {
|
||||
/* Spin waiting for mag data */
|
||||
while(!mag_data.updated) {
|
||||
get_accel_gyro_data();
|
||||
AhrsPoll();
|
||||
}
|
||||
mag_data.updated = false;
|
||||
|
||||
RotFrom2Vectors(accels, ge, mag_data.scaled.axis, home.Be, Rbe);
|
||||
R2Quaternion(Rbe,q);
|
||||
if (using_gps)
|
||||
INSSetState(gps_data.NED, zeros, q, zeros, zeros);
|
||||
else
|
||||
INSSetState(zeros, zeros, q, zeros, zeros);
|
||||
} else {
|
||||
// assume yaw = 0
|
||||
mag = VectorMagnitude(accels);
|
||||
rpy[1] = asinf(-accels[0]/mag);
|
||||
rpy[0] = atan2(accels[1]/mag,accels[2]/mag);
|
||||
rpy[2] = 0;
|
||||
RPY2Quaternion(rpy,q);
|
||||
if (using_gps)
|
||||
INSSetState(gps_data.NED, zeros, q, zeros, zeros);
|
||||
else
|
||||
INSSetState(zeros, zeros, q, zeros, zeros);
|
||||
}
|
||||
|
||||
INSResetP(Pdiag);
|
||||
|
||||
// TODO: include initial estimate of gyro bias?
|
||||
}
|
||||
@ -2868,6 +2868,8 @@
|
||||
65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = stm32f2xx_conf.h; sourceTree = "<group>"; };
|
||||
65DEA78613F1118400095B06 /* pios_bma180.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bma180.h; sourceTree = "<group>"; };
|
||||
65DEA78813F111EA00095B06 /* pios_bma180.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bma180.c; sourceTree = "<group>"; };
|
||||
65E1039C13FBD5C4004B5FFE /* insgps_helper.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps_helper.c; sourceTree = "<group>"; };
|
||||
65E1039D13FBD5CE004B5FFE /* insgps_helper.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps_helper.h; sourceTree = "<group>"; };
|
||||
65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
|
||||
65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
|
||||
65E6DF7312E02E8E00058553 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = "<group>"; };
|
||||
@ -4038,6 +4040,7 @@
|
||||
6560A3BA13EE2FCB00105DA5 /* Makefile */,
|
||||
6560A3BB13EE2FCB00105DA5 /* pios_board.c */,
|
||||
6560A3BC13EE2FCB00105DA5 /* test.c */,
|
||||
65E1039C13FBD5C4004B5FFE /* insgps_helper.c */,
|
||||
);
|
||||
name = INS;
|
||||
path = ../../INS;
|
||||
@ -4051,6 +4054,7 @@
|
||||
6560A3B513EE2FCB00105DA5 /* ins_fsm.h */,
|
||||
6560A3B613EE2FCB00105DA5 /* insgps.h */,
|
||||
6560A3B713EE2FCB00105DA5 /* pios_config.h */,
|
||||
65E1039D13FBD5CE004B5FFE /* insgps_helper.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user