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https://bitbucket.org/librepilot/librepilot.git
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Merge branch 'next' into skarlsso/OP-1397_add_responsiveness_to_txpid
Conflicts: ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp ground/openpilotgcs/src/plugins/config/configtxpidwidget.h
This commit is contained in:
commit
454d491e48
60
CREDITS.txt
60
CREDITS.txt
@ -1,73 +1,90 @@
|
||||
Connor Abbott
|
||||
David Ankers
|
||||
Sergiy Anikeyev
|
||||
Pedro Assuncao
|
||||
David Ankers
|
||||
Fredrik Arvidsson
|
||||
Pedro Assuncao
|
||||
Werner Backes
|
||||
Jose Barros
|
||||
Andre Bernet
|
||||
Mikael Blomqvist
|
||||
Pete Boehl
|
||||
Pete Boehl
|
||||
Berkely Brown
|
||||
Joel Brueziere
|
||||
Thierry Bugeat
|
||||
Glenn Campigli
|
||||
David Carlson
|
||||
Stefan Cenkov
|
||||
Andrés Chavarría Krauser
|
||||
Cosimo Corrado
|
||||
James Cotton
|
||||
Steve Doll
|
||||
Piotr Esden-Tempski
|
||||
Richard Flay
|
||||
Peter Farnworth
|
||||
Ed Faulkner
|
||||
Andrew Finegan
|
||||
Kevin Finisterre
|
||||
Richard Flay
|
||||
Darren Furniss
|
||||
Cliff Geerdes
|
||||
Frederic Goddeeris
|
||||
Daniel Godin
|
||||
Anthony Gomez
|
||||
Anthony Gomes
|
||||
Rodney Grainger
|
||||
Bani Greyling
|
||||
Nuno Guedes
|
||||
Erik Gustavsson
|
||||
Peter Gunnarsson
|
||||
Erik Gustavsson
|
||||
Dean Hall
|
||||
Joe Hlebasko
|
||||
Andy Honecker
|
||||
Patrick Huebner
|
||||
Ryan Hunt
|
||||
Mark James
|
||||
Michael Johnston
|
||||
Ricky King
|
||||
Thorsten Klose
|
||||
Sami Korhonen
|
||||
Hallvard Kristiansen
|
||||
Alan Krum
|
||||
Edouard Lafargue
|
||||
Mike Labranche
|
||||
Edouard Lafargue
|
||||
Laurent Lalanne
|
||||
Fredrik Larsson
|
||||
Richard von Lehe
|
||||
Xavier Lecluse
|
||||
Pablo Lema
|
||||
David Llama
|
||||
Matt Lipski
|
||||
Les Newell
|
||||
Ken Northup
|
||||
David Llama
|
||||
Ben Matthews
|
||||
Greg Matthews
|
||||
Greg Matthews
|
||||
Guy McCaldin
|
||||
Gary Mortimer
|
||||
Alessio Morale
|
||||
Gary Mortimer
|
||||
Cathy Moss
|
||||
Les Newell
|
||||
Ken Northup
|
||||
Bertrand Oresve
|
||||
Angus Peart
|
||||
John Pike
|
||||
Jorge Pombo Marcos
|
||||
Dmytro Poplavskiy
|
||||
Eric Price
|
||||
Richard Querin
|
||||
Randy Ram
|
||||
Philippe Renon
|
||||
Laurent Ribon
|
||||
Jonathan Rodgers
|
||||
Mathieu Rondonneau
|
||||
Jörg-D Rothfuchs
|
||||
Julien Rouviere
|
||||
Jackson Russell
|
||||
Zik Saleeba
|
||||
Professor Dale Schinstock
|
||||
Troy Schultz
|
||||
Michael Schwingen
|
||||
Professor Kenn Sebesta
|
||||
Oleg Semyonov
|
||||
Stacey Sheldon
|
||||
Troy Schultz
|
||||
Dr. Erhard Siegl
|
||||
Dusty Anne Smith
|
||||
Mike Smith
|
||||
@ -77,10 +94,12 @@ Pete Stapley
|
||||
Vova Starikh
|
||||
Rowan Taubitz
|
||||
Andrew Thoms
|
||||
Vladimir Timofeev
|
||||
Jasper Van Loenen
|
||||
Philippe Vanhaesendonck
|
||||
Jasper van Loenen
|
||||
Vassilis Varveropoulos
|
||||
Kevin Vertucio
|
||||
Richard Von Lehe
|
||||
Alex Vrubel
|
||||
Mike Walters
|
||||
Brian Webb
|
||||
@ -89,16 +108,3 @@ Mat Wellington
|
||||
Kendal Wells
|
||||
David Willis
|
||||
Dmitriy Zaitsev
|
||||
Andre Bernet
|
||||
Anthony Gomes
|
||||
Cliff Geerdes
|
||||
Jörg-D Rothfuchs
|
||||
Jonathan Rodgers
|
||||
Laurent Lalanne
|
||||
Patrick Huebner
|
||||
Rich von Lehe
|
||||
Stefan Cenkov
|
||||
Andrés Chavarría Krauser
|
||||
Bertrand Oresve
|
||||
Cosimo Corrado
|
||||
Rodney Grainger
|
||||
|
123
WHATSNEW.txt
123
WHATSNEW.txt
@ -1,61 +1,15 @@
|
||||
--- RELEASE-14.06-RC5 --- Peanuts Schnapps ---
|
||||
This Release Candidate fixes the following issues:
|
||||
* [OP-1419] - GCS does not set Z magnetometer scale correctly on mag calibration
|
||||
* [OP-1337] - French translations updates (14.04/05)
|
||||
|
||||
The full list of features, improvements and bugfixes in this release candidate is accessible here:
|
||||
http://progress.openpilot.org/issues/?filter=11563
|
||||
|
||||
--- RELEASE-14.06-RC4 --- Peanuts Schnapps ---
|
||||
This Release Candidate fixes the following issues:
|
||||
* [OP-1413] - Disable Land flight mode
|
||||
* [OP-1412] - INS13Outdoor Yaw Gyro drift
|
||||
* [OP-1408] - Board rotation is not always saved during Revo calibration
|
||||
* [OP-1358] - Split board rotation into user set configuration and calibrated offseta
|
||||
|
||||
The full list of features, improvements and bugfixes in this release candidate is accessible here:
|
||||
http://progress.openpilot.org/issues/?filter=11562
|
||||
|
||||
--- RELEASE-14.06-RC3 --- Peanuts Schnapps ---
|
||||
This Release Candidate fixes the following issues:
|
||||
* [OP-1394] - Flight display widget - telemetry data does not zero on disconnection
|
||||
* [OP-1393] - SerialPlugin destructor generates valgrind error
|
||||
* [OP-1391] - System allows arming if current flight mode uses Thrust Control = AH or AV
|
||||
* [OP-1390] - OpenGL support for older Graphics Cards
|
||||
* [OP-1389] - GCS Crashes exiting Flight side log window
|
||||
* [OP-1384] - Revo Board Rotation data is cleared to zero by other calibration steps
|
||||
* [OP-1383] - GCS crashes when connected via serial port
|
||||
* [OP-1347] - Flight logs settings - UI / segfault
|
||||
* [OP-1337] - French translations updates (14.04/05)
|
||||
* [OP-1226] - screen problems
|
||||
* [OP-1063] - Multirotor Configuration
|
||||
* [OP-792] - 'Autotune' still showing up in flight mode settings in GCS
|
||||
|
||||
The full list of features, improvements and bugfixes in this release candidate is accessible here:
|
||||
http://progress.openpilot.org/issues/?filter=11561
|
||||
|
||||
--- RELEASE-14.06-RC2 --- Peanuts Schnapps ---
|
||||
This Release Candidate fixes the following issues:
|
||||
*[OP-1378] - Check Limits for flight modes
|
||||
*[OP-1377] - Calibration config panel has Apply button even when not in Expert mode
|
||||
*[OP-1376] - Calibration results not saved to SD
|
||||
*[OP-1375] - Update Mag Ki and Kp default settings
|
||||
*[OP-1374] - Automatically enable the right PathFollower
|
||||
*[OP-1337] - Fixes for French translation
|
||||
|
||||
The full list of features, improvements and bugfixes in this release candidate is accessible here:
|
||||
http://progress.openpilot.org/issues/?filter=11462
|
||||
|
||||
--- RELEASE-14.06-RC1 --- Peanuts Schnapps ---
|
||||
--- RELEASE-14.06 --- Peanuts Schnapps ---
|
||||
This is the Mid 2014 release.
|
||||
This version still supports the CopterControl and CC3D.
|
||||
It includes several additions and changes aimed at gps/navigation functionalities
|
||||
(that are expected to be fully available on next release).
|
||||
This version supports the CopterControl, CC3D, Atom and the Revolution Flight controllers as well as the OPLink Modems.
|
||||
|
||||
Some additions in this release:
|
||||
- Addition of GPS assisted flight modes for revo: - Return To Base, Position hold, AutoCruise and Position Vario(LOS, FPV and NSEW);
|
||||
- Stabilization refactoring that enhance rate performances;
|
||||
- Sensor calibration has been redesigned for better usability;
|
||||
This release includes many additions, improvements and fixes, it is the result of many thousands of hours of development and testing.
|
||||
|
||||
Some key additions in this release:
|
||||
- Many additions and changes aimed at gps/navigation functionality for the Revolution platform including GPS assisted flight modes: Return To Base, Position Hold, AutoCruise and Position Vario(LOS, FPV and NSEW).
|
||||
- Stabilization refactoring and enhancements for even better flight performance.
|
||||
- Completely new sensor calibration routines and greatly enhanced GUI.
|
||||
- Additional 3rd Party Hardware support, notably the MS4525DO based airspeed sensors and WS281x LED drivers.
|
||||
- Performance improvements in both embedded firmware and GCS.
|
||||
|
||||
The full list of features, improvements and bugfixes in this release is accessible here:
|
||||
|
||||
@ -65,18 +19,20 @@ http://progress.openpilot.org/issues/?filter=11460
|
||||
* [OP-943] - Start using F4's Core Coupled RAM for more than just the IRQ handler stack
|
||||
* [OP-974] - Make Bootloader Version available while flight software is running
|
||||
* [OP-975] - Reconsider the calibration process
|
||||
* [OP-1063] - Multirotor Configuration
|
||||
* [OP-1068] - Add support for magnetometer calibration matrix in place of scaling parameters
|
||||
* [OP-1149] - Handle thermal bias calculation/calibration to gyro and accel
|
||||
* [OP-1150] - Create UI to allow users to perform board thermal calibration
|
||||
* [OP-1159] - Remove "Rev" checkboxes on input tab for channels on which it doesn't have an effect
|
||||
* [OP-1149] - handle thermal bias calculation/calibration to gyro and accel
|
||||
* [OP-1150] - Create UI to allow users to perform board thermal calibration
|
||||
* [OP-1159] - Remove "Rev" checkboxes on input tab for channels on which it doesn't have an affect
|
||||
* [OP-1161] - Add Alarm for Magnetometer if disturbed or uncalibrated
|
||||
* [OP-1174] - Beautify Uploader gadget popups
|
||||
* [OP-1194] - Scope gadget - plot and legend visibility state should be persisted between runs
|
||||
* [OP-1198] - Allow GCS gadgets to save/restore individual state
|
||||
* [OP-1216] - Refactor Flight Control Modules
|
||||
* [OP-1230] - Automatically load the correct firmware file when GCS is running in a development environment
|
||||
* [OP-1230] - automatically load the correct firmware file when GCS is running in a development environment
|
||||
* [OP-1233] - Add make options to skip qmake and build a specific GCS directory
|
||||
* [OP-1245] - Add GUI to control if, what, when and how to do flight side logging.
|
||||
* [OP-1247] - Remove Noise calibration from Revo calibration config widget
|
||||
* [OP-1250] - Add GPS Protocol configuration in the Hardware configuration panel
|
||||
* [OP-1258] - Update GCC ARM Embedded to 4.8-2014-q1
|
||||
* [OP-1259] - Cruise Control tweaks
|
||||
@ -90,23 +46,29 @@ http://progress.openpilot.org/issues/?filter=11460
|
||||
* [OP-1307] - Create a bare DiscoveryF4 target for debugging and development purposes
|
||||
* [OP-1308] - Set the same logic to CRITICAL Alarm and same logic to ERROR Alarm
|
||||
* [OP-1312] - Implement a PIOS WS281x driver
|
||||
* [OP-1319] - Fix minor spelling mistakes in fw code
|
||||
* [OP-1335] - ConfigTaskWidget - Add support to bind GComboBox to integer property
|
||||
* [OP-1339] - System Health panel improvement
|
||||
* [OP-1350] - TakeOff location handling to be used with RTH
|
||||
* [OP-1378] - Check Limits for flight modes
|
||||
* [OP-1342] - PFD widget emits lots of warning
|
||||
* [OP-1350] - TakeOff location handling to be used with RTB
|
||||
* [OP-1358] - Split board rotation into user set configuration and calibrated offset
|
||||
* [OP-1365] - Add instrumentation functions for flight code
|
||||
|
||||
* [OP-1374] - Automatically enable the right PathFollower
|
||||
* [OP-1390] - OpenGL support for older Graphics Cards
|
||||
* [OP-1413] - Disable Land flight mode
|
||||
** Bug
|
||||
* [OP-792] - 'Autotune' still showing up in flight mode settings in GCS
|
||||
* [OP-1026] - Provide some standard method of calibrating CPU speed and load measurement for boards
|
||||
* [OP-1033] - Data transfer errors on USB HID on F1 devices
|
||||
* [OP-1043] - Ground OPLinkMini refuses to connect to one Revo unless first connected to another Revo
|
||||
* [OP-1056] - GPS does not set home location when erased after lock has been established
|
||||
* [OP-1080] - Unreliable detection of board through OPLink
|
||||
* [OP-1100] - GCS plist for mac shows wrong associated filetypes, leftover from qtcreator
|
||||
* [OP-1100] - gcs plist for mac shows wrong associated filetypes, leftover from qtcreator
|
||||
* [OP-1131] - Firmware mismatch check is not done if Uploader gadget is not active
|
||||
* [OP-1172] - Some fonts are not defined in config files
|
||||
* [OP-1196] - Board rotation in GCS not shown correctly upon connection but correctly saved in memory
|
||||
* [OP-1212] - Fix Priority queue handling in telemetry
|
||||
* [OP-1212] - Fix Priority queue handling in telemetry
|
||||
* [OP-1226] - screen problems
|
||||
* [OP-1227] - High CPU load in ratitude mode on CopterControl
|
||||
* [OP-1232] - Setting high telemetry rates for periodic uavobject triggers eventsystem warning.
|
||||
* [OP-1235] - Some fixes for altitude estimation
|
||||
@ -120,9 +82,8 @@ http://progress.openpilot.org/issues/?filter=11460
|
||||
* [OP-1283] - SystemHealthGadgetWidget::updateAlarms misinterprets coordinates in SVG file
|
||||
* [OP-1284] - RTB flies into ground if base is high
|
||||
* [OP-1285] - Erase Settings ToolTip is wrong
|
||||
* [OP-1286] - GCS Map "Go To Place" doesn't work
|
||||
* [OP-1288] - GPS PositionHold immediately flies several meters away if Home is not close
|
||||
* [OP-1291] - Fix matlab import after UAVTalk changes
|
||||
* [OP-1291] - fix matlab import after UAVTalk changes
|
||||
* [OP-1294] - Fix stack sizes for CopterControl
|
||||
* [OP-1295] - Autoupdate not working
|
||||
* [OP-1296] - Altitude Hold causes copter to ascent at full throttle when far from home location
|
||||
@ -133,25 +94,40 @@ http://progress.openpilot.org/issues/?filter=11460
|
||||
* [OP-1314] - Fix Airspeed stack size
|
||||
* [OP-1315] - Unable to arm UAV when AirspeedSensorType is set to GroundspeedBaseWindEstimation
|
||||
* [OP-1323] - GCS font fixes
|
||||
* [OP-1325] - Fix event system warnings to be errors
|
||||
* [OP-1326] - Set AIrspeedSensor default back to "None"
|
||||
* [OP-1325] - fix event system warnings to be errors
|
||||
* [OP-1326] - set AIrspeedSensor default back to "None"
|
||||
* [OP-1327] - SystemAlarms must be non-acked
|
||||
* [OP-1329] - Various fixes to airspeed module
|
||||
* [OP-1330] - Cannot set homelocation.set=false when gps reception is optimal
|
||||
* [OP-1331] - Input and Output Channel Configuration alignments issues
|
||||
* [OP-1332] - PiOS alarms does not reset alarm state on timer overflow
|
||||
* [OP-1333] - Output Channel Configuration alignments issues
|
||||
* [OP-1333] - Output Channel Configuration alignments issues
|
||||
* [OP-1340] - Auto-update greyed out - not available
|
||||
* [OP-1343] - GCS Configuration - Input Channel ResponseTime not saved
|
||||
* [OP-1346] - Input Channel Response Time mismatch between GCS config screen and UAVObject
|
||||
* [OP-1347] - Flight logs settings - UI / segfault
|
||||
* [OP-1348] - Config Gadget flashes next panel when connecting/disconnecting board
|
||||
* [OP-1351] - GCS Calibration UI polishing
|
||||
* [OP-1352] - Headwind-improvements for FixedWingPathFollower
|
||||
* [OP-1353] - HITL Flightgear fails to set Position and velocity correctly
|
||||
* [OP-1354] - Current and voltage not shown in PFD
|
||||
* [OP-1355] - Magnetometer calibration and board rotation don't play along
|
||||
* [OP-1363] - Sanitychecks MUST check if magnetometers and GPS are enabled for any pathfollower modes (outdoor mode selected)
|
||||
* [OP-1371] - Sanitychecks overzealous: hitl/sitl broken
|
||||
* [OP-1355] - magnetometer calibration and board rotation don't play along
|
||||
* [OP-1363] - sanitychecks MUST check if magnetometers and GPS are enabled for any pathfollower modes (outdoor mode selected)
|
||||
* [OP-1371] - sanitychecks overzealous: hitl/sitl broken
|
||||
* [OP-1375] - Update Mag Ki and Kp default settings
|
||||
* [OP-1376] - Calibration results not saved to SD
|
||||
* [OP-1377] - Calibration config panel has Apply button even when not in Expert mode
|
||||
* [OP-1383] - GCS crashes when connected via serial port
|
||||
* [OP-1384] - Revo Board Rotation data is cleared to zero by other calibration steps
|
||||
* [OP-1389] - GCS Crashes exiting Flight side log window
|
||||
* [OP-1391] - System allows arming if current flight mode uses Thrust Control = AH or AV
|
||||
* [OP-1393] - SerialPlugin destructor generates valgrind error
|
||||
* [OP-1394] - Flight display widget - telemetry data does not zero on disconnection
|
||||
* [OP-1408] - Board rotation is not always saved during Revo calibration
|
||||
* [OP-1412] - INS13Outdoor Yaw Gyro drift
|
||||
* [OP-1415] - Repeated names in CREDITS.txt
|
||||
* [OP-1419] - GCS does not set Z magnetometer scale correctly on mag calibration
|
||||
* [OP-1421] - Cruise Control xml defaultvalue incorrect
|
||||
|
||||
** Tasks
|
||||
* [OP-1274] - Update FreeRTOS to 8.0
|
||||
@ -160,7 +136,6 @@ http://progress.openpilot.org/issues/?filter=11460
|
||||
* [OP-1263] - Move SDL out of Qt install
|
||||
* [OP-1309] - Stabilization refactoring
|
||||
|
||||
|
||||
--- RELEASE-14.01 --- Cruising Ratt ---
|
||||
This is the first 2014 software release.
|
||||
This version still supports the CopterControl and CC3D.
|
||||
|
@ -180,7 +180,7 @@ void RPY2Quaternion(const float rpy[3], float q[4])
|
||||
// ** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
void Quaternion2R(float q[4], float Rbe[3][3])
|
||||
{
|
||||
float q0s = q[0] * q[0], q1s = q[1] * q[1], q2s = q[2] * q[2], q3s = q[3] * q[3];
|
||||
const float q0s = q[0] * q[0], q1s = q[1] * q[1], q2s = q[2] * q[2], q3s = q[3] * q[3];
|
||||
|
||||
Rbe[0][0] = q0s + q1s - q2s - q3s;
|
||||
Rbe[0][1] = 2 * (q[1] * q[2] + q[0] * q[3]);
|
||||
@ -193,6 +193,61 @@ void Quaternion2R(float q[4], float Rbe[3][3])
|
||||
Rbe[2][2] = q0s - q1s - q2s + q3s;
|
||||
}
|
||||
|
||||
|
||||
// ** Find first row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the fuselage/roll vector xB **
|
||||
void QuaternionC2xB(const float q0, const float q1, const float q2, const float q3, float x[3])
|
||||
{
|
||||
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
|
||||
|
||||
x[0] = q0s + q1s - q2s - q3s;
|
||||
x[1] = 2 * (q1 * q2 + q0 * q3);
|
||||
x[2] = 2 * (q1 * q3 - q0 * q2);
|
||||
}
|
||||
|
||||
|
||||
void Quaternion2xB(const float q[4], float x[3])
|
||||
{
|
||||
QuaternionC2xB(q[0], q[1], q[2], q[3], x);
|
||||
}
|
||||
|
||||
|
||||
// ** Find second row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the spanwise/pitch vector yB **
|
||||
void QuaternionC2yB(const float q0, const float q1, const float q2, const float q3, float y[3])
|
||||
{
|
||||
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
|
||||
|
||||
y[0] = 2 * (q1 * q2 - q0 * q3);
|
||||
y[1] = q0s - q1s + q2s - q3s;
|
||||
y[2] = 2 * (q2 * q3 + q0 * q1);
|
||||
}
|
||||
|
||||
|
||||
void Quaternion2yB(const float q[4], float y[3])
|
||||
{
|
||||
QuaternionC2yB(q[0], q[1], q[2], q[3], y);
|
||||
}
|
||||
|
||||
|
||||
// ** Find third row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the vertical/yaw vector zB **
|
||||
void QuaternionC2zB(const float q0, const float q1, const float q2, const float q3, float z[3])
|
||||
{
|
||||
const float q0s = q0 * q0, q1s = q1 * q1, q2s = q2 * q2, q3s = q3 * q3;
|
||||
|
||||
z[0] = 2 * (q1 * q3 + q0 * q2);
|
||||
z[1] = 2 * (q2 * q3 - q0 * q1);
|
||||
z[2] = q0s - q1s - q2s + q3s;
|
||||
}
|
||||
|
||||
|
||||
void Quaternion2zB(const float q[4], float z[3])
|
||||
{
|
||||
QuaternionC2zB(q[0], q[1], q[2], q[3], z);
|
||||
}
|
||||
|
||||
|
||||
// ****** Express LLA in a local NED Base Frame ********
|
||||
void LLA2Base(int32_t LLAi[3], double BaseECEF[3], float Rne[3][3], float NED[3])
|
||||
{
|
||||
|
@ -50,6 +50,21 @@ void RPY2Quaternion(const float rpy[3], float q[4]);
|
||||
// ** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
void Quaternion2R(float q[4], float Rbe[3][3]);
|
||||
|
||||
// ** Find first row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the fuselage/roll vector xB **
|
||||
void QuaternionC2xB(const float q0, const float q1, const float q2, const float q3, float x[3]);
|
||||
void Quaternion2xB(const float q[4], float x[3]);
|
||||
|
||||
// ** Find second row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the spanwise/pitch vector yB **
|
||||
void QuaternionC2yB(const float q0, const float q1, const float q2, const float q3, float y[3]);
|
||||
void Quaternion2yB(const float q[4], float y[3]);
|
||||
|
||||
// ** Find third row of Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
|
||||
// ** This vector corresponds to the vertical/yaw vector zB **
|
||||
void QuaternionC2zB(const float q0, const float q1, const float q2, const float q3, float z[3]);
|
||||
void Quaternion2zB(const float q[4], float z[3]);
|
||||
|
||||
// ****** Express LLA in a local NED Base Frame ********
|
||||
void LLA2Base(int32_t LLAi[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
|
||||
|
||||
|
100
flight/libraries/math/butterworth.c
Normal file
100
flight/libraries/math/butterworth.c
Normal file
@ -0,0 +1,100 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilot Math Utilities
|
||||
* @{
|
||||
* @addtogroup Butterworth low pass filter
|
||||
* @{
|
||||
*
|
||||
* @file butterworth.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Direct form two of a second order Butterworth low pass filter
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "math.h"
|
||||
#include "butterworth.h"
|
||||
|
||||
/**
|
||||
* Initialization function for coefficients of a second order Butterworth biquadratic filter in direct from 2.
|
||||
* Note that b1 = 2 * b0 and b2 = b0 is use here and in the sequel.
|
||||
* @param[in] ff Cut-off frequency ratio
|
||||
* @param[out] filterPtr Pointer to filter coefficients
|
||||
* @returns Nothing
|
||||
*/
|
||||
void InitButterWorthDF2Filter(const float ff, struct ButterWorthDF2Filter *filterPtr)
|
||||
{
|
||||
const float ita = 1.0f / tanf(M_PI_F * ff);
|
||||
const float b0 = 1.0f / (1.0f + M_SQRT2_F * ita + ita * ita);
|
||||
const float a1 = 2.0f * b0 * (ita * ita - 1.0f);
|
||||
const float a2 = -b0 * (1.0f - M_SQRT2_F * ita + ita * ita);
|
||||
|
||||
filterPtr->b0 = b0;
|
||||
filterPtr->a1 = a1;
|
||||
filterPtr->a2 = a2;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Initialization function for intermediate values of a second order Butterworth biquadratic filter in direct from 2.
|
||||
* Obtained by solving a linear equation system.
|
||||
* @param[in] x0 Prescribed value
|
||||
* @param[in] filterPtr Pointer to filter coefficients
|
||||
* @param[out] wn1Ptr Pointer to first intermediate value
|
||||
* @param[out] wn2Ptr Pointer to second intermediate value
|
||||
* @returns Nothing
|
||||
*/
|
||||
void InitButterWorthDF2Values(const float x0, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr)
|
||||
{
|
||||
const float b0 = filterPtr->b0;
|
||||
const float a1 = filterPtr->a1;
|
||||
const float a2 = filterPtr->a2;
|
||||
|
||||
const float a11 = 2.0f + a1;
|
||||
const float a12 = 1.0f + a2;
|
||||
const float a21 = 2.0f + a1 * a1 + a2;
|
||||
const float a22 = 1.0f + a1 * a2;
|
||||
const float det = a11 * a22 - a12 * a21;
|
||||
const float rhs1 = x0 / b0 - x0;
|
||||
const float rhs2 = x0 / b0 - x0 + a1 * x0;
|
||||
|
||||
*wn1Ptr = (a22 * rhs1 - a12 * rhs2) / det;
|
||||
*wn2Ptr = (-a21 * rhs1 + a11 * rhs2) / det;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Second order Butterworth biquadratic filter in direct from 2, such that only two values wn1=w[n-1] and wn2=w[n-2] need to be stored.
|
||||
* Function takes care of updating the values wn1 and wn2.
|
||||
* @param[in] xn New raw value
|
||||
* @param[in] filterPtr Pointer to filter coefficients
|
||||
* @param[out] wn1Ptr Pointer to first intermediate value
|
||||
* @param[out] wn2Ptr Pointer to second intermediate value
|
||||
* @returns Filtered value
|
||||
*/
|
||||
float FilterButterWorthDF2(const float xn, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr)
|
||||
{
|
||||
const float wn = xn + filterPtr->a1 * (*wn1Ptr) + filterPtr->a2 * (*wn2Ptr);
|
||||
const float val = filterPtr->b0 * (wn + 2.0f * (*wn1Ptr) + (*wn2Ptr));
|
||||
|
||||
*wn2Ptr = *wn1Ptr;
|
||||
*wn1Ptr = wn;
|
||||
return val;
|
||||
}
|
@ -1,13 +1,13 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @addtogroup OpenPilot Math Utilities
|
||||
* @{
|
||||
* @addtogroup Attitude Attitude Module
|
||||
* @addtogroup Butterworth low pass filter
|
||||
* @{
|
||||
*
|
||||
* @file attitude.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Acquires sensor data and fuses it into attitude estimate for CC
|
||||
* @file butterworth.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Direct form two of a second order Butterworth low pass filter
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
@ -27,11 +27,20 @@
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef ATTITUDE_H
|
||||
#define ATTITUDE_H
|
||||
|
||||
#include "openpilot.h"
|
||||
#ifndef BUTTERWORTH_H
|
||||
#define BUTTERWORTH_H
|
||||
|
||||
int32_t AttitudeInitialize(void);
|
||||
// Coefficients of second order Butterworth biquadratic filter in direct from 2
|
||||
struct ButterWorthDF2Filter {
|
||||
float b0;
|
||||
float a1;
|
||||
float a2;
|
||||
};
|
||||
|
||||
#endif // ATTITUDE_H
|
||||
// Function declarations
|
||||
void InitButterWorthDF2Filter(const float ff, struct ButterWorthDF2Filter *filterPtr);
|
||||
void InitButterWorthDF2Values(const float x0, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr);
|
||||
float FilterButterWorthDF2(const float xn, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr);
|
||||
|
||||
#endif
|
@ -44,7 +44,7 @@
|
||||
#include "baro_airspeed_ms4525do.h"
|
||||
#include "baro_airspeed_etasv3.h"
|
||||
#include "baro_airspeed_mpxv.h"
|
||||
#include "gps_airspeed.h"
|
||||
#include "imu_airspeed.h"
|
||||
#include "airspeedalarm.h"
|
||||
#include "taskinfo.h"
|
||||
|
||||
@ -99,7 +99,7 @@ int32_t AirspeedInitialize()
|
||||
|
||||
HwSettingsInitialize();
|
||||
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
|
||||
HwSettingsOptionalModulesGet(optionalModules);
|
||||
HwSettingsOptionalModulesArrayGet(optionalModules);
|
||||
|
||||
|
||||
if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
|
||||
@ -136,7 +136,7 @@ MODULE_INITCALL(AirspeedInitialize, AirspeedStart);
|
||||
static void airspeedTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
|
||||
bool gpsAirspeedInitialized = false;
|
||||
bool imuAirspeedInitialized = false;
|
||||
AirspeedSensorData airspeedData;
|
||||
AirspeedSensorGet(&airspeedData);
|
||||
|
||||
@ -164,9 +164,9 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
|
||||
AirspeedSensorSet(&airspeedData);
|
||||
break;
|
||||
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
|
||||
if (!gpsAirspeedInitialized) {
|
||||
gpsAirspeedInitialized = true;
|
||||
gps_airspeedInitialize();
|
||||
if (!imuAirspeedInitialized) {
|
||||
imuAirspeedInitialized = true;
|
||||
imu_airspeedInitialize(&airspeedSettings);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -192,7 +192,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
|
||||
break;
|
||||
#endif
|
||||
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
|
||||
gps_airspeedGet(&airspeedData, &airspeedSettings);
|
||||
imu_airspeedGet(&airspeedData, &airspeedSettings);
|
||||
break;
|
||||
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
|
||||
// no need to check so often until a sensor is enabled
|
||||
|
@ -1,170 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup AirspeedModule Airspeed Module
|
||||
* @brief Use GPS data to estimate airspeed
|
||||
* @{
|
||||
*
|
||||
* @file gps_airspeed.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Airspeed module, handles temperature and pressure readings from BMP085
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "velocitystate.h"
|
||||
#include "attitudestate.h"
|
||||
#include "airspeedsensor.h"
|
||||
#include "airspeedsettings.h"
|
||||
#include "gps_airspeed.h"
|
||||
#include "CoordinateConversions.h"
|
||||
#include "airspeedalarm.h"
|
||||
#include <pios_math.h>
|
||||
|
||||
|
||||
// Private constants
|
||||
#define GPS_AIRSPEED_BIAS_KP 0.1f // Needs to be settable in a UAVO
|
||||
#define GPS_AIRSPEED_BIAS_KI 0.1f // Needs to be settable in a UAVO
|
||||
#define SAMPLING_DELAY_MS_GPS 100 // Needs to be settable in a UAVO
|
||||
#define GPS_AIRSPEED_TIME_CONSTANT_MS 500.0f // Needs to be settable in a UAVO
|
||||
|
||||
// Private types
|
||||
struct GPSGlobals {
|
||||
float RbeCol1_old[3];
|
||||
float gpsVelOld_N;
|
||||
float gpsVelOld_E;
|
||||
float gpsVelOld_D;
|
||||
float oldAirspeed;
|
||||
};
|
||||
|
||||
// Private variables
|
||||
static struct GPSGlobals *gps;
|
||||
|
||||
// Private functions
|
||||
|
||||
/*
|
||||
* Initialize function loads first data sets, and allocates memory for structure.
|
||||
*/
|
||||
void gps_airspeedInitialize()
|
||||
{
|
||||
// This method saves memory in case we don't use the GPS module.
|
||||
gps = (struct GPSGlobals *)pios_malloc(sizeof(struct GPSGlobals));
|
||||
|
||||
// GPS airspeed calculation variables
|
||||
VelocityStateInitialize();
|
||||
VelocityStateData gpsVelData;
|
||||
VelocityStateGet(&gpsVelData);
|
||||
|
||||
gps->gpsVelOld_N = gpsVelData.North;
|
||||
gps->gpsVelOld_E = gpsVelData.East;
|
||||
gps->gpsVelOld_D = gpsVelData.Down;
|
||||
|
||||
gps->oldAirspeed = 0.0f;
|
||||
|
||||
AttitudeStateData attData;
|
||||
AttitudeStateGet(&attData);
|
||||
|
||||
float Rbe[3][3];
|
||||
float q[4] = { attData.q1, attData.q2, attData.q3, attData.q4 };
|
||||
|
||||
// Calculate rotation matrix
|
||||
Quaternion2R(q, Rbe);
|
||||
|
||||
gps->RbeCol1_old[0] = Rbe[0][0];
|
||||
gps->RbeCol1_old[1] = Rbe[0][1];
|
||||
gps->RbeCol1_old[2] = Rbe[0][2];
|
||||
}
|
||||
|
||||
/*
|
||||
* Calculate airspeed as a function of GPS groundspeed and vehicle attitude.
|
||||
* From "IMU Wind Estimation (Theory)", by William Premerlani.
|
||||
* The idea is that V_gps=V_air+V_wind. If we assume wind constant, =>
|
||||
* V_gps_2-V_gps_1 = (V_air_2+V_wind_2) -(V_air_1+V_wind_1) = V_air_2 - V_air_1.
|
||||
* If we assume airspeed constant, => V_gps_2-V_gps_1 = |V|*(f_2 - f1),
|
||||
* where "f" is the fuselage vector in earth coordinates.
|
||||
* We then solve for |V| = |V_gps_2-V_gps_1|/ |f_2 - f1|.
|
||||
*/
|
||||
void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *airspeedSettings)
|
||||
{
|
||||
float Rbe[3][3];
|
||||
|
||||
{ // Scoping to save memory. We really just need Rbe.
|
||||
AttitudeStateData attData;
|
||||
AttitudeStateGet(&attData);
|
||||
|
||||
float q[4] = { attData.q1, attData.q2, attData.q3, attData.q4 };
|
||||
|
||||
// Calculate rotation matrix
|
||||
Quaternion2R(q, Rbe);
|
||||
}
|
||||
|
||||
// Calculate the cos(angle) between the two fuselage basis vectors
|
||||
float cosDiff = (Rbe[0][0] * gps->RbeCol1_old[0]) + (Rbe[0][1] * gps->RbeCol1_old[1]) + (Rbe[0][2] * gps->RbeCol1_old[2]);
|
||||
|
||||
// If there's more than a 5 degree difference between two fuselage measurements, then we have sufficient delta to continue.
|
||||
if (fabsf(cosDiff) < cosf(DEG2RAD(5.0f))) {
|
||||
VelocityStateData gpsVelData;
|
||||
VelocityStateGet(&gpsVelData);
|
||||
|
||||
if (gpsVelData.North * gpsVelData.North + gpsVelData.East * gpsVelData.East + gpsVelData.Down * gpsVelData.Down < 1.0f) {
|
||||
airspeedData->CalibratedAirspeed = 0;
|
||||
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
|
||||
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
|
||||
return; // do not calculate if gps velocity is insufficient...
|
||||
}
|
||||
|
||||
// Calculate the norm^2 of the difference between the two GPS vectors
|
||||
float normDiffGPS2 = powf(gpsVelData.North - gps->gpsVelOld_N, 2.0f) + powf(gpsVelData.East - gps->gpsVelOld_E, 2.0f) + powf(gpsVelData.Down - gps->gpsVelOld_D, 2.0f);
|
||||
|
||||
// Calculate the norm^2 of the difference between the two fuselage vectors
|
||||
float normDiffAttitude2 = powf(Rbe[0][0] - gps->RbeCol1_old[0], 2.0f) + powf(Rbe[0][1] - gps->RbeCol1_old[1], 2.0f) + powf(Rbe[0][2] - gps->RbeCol1_old[2], 2.0f);
|
||||
|
||||
// Airspeed magnitude is the ratio between the two difference norms
|
||||
float airspeed = sqrtf(normDiffGPS2 / normDiffAttitude2);
|
||||
if (!IS_REAL(airspeedData->CalibratedAirspeed)) {
|
||||
airspeedData->CalibratedAirspeed = 0;
|
||||
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
|
||||
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
|
||||
} else {
|
||||
// need a low pass filter to filter out spikes in non coordinated maneuvers
|
||||
airspeedData->CalibratedAirspeed = (1.0f - airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha) * gps->oldAirspeed + airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha * airspeed;
|
||||
gps->oldAirspeed = airspeedData->CalibratedAirspeed;
|
||||
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
|
||||
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
|
||||
}
|
||||
|
||||
// Save old variables for next pass
|
||||
gps->gpsVelOld_N = gpsVelData.North;
|
||||
gps->gpsVelOld_E = gpsVelData.East;
|
||||
gps->gpsVelOld_D = gpsVelData.Down;
|
||||
|
||||
gps->RbeCol1_old[0] = Rbe[0][0];
|
||||
gps->RbeCol1_old[1] = Rbe[0][1];
|
||||
gps->RbeCol1_old[2] = Rbe[0][2];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
306
flight/modules/Airspeed/imu_airspeed.c
Normal file
306
flight/modules/Airspeed/imu_airspeed.c
Normal file
@ -0,0 +1,306 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup AirspeedModule Airspeed Module
|
||||
* @brief Use attitude and velocity data to estimate airspeed
|
||||
* @{
|
||||
*
|
||||
* @file imu_airspeed.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief IMU based airspeed calculation
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "velocitystate.h"
|
||||
#include "attitudestate.h"
|
||||
#include "airspeedsensor.h"
|
||||
#include "airspeedsettings.h"
|
||||
#include "imu_airspeed.h"
|
||||
#include "CoordinateConversions.h"
|
||||
#include "butterworth.h"
|
||||
#include <pios_math.h>
|
||||
|
||||
|
||||
// Private constants
|
||||
#define EPS 1e-6f
|
||||
#define EPS_REORIENTATION 1e-10f
|
||||
#define EPS_VELOCITY 1.f
|
||||
|
||||
// Private types
|
||||
// structure with smoothed fuselage orientation, ground speed, wind vector and their changes in time
|
||||
struct IMUGlobals {
|
||||
// Butterworth filters
|
||||
struct ButterWorthDF2Filter filter;
|
||||
struct ButterWorthDF2Filter prefilter;
|
||||
float ff, ffV;
|
||||
|
||||
// storage variables for Butterworth filter
|
||||
float pn1, pn2;
|
||||
float yn1, yn2;
|
||||
float v1n1, v1n2;
|
||||
float v2n1, v2n2;
|
||||
float v3n1, v3n2;
|
||||
float Vw1n1, Vw1n2;
|
||||
float Vw2n1, Vw2n2;
|
||||
float Vw3n1, Vw3n2;
|
||||
float Vw1, Vw2, Vw3;
|
||||
|
||||
// storage variables for derivative calculation
|
||||
float pOld, yOld;
|
||||
float v1Old, v2Old, v3Old;
|
||||
};
|
||||
|
||||
|
||||
// Private variables
|
||||
static struct IMUGlobals *imu;
|
||||
|
||||
// Private functions
|
||||
// a simple square inline function based on multiplication faster than powf(x,2.0f)
|
||||
static inline float Sq(float x)
|
||||
{
|
||||
return x * x;
|
||||
}
|
||||
|
||||
// ****** find pitch, yaw from quaternion ********
|
||||
static void Quaternion2PY(const float q0, const float q1, const float q2, const float q3, float *pPtr, float *yPtr, bool principalArg)
|
||||
{
|
||||
float R13, R11, R12;
|
||||
const float q0s = q0 * q0;
|
||||
const float q1s = q1 * q1;
|
||||
const float q2s = q2 * q2;
|
||||
const float q3s = q3 * q3;
|
||||
|
||||
R13 = 2.0f * (q1 * q3 - q0 * q2);
|
||||
R11 = q0s + q1s - q2s - q3s;
|
||||
R12 = 2.0f * (q1 * q2 + q0 * q3);
|
||||
|
||||
*pPtr = asinf(-R13); // pitch always between -pi/2 to pi/2
|
||||
|
||||
const float y_ = atan2f(R12, R11);
|
||||
// use old yaw contained in y to add multiples of 2pi to have a continuous yaw if user does not want the principal argument
|
||||
// else simply copy atan2 result into result
|
||||
if (principalArg) {
|
||||
*yPtr = y_;
|
||||
} else {
|
||||
// calculate needed mutliples of 2pi to avoid jumps
|
||||
// number of cycles accumulated in old yaw
|
||||
const int32_t cycles = (int32_t)(*yPtr / M_2PI_F);
|
||||
// look for a jump by substracting the modulus, i.e. there is maximally one jump.
|
||||
// take slightly less than 2pi, because the jump will always be lower than 2pi
|
||||
const int32_t mod = (int32_t)((y_ - (*yPtr - cycles * M_2PI_F)) / (M_2PI_F * 0.8f));
|
||||
*yPtr = y_ + M_2PI_F * (cycles - mod);
|
||||
}
|
||||
}
|
||||
|
||||
static void PY2xB(const float p, const float y, float x[3])
|
||||
{
|
||||
const float cosp = cosf(p);
|
||||
|
||||
x[0] = cosp * cosf(y);
|
||||
x[1] = cosp * sinf(y);
|
||||
x[2] = -sinf(p);
|
||||
}
|
||||
|
||||
|
||||
static void PY2DeltaxB(const float p, const float y, const float xB[3], float x[3])
|
||||
{
|
||||
const float cosp = cosf(p);
|
||||
|
||||
x[0] = xB[0] - cosp * cosf(y);
|
||||
x[1] = xB[1] - cosp * sinf(y);
|
||||
x[2] = xB[2] - -sinf(p);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Initialize function loads first data sets, and allocates memory for structure.
|
||||
*/
|
||||
void imu_airspeedInitialize(const AirspeedSettingsData *airspeedSettings)
|
||||
{
|
||||
// pre-filter frequency rate
|
||||
const float ff = (float)(airspeedSettings->SamplePeriod) / 1000.0f / airspeedSettings->IMUBasedEstimationLowPassPeriod1;
|
||||
// filter frequency rate
|
||||
const float ffV = (float)(airspeedSettings->SamplePeriod) / 1000.0f / airspeedSettings->IMUBasedEstimationLowPassPeriod2;
|
||||
|
||||
// This method saves memory in case we don't use the module.
|
||||
imu = (struct IMUGlobals *)pios_malloc(sizeof(struct IMUGlobals));
|
||||
|
||||
// airspeed calculation variables
|
||||
VelocityStateInitialize();
|
||||
VelocityStateData velData;
|
||||
VelocityStateGet(&velData);
|
||||
|
||||
AttitudeStateData attData;
|
||||
AttitudeStateGet(&attData);
|
||||
|
||||
// initialize filters for given ff and ffV
|
||||
InitButterWorthDF2Filter(ffV, &(imu->filter));
|
||||
InitButterWorthDF2Filter(ff, &(imu->prefilter));
|
||||
imu->ffV = ffV;
|
||||
imu->ff = ff;
|
||||
|
||||
// get pitch and yaw from quarternion; principal argument for yaw
|
||||
Quaternion2PY(attData.q1, attData.q2, attData.q3, attData.q4, &(imu->pOld), &(imu->yOld), true);
|
||||
InitButterWorthDF2Values(imu->pOld, &(imu->prefilter), &(imu->pn1), &(imu->pn2));
|
||||
InitButterWorthDF2Values(imu->yOld, &(imu->prefilter), &(imu->yn1), &(imu->yn2));
|
||||
|
||||
// use current NED speed as vOld vector and as initial value for filter
|
||||
imu->v1Old = velData.North;
|
||||
imu->v2Old = velData.East;
|
||||
imu->v3Old = velData.Down;
|
||||
InitButterWorthDF2Values(imu->v1Old, &(imu->prefilter), &(imu->v1n1), &(imu->v1n2));
|
||||
InitButterWorthDF2Values(imu->v2Old, &(imu->prefilter), &(imu->v2n1), &(imu->v2n2));
|
||||
InitButterWorthDF2Values(imu->v3Old, &(imu->prefilter), &(imu->v3n1), &(imu->v3n2));
|
||||
|
||||
// initial guess for windspeed is zero
|
||||
imu->Vw3 = imu->Vw2 = imu->Vw1 = 0.0f;
|
||||
InitButterWorthDF2Values(0.0f, &(imu->filter), &(imu->Vw1n1), &(imu->Vw1n2));
|
||||
imu->Vw3n1 = imu->Vw2n1 = imu->Vw1n1;
|
||||
imu->Vw3n2 = imu->Vw2n2 = imu->Vw1n2;
|
||||
}
|
||||
|
||||
/*
|
||||
* Calculate airspeed as a function of groundspeed and vehicle attitude.
|
||||
* Adapted from "IMU Wind Estimation (Theory)", by William Premerlani.
|
||||
* The idea is that V_gps=V_air+V_wind. If we assume wind constant, =>
|
||||
* V_gps_2-V_gps_1 = (V_air_2+V_wind_2) -(V_air_1+V_wind_1) = V_air_2 - V_air_1.
|
||||
* If we assume airspeed constant, => V_gps_2-V_gps_1 = |V|*(f_2 - f1),
|
||||
* where "f" is the fuselage vector in earth coordinates.
|
||||
* We then solve for |V| = |V_gps_2-V_gps_1|/ |f_2 - f1|.
|
||||
* Adapted to: |V| = (V_gps_2-V_gps_1) dot (f2_-f_1) / |f_2 - f1|^2.
|
||||
*
|
||||
* See OP-1317 imu_wind_estimation.pdf for details on the adaptation
|
||||
* Need a low pass filter to filter out spikes in non coordinated maneuvers
|
||||
* A two step Butterworth second order filter is used. In the first step fuselage vector xB
|
||||
* and ground speed vector Vel are filtered. The fuselage vector is filtered through its pitch
|
||||
* and yaw to keep a unit length. After building the differenced dxB and dVel are produced and
|
||||
* the airspeed calculated. The calculated airspeed is filtered again with a Butterworth filter
|
||||
*/
|
||||
void imu_airspeedGet(AirspeedSensorData *airspeedData, const AirspeedSettingsData *airspeedSettings)
|
||||
{
|
||||
// pre-filter frequency rate
|
||||
const float ff = (float)(airspeedSettings->SamplePeriod) / 1000.0f / airspeedSettings->IMUBasedEstimationLowPassPeriod1;
|
||||
// filter frequency rate
|
||||
const float ffV = (float)(airspeedSettings->SamplePeriod) / 1000.0f / airspeedSettings->IMUBasedEstimationLowPassPeriod2;
|
||||
|
||||
// check for a change in filter frequency rate. if yes, then actualize filter constants and intermediate values
|
||||
if (fabsf(ffV - imu->ffV) > EPS) {
|
||||
InitButterWorthDF2Filter(ffV, &(imu->filter));
|
||||
InitButterWorthDF2Values(imu->Vw1, &(imu->filter), &(imu->Vw1n1), &(imu->Vw1n2));
|
||||
InitButterWorthDF2Values(imu->Vw2, &(imu->filter), &(imu->Vw2n1), &(imu->Vw2n2));
|
||||
InitButterWorthDF2Values(imu->Vw3, &(imu->filter), &(imu->Vw3n1), &(imu->Vw3n2));
|
||||
}
|
||||
if (fabsf(ff - imu->ff) > EPS) {
|
||||
InitButterWorthDF2Filter(ff, &(imu->prefilter));
|
||||
InitButterWorthDF2Values(imu->pOld, &(imu->prefilter), &(imu->pn1), &(imu->pn2));
|
||||
InitButterWorthDF2Values(imu->yOld, &(imu->prefilter), &(imu->yn1), &(imu->yn2));
|
||||
InitButterWorthDF2Values(imu->v1Old, &(imu->prefilter), &(imu->v1n1), &(imu->v1n2));
|
||||
InitButterWorthDF2Values(imu->v2Old, &(imu->prefilter), &(imu->v2n1), &(imu->v2n2));
|
||||
InitButterWorthDF2Values(imu->v3Old, &(imu->prefilter), &(imu->v3n1), &(imu->v3n2));
|
||||
}
|
||||
|
||||
float normVel2;
|
||||
float normDiffAttitude2;
|
||||
float dvdtDotdfdt;
|
||||
|
||||
float xB[3];
|
||||
// get values and conduct smoothing of ground speed and orientation independently of the calculation of airspeed
|
||||
{ // Scoping to save memory
|
||||
AttitudeStateData attData;
|
||||
AttitudeStateGet(&attData);
|
||||
VelocityStateData velData;
|
||||
VelocityStateGet(&velData);
|
||||
float p = imu->pOld, y = imu->yOld;
|
||||
float dxB[3];
|
||||
|
||||
// get pitch and roll Euler angles from quaternion
|
||||
// do not calculate the principlal argument of yaw, i.e. use old yaw to add multiples of 2pi to have a continuous yaw
|
||||
Quaternion2PY(attData.q1, attData.q2, attData.q3, attData.q4, &p, &y, false);
|
||||
|
||||
// filter pitch and roll Euler angles instead of fuselage vector to guarantee a unit length at all times
|
||||
p = FilterButterWorthDF2(p, &(imu->prefilter), &(imu->pn1), &(imu->pn2));
|
||||
y = FilterButterWorthDF2(y, &(imu->prefilter), &(imu->yn1), &(imu->yn2));
|
||||
// transform pitch and yaw into fuselage vector xB and xBold
|
||||
PY2xB(p, y, xB);
|
||||
// calculate change in fuselage vector by substraction of old value
|
||||
PY2DeltaxB(imu->pOld, imu->yOld, xB, dxB);
|
||||
|
||||
// filter ground speed from VelocityState
|
||||
const float fv1n = FilterButterWorthDF2(velData.North, &(imu->prefilter), &(imu->v1n1), &(imu->v1n2));
|
||||
const float fv2n = FilterButterWorthDF2(velData.East, &(imu->prefilter), &(imu->v2n1), &(imu->v2n2));
|
||||
const float fv3n = FilterButterWorthDF2(velData.Down, &(imu->prefilter), &(imu->v3n1), &(imu->v3n2));
|
||||
|
||||
// calculate norm of ground speed
|
||||
normVel2 = Sq(fv1n) + Sq(fv2n) + Sq(fv3n);
|
||||
// calculate norm of orientation change
|
||||
normDiffAttitude2 = Sq(dxB[0]) + Sq(dxB[1]) + Sq(dxB[2]);
|
||||
// cauclate scalar product between groundspeed change and orientation change
|
||||
dvdtDotdfdt = (fv1n - imu->v1Old) * dxB[0] + (fv2n - imu->v2Old) * dxB[1] + (fv3n - imu->v3Old) * dxB[2];
|
||||
|
||||
// actualise old values
|
||||
imu->pOld = p;
|
||||
imu->yOld = y;
|
||||
imu->v1Old = fv1n;
|
||||
imu->v2Old = fv2n;
|
||||
imu->v3Old = fv3n;
|
||||
}
|
||||
|
||||
// Some reorientation needed to be able to calculate airspeed, calculate only for sufficient velocity
|
||||
// a negative scalar product is a clear sign that we are not really able to calculate the airspeed
|
||||
// NOTE: normVel2 check against EPS_VELOCITY might make problems during hovering maneuvers in fixed wings
|
||||
if (normDiffAttitude2 > EPS_REORIENTATION && normVel2 > EPS_VELOCITY && dvdtDotdfdt > 0.f) {
|
||||
// Airspeed modulus: |v| = dv/dt * dxB/dt / |dxB/dt|^2
|
||||
// airspeed is always REAL because normDiffAttitude2 > EPS_REORIENTATION > 0 and REAL dvdtDotdfdt
|
||||
const float airspeed = dvdtDotdfdt / normDiffAttitude2;
|
||||
|
||||
// groundspeed = airspeed + wind ---> wind = groundspeed - airspeed
|
||||
const float wind[3] = { imu->v1Old - xB[0] * airspeed,
|
||||
imu->v2Old - xB[1] * airspeed,
|
||||
imu->v3Old - xB[2] * airspeed };
|
||||
// filter raw wind
|
||||
imu->Vw1 = FilterButterWorthDF2(wind[0], &(imu->filter), &(imu->Vw1n1), &(imu->Vw1n2));
|
||||
imu->Vw2 = FilterButterWorthDF2(wind[1], &(imu->filter), &(imu->Vw2n1), &(imu->Vw2n2));
|
||||
imu->Vw3 = FilterButterWorthDF2(wind[2], &(imu->filter), &(imu->Vw3n1), &(imu->Vw3n2));
|
||||
} // else leave wind estimation unchanged
|
||||
|
||||
{ // Scoping to save memory
|
||||
// airspeed = groundspeed - wind
|
||||
const float Vair[3] = {
|
||||
imu->v1Old - imu->Vw1,
|
||||
imu->v2Old - imu->Vw2,
|
||||
imu->v3Old - imu->Vw3
|
||||
};
|
||||
|
||||
// project airspeed into fuselage vector
|
||||
airspeedData->CalibratedAirspeed = Vair[0] * xB[0] + Vair[1] * xB[1] + Vair[2] * xB[2];
|
||||
}
|
||||
|
||||
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_AIRSPEED);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -3,10 +3,10 @@
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup AirspeedModule Airspeed Module
|
||||
* @brief Calculate airspeed as a function of the difference between sequential GPS velocity and attitude measurements
|
||||
* @brief Calculate airspeed as a function of the difference between sequential ground velocity and attitude measurements
|
||||
* @{
|
||||
*
|
||||
* @file gps_airspeed.h
|
||||
* @file imu_airspeed.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Airspeed module, reads temperature and pressure from BMP085
|
||||
*
|
||||
@ -28,13 +28,13 @@
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef GPS_AIRSPEED_H
|
||||
#define GPS_AIRSPEED_H
|
||||
#ifndef IMU_AIRSPEED_H
|
||||
#define IMU_AIRSPEED_H
|
||||
|
||||
void gps_airspeedInitialize();
|
||||
void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *airspeedSettings);
|
||||
void imu_airspeedInitialize(const AirspeedSettingsData *airspeedSettings);
|
||||
void imu_airspeedGet(AirspeedSensorData *airspeedData, const AirspeedSettingsData *airspeedSettings);
|
||||
|
||||
#endif // GPS_AIRSPEED_H
|
||||
#endif // IMU_AIRSPEED_H
|
||||
|
||||
/**
|
||||
* @}
|
@ -1,1348 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup Attitude Copter Control Attitude Estimation
|
||||
* @brief Acquires sensor data and computes attitude estimate
|
||||
* Specifically updates the the @ref AttitudeState "AttitudeState" and @ref AttitudeRaw "AttitudeRaw" settings objects
|
||||
* @{
|
||||
*
|
||||
* @file attitude.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Module to handle all comms to the AHRS on a periodic basis.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/**
|
||||
* Input objects: None, takes sensor data via pios
|
||||
* Output objects: @ref AttitudeRaw @ref AttitudeState
|
||||
*
|
||||
* This module computes an attitude estimate from the sensor data
|
||||
*
|
||||
* The module executes in its own thread.
|
||||
*
|
||||
* UAVObjects are automatically generated by the UAVObjectGenerator from
|
||||
* the object definition XML file.
|
||||
*
|
||||
* Modules have no API, all communication to other modules is done through UAVObjects.
|
||||
* However modules may use the API exposed by shared libraries.
|
||||
* See the OpenPilot wiki for more details.
|
||||
* http://www.openpilot.org/OpenPilot_Application_Architecture
|
||||
*
|
||||
*/
|
||||
|
||||
#include <openpilot.h>
|
||||
#include <pios_struct_helper.h>
|
||||
#include "attitude.h"
|
||||
#include "accelsensor.h"
|
||||
#include "accelstate.h"
|
||||
#include "airspeedsensor.h"
|
||||
#include "airspeedstate.h"
|
||||
#include "attitudestate.h"
|
||||
#include "attitudesettings.h"
|
||||
#include "barosensor.h"
|
||||
#include "flightstatus.h"
|
||||
#include "gpspositionsensor.h"
|
||||
#include "gpsvelocitysensor.h"
|
||||
#include "gyrostate.h"
|
||||
#include "gyrosensor.h"
|
||||
#include "homelocation.h"
|
||||
#include "magsensor.h"
|
||||
#include "magstate.h"
|
||||
#include "positionstate.h"
|
||||
#include "ekfconfiguration.h"
|
||||
#include "ekfstatevariance.h"
|
||||
#include "revocalibration.h"
|
||||
#include "revosettings.h"
|
||||
#include "velocitystate.h"
|
||||
#include "taskinfo.h"
|
||||
|
||||
#include "CoordinateConversions.h"
|
||||
|
||||
// Private constants
|
||||
#define STACK_SIZE_BYTES 2048
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
|
||||
#define FAILSAFE_TIMEOUT_MS 10
|
||||
|
||||
#define CALIBRATION_DELAY 4000
|
||||
#define CALIBRATION_DURATION 6000
|
||||
// low pass filter configuration to calculate offset
|
||||
// of barometric altitude sensor
|
||||
// reasoning: updates at: 10 Hz, tau= 300 s settle time
|
||||
// exp(-(1/f) / tau ) ~=~ 0.9997
|
||||
#define BARO_OFFSET_LOWPASS_ALPHA 0.9997f
|
||||
|
||||
// simple IAS to TAS aproximation - 2% increase per 1000ft
|
||||
// since we do not have flowing air temperature information
|
||||
#define IAS2TAS(alt) (1.0f + (0.02f * (alt) / 304.8f))
|
||||
|
||||
// Private types
|
||||
|
||||
// Private variables
|
||||
static xTaskHandle attitudeTaskHandle;
|
||||
|
||||
static xQueueHandle gyroQueue;
|
||||
static xQueueHandle accelQueue;
|
||||
static xQueueHandle magQueue;
|
||||
static xQueueHandle airspeedQueue;
|
||||
static xQueueHandle baroQueue;
|
||||
static xQueueHandle gpsQueue;
|
||||
static xQueueHandle gpsVelQueue;
|
||||
|
||||
static AttitudeSettingsData attitudeSettings;
|
||||
static HomeLocationData homeLocation;
|
||||
static RevoCalibrationData revoCalibration;
|
||||
static EKFConfigurationData ekfConfiguration;
|
||||
static RevoSettingsData revoSettings;
|
||||
static FlightStatusData flightStatus;
|
||||
const uint32_t SENSOR_QUEUE_SIZE = 10;
|
||||
|
||||
static bool volatile variance_error = true;
|
||||
static bool volatile initialization_required = true;
|
||||
static uint32_t volatile running_algorithm = 0xffffffff; // we start with no algorithm running
|
||||
static float rollPitchBiasRate = 0;
|
||||
|
||||
// Accel filtering
|
||||
static float accel_alpha = 0;
|
||||
static bool accel_filter_enabled = false;
|
||||
static float accels_filtered[3];
|
||||
static float grot_filtered[3];
|
||||
|
||||
// Private functions
|
||||
static void AttitudeTask(void *parameters);
|
||||
|
||||
static int32_t updateAttitudeComplementary(bool first_run);
|
||||
static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode);
|
||||
static void settingsUpdatedCb(UAVObjEvent *objEv);
|
||||
|
||||
static int32_t getNED(GPSPositionSensorData *gpsPosition, float *NED);
|
||||
|
||||
static void magOffsetEstimation(MagSensorData *mag);
|
||||
|
||||
// check for invalid values
|
||||
static inline bool invalid(float data)
|
||||
{
|
||||
if (isnan(data) || isinf(data)) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
// check for invalid variance values
|
||||
static inline bool invalid_var(float data)
|
||||
{
|
||||
if (invalid(data)) {
|
||||
return true;
|
||||
}
|
||||
if (data < 1e-15f) { // var should not be close to zero. And not negative either.
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* API for sensor fusion algorithms:
|
||||
* Configure(xQueueHandle gyro, xQueueHandle accel, xQueueHandle mag, xQueueHandle baro)
|
||||
* Stores all the queues the algorithm will pull data from
|
||||
* FinalizeSensors() -- before saving the sensors modifies them based on internal state (gyro bias)
|
||||
* Update() -- queries queues and updates the attitude estiamte
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* Initialise the module. Called before the start function
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
int32_t AttitudeInitialize(void)
|
||||
{
|
||||
GyroSensorInitialize();
|
||||
GyroStateInitialize();
|
||||
AccelSensorInitialize();
|
||||
AccelStateInitialize();
|
||||
MagSensorInitialize();
|
||||
MagStateInitialize();
|
||||
AirspeedSensorInitialize();
|
||||
AirspeedStateInitialize();
|
||||
BaroSensorInitialize();
|
||||
GPSPositionSensorInitialize();
|
||||
GPSVelocitySensorInitialize();
|
||||
AttitudeSettingsInitialize();
|
||||
AttitudeStateInitialize();
|
||||
PositionStateInitialize();
|
||||
VelocityStateInitialize();
|
||||
RevoSettingsInitialize();
|
||||
RevoCalibrationInitialize();
|
||||
EKFConfigurationInitialize();
|
||||
EKFStateVarianceInitialize();
|
||||
FlightStatusInitialize();
|
||||
|
||||
// Initialize this here while we aren't setting the homelocation in GPS
|
||||
HomeLocationInitialize();
|
||||
|
||||
// Initialize quaternion
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
attitude.q1 = 1.0f;
|
||||
attitude.q2 = 0.0f;
|
||||
attitude.q3 = 0.0f;
|
||||
attitude.q4 = 0.0f;
|
||||
AttitudeStateSet(&attitude);
|
||||
|
||||
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
|
||||
RevoSettingsConnectCallback(&settingsUpdatedCb);
|
||||
RevoCalibrationConnectCallback(&settingsUpdatedCb);
|
||||
HomeLocationConnectCallback(&settingsUpdatedCb);
|
||||
EKFConfigurationConnectCallback(&settingsUpdatedCb);
|
||||
FlightStatusConnectCallback(&settingsUpdatedCb);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Start the task. Expects all objects to be initialized by this point.
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
int32_t AttitudeStart(void)
|
||||
{
|
||||
// Create the queues for the sensors
|
||||
gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
airspeedQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
gpsQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
gpsVelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
|
||||
|
||||
// Start main task
|
||||
xTaskCreate(AttitudeTask, "Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
|
||||
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
|
||||
#endif
|
||||
|
||||
GyroSensorConnectQueue(gyroQueue);
|
||||
AccelSensorConnectQueue(accelQueue);
|
||||
MagSensorConnectQueue(magQueue);
|
||||
AirspeedSensorConnectQueue(airspeedQueue);
|
||||
BaroSensorConnectQueue(baroQueue);
|
||||
GPSPositionSensorConnectQueue(gpsQueue);
|
||||
GPSVelocitySensorConnectQueue(gpsVelQueue);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(AttitudeInitialize, AttitudeStart);
|
||||
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
static void AttitudeTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
|
||||
|
||||
// Force settings update to make sure rotation loaded
|
||||
settingsUpdatedCb(NULL);
|
||||
|
||||
// Wait for all the sensors be to read
|
||||
vTaskDelay(100);
|
||||
|
||||
// Main task loop - TODO: make it run as delayed callback
|
||||
while (1) {
|
||||
int32_t ret_val = -1;
|
||||
|
||||
bool first_run = false;
|
||||
if (initialization_required) {
|
||||
initialization_required = false;
|
||||
first_run = true;
|
||||
}
|
||||
|
||||
// This function blocks on data queue
|
||||
switch (running_algorithm) {
|
||||
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
|
||||
ret_val = updateAttitudeComplementary(first_run);
|
||||
break;
|
||||
case REVOSETTINGS_FUSIONALGORITHM_INS13GPSOUTDOOR:
|
||||
ret_val = updateAttitudeINSGPS(first_run, true);
|
||||
break;
|
||||
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
|
||||
ret_val = updateAttitudeINSGPS(first_run, false);
|
||||
break;
|
||||
default:
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret_val != 0) {
|
||||
initialization_required = true;
|
||||
}
|
||||
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
static inline void apply_accel_filter(const float *raw, float *filtered)
|
||||
{
|
||||
if (accel_filter_enabled) {
|
||||
filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
|
||||
filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
|
||||
filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
|
||||
} else {
|
||||
filtered[0] = raw[0];
|
||||
filtered[1] = raw[1];
|
||||
filtered[2] = raw[2];
|
||||
}
|
||||
}
|
||||
|
||||
float accel_mag;
|
||||
float qmag;
|
||||
float attitudeDt;
|
||||
float mag_err[3];
|
||||
|
||||
static int32_t updateAttitudeComplementary(bool first_run)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
GyroSensorData gyroSensorData;
|
||||
GyroStateData gyroStateData;
|
||||
AccelSensorData accelSensorData;
|
||||
static int32_t timeval;
|
||||
float dT;
|
||||
static uint8_t init = 0;
|
||||
static float gyro_bias[3] = { 0, 0, 0 };
|
||||
static bool magCalibrated = true;
|
||||
static uint32_t initStartupTime = 0;
|
||||
|
||||
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
|
||||
if (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
|
||||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) {
|
||||
// When one of these is updated so should the other
|
||||
// Do not set attitude timeout warnings in simulation mode
|
||||
if (!AttitudeStateReadOnly()) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
AccelSensorGet(&accelSensorData);
|
||||
|
||||
// TODO: put in separate filter
|
||||
AccelStateData accelState;
|
||||
accelState.x = accelSensorData.x;
|
||||
accelState.y = accelSensorData.y;
|
||||
accelState.z = accelSensorData.z;
|
||||
AccelStateSet(&accelState);
|
||||
|
||||
// During initialization and
|
||||
if (first_run) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
// To initialize we need a valid mag reading
|
||||
if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
|
||||
return -1;
|
||||
}
|
||||
MagSensorData magData;
|
||||
MagSensorGet(&magData);
|
||||
#else
|
||||
MagSensorData magData;
|
||||
magData.x = 100.0f;
|
||||
magData.y = 0.0f;
|
||||
magData.z = 0.0f;
|
||||
#endif
|
||||
float magBias[3];
|
||||
RevoCalibrationmag_biasArrayGet(magBias);
|
||||
// don't trust Mag for initial orientation if it has not been calibrated
|
||||
if (magBias[0] < 1e-6f && magBias[1] < 1e-6f && magBias[2] < 1e-6f) {
|
||||
magCalibrated = false;
|
||||
magData.x = 100.0f;
|
||||
magData.y = 0.0f;
|
||||
magData.z = 0.0f;
|
||||
}
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
init = 0;
|
||||
|
||||
// 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
|
||||
attitudeState.Roll = atan2f(-accelSensorData.y, -accelSensorData.z);
|
||||
float zn = cosf(attitudeState.Roll) * magData.z + sinf(attitudeState.Roll) * magData.y;
|
||||
float yn = cosf(attitudeState.Roll) * magData.y - sinf(attitudeState.Roll) * magData.z;
|
||||
|
||||
// rotate accels z vector according to roll
|
||||
float azn = cosf(attitudeState.Roll) * accelSensorData.z + sinf(attitudeState.Roll) * accelSensorData.y;
|
||||
attitudeState.Pitch = atan2f(accelSensorData.x, -azn);
|
||||
|
||||
float xn = cosf(attitudeState.Pitch) * magData.x + sinf(attitudeState.Pitch) * zn;
|
||||
|
||||
attitudeState.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
|
||||
|
||||
attitudeState.Roll = RAD2DEG(attitudeState.Roll);
|
||||
attitudeState.Pitch = RAD2DEG(attitudeState.Pitch);
|
||||
attitudeState.Yaw = RAD2DEG(attitudeState.Yaw);
|
||||
|
||||
RPY2Quaternion(&attitudeState.Roll, &attitudeState.q1);
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
timeval = PIOS_DELAY_GetRaw();
|
||||
|
||||
// wait calibration_delay only at powerup
|
||||
if (xTaskGetTickCount() < 3000) {
|
||||
initStartupTime = 0;
|
||||
} else {
|
||||
initStartupTime = xTaskGetTickCount() - CALIBRATION_DELAY;
|
||||
}
|
||||
|
||||
// Zero gyro bias
|
||||
// This is really needed after updating calibration settings.
|
||||
gyro_bias[0] = 0.0f;
|
||||
gyro_bias[1] = 0.0f;
|
||||
gyro_bias[2] = 0.0f;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if ((xTaskGetTickCount() - initStartupTime < CALIBRATION_DURATION + CALIBRATION_DELAY) &&
|
||||
(xTaskGetTickCount() - initStartupTime > CALIBRATION_DELAY)) {
|
||||
// For first CALIBRATION_DURATION seconds after CALIBRATION_DELAY from startup
|
||||
// Zero gyro bias assuming it is steady, smoothing the gyro input value applying rollPitchBiasRate.
|
||||
attitudeSettings.AccelKp = 1.0f;
|
||||
attitudeSettings.AccelKi = 0.0f;
|
||||
attitudeSettings.YawBiasRate = 0.23f;
|
||||
accel_filter_enabled = false;
|
||||
rollPitchBiasRate = 0.01f;
|
||||
attitudeSettings.MagKp = magCalibrated ? 1.0f : 0.0f;
|
||||
init = 0;
|
||||
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
|
||||
attitudeSettings.AccelKp = 1.0f;
|
||||
attitudeSettings.AccelKi = 0.0f;
|
||||
attitudeSettings.YawBiasRate = 0.23f;
|
||||
accel_filter_enabled = false;
|
||||
rollPitchBiasRate = 0.01f;
|
||||
attitudeSettings.MagKp = magCalibrated ? 1.0f : 0.0f;
|
||||
init = 0;
|
||||
} else if (init == 0) {
|
||||
// Reload settings (all the rates)
|
||||
AttitudeSettingsGet(&attitudeSettings);
|
||||
rollPitchBiasRate = 0.0f;
|
||||
if (accel_alpha > 0.0f) {
|
||||
accel_filter_enabled = true;
|
||||
}
|
||||
init = 1;
|
||||
}
|
||||
|
||||
GyroSensorGet(&gyroSensorData);
|
||||
gyroStateData.x = gyroSensorData.x;
|
||||
gyroStateData.y = gyroSensorData.y;
|
||||
gyroStateData.z = gyroSensorData.z;
|
||||
|
||||
// Compute the dT using the cpu clock
|
||||
dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
|
||||
timeval = PIOS_DELAY_GetRaw();
|
||||
|
||||
float q[4];
|
||||
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
|
||||
float grot[3];
|
||||
float accel_err[3];
|
||||
|
||||
// Get the current attitude estimate
|
||||
quat_copy(&attitudeState.q1, q);
|
||||
|
||||
// Apply smoothing to accel values, to reduce vibration noise before main calculations.
|
||||
apply_accel_filter((const float *)&accelSensorData.x, accels_filtered);
|
||||
|
||||
// Rotate gravity to body frame and cross with accels
|
||||
grot[0] = -(2.0f * (q[1] * q[3] - q[0] * q[2]));
|
||||
grot[1] = -(2.0f * (q[2] * q[3] + q[0] * q[1]));
|
||||
grot[2] = -(q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
|
||||
|
||||
apply_accel_filter(grot, grot_filtered);
|
||||
|
||||
CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
|
||||
|
||||
// Account for accel magnitude
|
||||
accel_mag = accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2];
|
||||
accel_mag = sqrtf(accel_mag);
|
||||
|
||||
float grot_mag;
|
||||
if (accel_filter_enabled) {
|
||||
grot_mag = sqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);
|
||||
} else {
|
||||
grot_mag = 1.0f;
|
||||
}
|
||||
|
||||
// TODO! check grot_mag & accel vector magnitude values for correctness.
|
||||
|
||||
accel_err[0] /= (accel_mag * grot_mag);
|
||||
accel_err[1] /= (accel_mag * grot_mag);
|
||||
accel_err[2] /= (accel_mag * grot_mag);
|
||||
|
||||
|
||||
if (xQueueReceive(magQueue, &ev, 0) != pdTRUE) {
|
||||
// Rotate gravity to body frame and cross with accels
|
||||
float brot[3];
|
||||
float Rbe[3][3];
|
||||
MagSensorData mag;
|
||||
|
||||
Quaternion2R(q, Rbe);
|
||||
MagSensorGet(&mag);
|
||||
|
||||
// TODO: separate filter!
|
||||
if (revoCalibration.MagBiasNullingRate > 0) {
|
||||
magOffsetEstimation(&mag);
|
||||
}
|
||||
MagStateData mags;
|
||||
mags.x = mag.x;
|
||||
mags.y = mag.y;
|
||||
mags.z = mag.z;
|
||||
MagStateSet(&mags);
|
||||
|
||||
// If the mag is producing bad data don't use it (normally bad calibration)
|
||||
if (!isnan(mag.x) && !isinf(mag.x) && !isnan(mag.y) && !isinf(mag.y) && !isnan(mag.z) && !isinf(mag.z)) {
|
||||
rot_mult(Rbe, homeLocation.Be, brot);
|
||||
|
||||
float mag_len = sqrtf(mag.x * mag.x + mag.y * mag.y + mag.z * mag.z);
|
||||
mag.x /= mag_len;
|
||||
mag.y /= mag_len;
|
||||
mag.z /= mag_len;
|
||||
|
||||
float bmag = sqrtf(brot[0] * brot[0] + brot[1] * brot[1] + brot[2] * brot[2]);
|
||||
brot[0] /= bmag;
|
||||
brot[1] /= bmag;
|
||||
brot[2] /= bmag;
|
||||
|
||||
// Only compute if neither vector is null
|
||||
if (bmag < 1.0f || mag_len < 1.0f) {
|
||||
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
|
||||
} else {
|
||||
CrossProduct((const float *)&mag.x, (const float *)brot, mag_err);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
|
||||
}
|
||||
|
||||
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
|
||||
// Correct rates based on integral coefficient
|
||||
gyroStateData.x -= gyro_bias[0];
|
||||
gyroStateData.y -= gyro_bias[1];
|
||||
gyroStateData.z -= gyro_bias[2];
|
||||
|
||||
gyro_bias[0] -= accel_err[0] * attitudeSettings.AccelKi - (gyroStateData.x) * rollPitchBiasRate;
|
||||
gyro_bias[1] -= accel_err[1] * attitudeSettings.AccelKi - (gyroStateData.y) * rollPitchBiasRate;
|
||||
gyro_bias[2] -= -mag_err[2] * attitudeSettings.MagKi - (gyroStateData.z) * rollPitchBiasRate;
|
||||
|
||||
// save gyroscope state
|
||||
GyroStateSet(&gyroStateData);
|
||||
|
||||
// Correct rates based on proportional coefficient
|
||||
gyroStateData.x += accel_err[0] * attitudeSettings.AccelKp / dT;
|
||||
gyroStateData.y += accel_err[1] * attitudeSettings.AccelKp / dT;
|
||||
gyroStateData.z += accel_err[2] * attitudeSettings.AccelKp / dT + mag_err[2] * attitudeSettings.MagKp / dT;
|
||||
|
||||
// Work out time derivative from INSAlgo writeup
|
||||
// Also accounts for the fact that gyros are in deg/s
|
||||
float qdot[4];
|
||||
qdot[0] = DEG2RAD(-q[1] * gyroStateData.x - q[2] * gyroStateData.y - q[3] * gyroStateData.z) * dT / 2;
|
||||
qdot[1] = DEG2RAD(q[0] * gyroStateData.x - q[3] * gyroStateData.y + q[2] * gyroStateData.z) * dT / 2;
|
||||
qdot[2] = DEG2RAD(q[3] * gyroStateData.x + q[0] * gyroStateData.y - q[1] * gyroStateData.z) * dT / 2;
|
||||
qdot[3] = DEG2RAD(-q[2] * gyroStateData.x + q[1] * gyroStateData.y + q[0] * gyroStateData.z) * dT / 2;
|
||||
|
||||
// Take a time step
|
||||
q[0] = q[0] + qdot[0];
|
||||
q[1] = q[1] + qdot[1];
|
||||
q[2] = q[2] + qdot[2];
|
||||
q[3] = q[3] + qdot[3];
|
||||
|
||||
if (q[0] < 0.0f) {
|
||||
q[0] = -q[0];
|
||||
q[1] = -q[1];
|
||||
q[2] = -q[2];
|
||||
q[3] = -q[3];
|
||||
}
|
||||
|
||||
// Renomalize
|
||||
qmag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
|
||||
q[0] = q[0] / qmag;
|
||||
q[1] = q[1] / qmag;
|
||||
q[2] = q[2] / qmag;
|
||||
q[3] = q[3] / qmag;
|
||||
|
||||
// If quaternion has become inappropriately short or is nan reinit.
|
||||
// THIS SHOULD NEVER ACTUALLY HAPPEN
|
||||
if ((fabsf(qmag) < 1.0e-3f) || isnan(qmag)) {
|
||||
q[0] = 1.0f;
|
||||
q[1] = 0.0f;
|
||||
q[2] = 0.0f;
|
||||
q[3] = 0.0f;
|
||||
}
|
||||
|
||||
quat_copy(q, &attitudeState.q1);
|
||||
|
||||
// Convert into eueler degrees (makes assumptions about RPY order)
|
||||
Quaternion2RPY(&attitudeState.q1, &attitudeState.Roll);
|
||||
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
// Flush these queues for avoid errors
|
||||
xQueueReceive(baroQueue, &ev, 0);
|
||||
if (xQueueReceive(gpsQueue, &ev, 0) == pdTRUE && homeLocation.Set == HOMELOCATION_SET_TRUE) {
|
||||
float NED[3];
|
||||
// Transform the GPS position into NED coordinates
|
||||
GPSPositionSensorData gpsPosition;
|
||||
GPSPositionSensorGet(&gpsPosition);
|
||||
getNED(&gpsPosition, NED);
|
||||
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
positionState.North = NED[0];
|
||||
positionState.East = NED[1];
|
||||
positionState.Down = NED[2];
|
||||
PositionStateSet(&positionState);
|
||||
}
|
||||
|
||||
if (xQueueReceive(gpsVelQueue, &ev, 0) == pdTRUE) {
|
||||
// Transform the GPS position into NED coordinates
|
||||
GPSVelocitySensorData gpsVelocity;
|
||||
GPSVelocitySensorGet(&gpsVelocity);
|
||||
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
velocityState.North = gpsVelocity.North;
|
||||
velocityState.East = gpsVelocity.East;
|
||||
velocityState.Down = gpsVelocity.Down;
|
||||
VelocityStateSet(&velocityState);
|
||||
}
|
||||
|
||||
if (xQueueReceive(airspeedQueue, &ev, 0) == pdTRUE) {
|
||||
// Calculate true airspeed from indicated airspeed
|
||||
AirspeedSensorData airspeedSensor;
|
||||
AirspeedSensorGet(&airspeedSensor);
|
||||
|
||||
AirspeedStateData airspeed;
|
||||
AirspeedStateGet(&airspeed);
|
||||
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
|
||||
if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
|
||||
// we have airspeed available
|
||||
airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
|
||||
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
|
||||
AirspeedStateSet(&airspeed);
|
||||
}
|
||||
}
|
||||
|
||||
if (!init && flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else if (variance_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else {
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
|
||||
}
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#include "insgps.h"
|
||||
int32_t ins_failed = 0;
|
||||
extern struct NavStruct Nav;
|
||||
int32_t init_stage = 0;
|
||||
|
||||
/**
|
||||
* @brief Use the INSGPS fusion algorithm in either indoor or outdoor mode (use GPS)
|
||||
* @params[in] first_run This is the first run so trigger reinitialization
|
||||
* @params[in] outdoor_mode If true use the GPS for position, if false weakly pull to (0,0)
|
||||
* @return 0 for success, -1 for failure
|
||||
*/
|
||||
static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
GyroSensorData gyroSensorData;
|
||||
AccelSensorData accelSensorData;
|
||||
MagStateData magData;
|
||||
AirspeedSensorData airspeedData;
|
||||
BaroSensorData baroData;
|
||||
GPSPositionSensorData gpsData;
|
||||
GPSVelocitySensorData gpsVelData;
|
||||
|
||||
static bool mag_updated = false;
|
||||
static bool baro_updated;
|
||||
static bool airspeed_updated;
|
||||
static bool gps_updated;
|
||||
static bool gps_vel_updated;
|
||||
|
||||
static bool value_error = false;
|
||||
|
||||
static float baroOffset = 0.0f;
|
||||
|
||||
static uint32_t ins_last_time = 0;
|
||||
static bool inited;
|
||||
|
||||
float NED[3] = { 0.0f, 0.0f, 0.0f };
|
||||
float vel[3] = { 0.0f, 0.0f, 0.0f };
|
||||
float zeros[3] = { 0.0f, 0.0f, 0.0f };
|
||||
|
||||
// Perform the update
|
||||
uint16_t sensors = 0;
|
||||
float dT;
|
||||
|
||||
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
|
||||
if ((xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
|
||||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE)) {
|
||||
// Do not set attitude timeout warnings in simulation mode
|
||||
if (!AttitudeStateReadOnly()) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
if (inited) {
|
||||
mag_updated = 0;
|
||||
baro_updated = 0;
|
||||
airspeed_updated = 0;
|
||||
gps_updated = 0;
|
||||
gps_vel_updated = 0;
|
||||
}
|
||||
|
||||
if (first_run) {
|
||||
inited = false;
|
||||
init_stage = 0;
|
||||
|
||||
mag_updated = 0;
|
||||
baro_updated = 0;
|
||||
airspeed_updated = 0;
|
||||
gps_updated = 0;
|
||||
gps_vel_updated = 0;
|
||||
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
mag_updated |= (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE);
|
||||
baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
|
||||
airspeed_updated |= xQueueReceive(airspeedQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
|
||||
|
||||
// Check if we are running simulation
|
||||
if (!GPSPositionSensorReadOnly()) {
|
||||
gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
|
||||
} else {
|
||||
gps_updated |= pdTRUE && outdoor_mode;
|
||||
}
|
||||
|
||||
if (!GPSVelocitySensorReadOnly()) {
|
||||
gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
|
||||
} else {
|
||||
gps_vel_updated |= pdTRUE && outdoor_mode;
|
||||
}
|
||||
|
||||
// Get most recent data
|
||||
GyroSensorGet(&gyroSensorData);
|
||||
AccelSensorGet(&accelSensorData);
|
||||
// TODO: separate filter!
|
||||
if (mag_updated) {
|
||||
MagSensorData mags;
|
||||
MagSensorGet(&mags);
|
||||
if (revoCalibration.MagBiasNullingRate > 0) {
|
||||
magOffsetEstimation(&mags);
|
||||
}
|
||||
magData.x = mags.x;
|
||||
magData.y = mags.y;
|
||||
magData.z = mags.z;
|
||||
MagStateSet(&magData);
|
||||
} else {
|
||||
MagStateGet(&magData);
|
||||
}
|
||||
|
||||
BaroSensorGet(&baroData);
|
||||
AirspeedSensorGet(&airspeedData);
|
||||
GPSPositionSensorGet(&gpsData);
|
||||
GPSVelocitySensorGet(&gpsVelData);
|
||||
|
||||
// TODO: put in separate filter
|
||||
AccelStateData accelState;
|
||||
accelState.x = accelSensorData.x;
|
||||
accelState.y = accelSensorData.y;
|
||||
accelState.z = accelSensorData.z;
|
||||
AccelStateSet(&accelState);
|
||||
|
||||
|
||||
value_error = false;
|
||||
// safety checks
|
||||
if (invalid(gyroSensorData.x) ||
|
||||
invalid(gyroSensorData.y) ||
|
||||
invalid(gyroSensorData.z) ||
|
||||
invalid(accelSensorData.x) ||
|
||||
invalid(accelSensorData.y) ||
|
||||
invalid(accelSensorData.z)) {
|
||||
// cannot run process update, raise error!
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (invalid(magData.x) ||
|
||||
invalid(magData.y) ||
|
||||
invalid(magData.z)) {
|
||||
// magnetometers can be ignored for a while
|
||||
mag_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
// Don't require HomeLocation.Set to be true but at least require a mag configuration (allows easily
|
||||
// switching between indoor and outdoor mode with Set = false)
|
||||
if ((homeLocation.Be[0] * homeLocation.Be[0] + homeLocation.Be[1] * homeLocation.Be[1] + homeLocation.Be[2] * homeLocation.Be[2] < 1e-5f)) {
|
||||
mag_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(baroData.Altitude)) {
|
||||
baro_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(airspeedData.CalibratedAirspeed)) {
|
||||
airspeed_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(gpsData.Altitude)) {
|
||||
gps_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid_var(ekfConfiguration.R.GPSPosNorth) ||
|
||||
invalid_var(ekfConfiguration.R.GPSPosEast) ||
|
||||
invalid_var(ekfConfiguration.R.GPSPosDown) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelNorth) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelEast) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelDown)) {
|
||||
gps_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(gpsVelData.North) ||
|
||||
invalid(gpsVelData.East) ||
|
||||
invalid(gpsVelData.Down)) {
|
||||
gps_vel_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
// Discard airspeed if sensor not connected
|
||||
if (airspeedData.SensorConnected != AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
|
||||
airspeed_updated = false;
|
||||
}
|
||||
|
||||
// Have a minimum requirement for gps usage
|
||||
if ((gpsData.Satellites < 7) ||
|
||||
(gpsData.PDOP > 4.0f) ||
|
||||
(gpsData.Latitude == 0 && gpsData.Longitude == 0) ||
|
||||
(homeLocation.Set != HOMELOCATION_SET_TRUE)) {
|
||||
gps_updated = false;
|
||||
gps_vel_updated = false;
|
||||
}
|
||||
|
||||
if (!inited) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else if (value_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else if (variance_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else if (outdoor_mode && gpsData.Satellites < 7) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else {
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
|
||||
}
|
||||
|
||||
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
// This should only happen at start up or at mode switches
|
||||
if (dT > 0.01f) {
|
||||
dT = 0.01f;
|
||||
} else if (dT <= 0.001f) {
|
||||
dT = 0.001f;
|
||||
}
|
||||
|
||||
if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode) && !variance_error) {
|
||||
// Don't initialize until all sensors are read
|
||||
if (init_stage == 0) {
|
||||
// Reset the INS algorithm
|
||||
INSGPSInit();
|
||||
INSSetMagVar((float[3]) { ekfConfiguration.R.MagX,
|
||||
ekfConfiguration.R.MagY,
|
||||
ekfConfiguration.R.MagZ }
|
||||
);
|
||||
INSSetAccelVar((float[3]) { ekfConfiguration.Q.AccelX,
|
||||
ekfConfiguration.Q.AccelY,
|
||||
ekfConfiguration.Q.AccelZ }
|
||||
);
|
||||
INSSetGyroVar((float[3]) { ekfConfiguration.Q.GyroX,
|
||||
ekfConfiguration.Q.GyroY,
|
||||
ekfConfiguration.Q.GyroZ }
|
||||
);
|
||||
INSSetGyroBiasVar((float[3]) { ekfConfiguration.Q.GyroDriftX,
|
||||
ekfConfiguration.Q.GyroDriftY,
|
||||
ekfConfiguration.Q.GyroDriftZ }
|
||||
);
|
||||
INSSetBaroVar(ekfConfiguration.R.BaroZ);
|
||||
|
||||
// Initialize the gyro bias
|
||||
float gyro_bias[3] = { 0.0f, 0.0f, 0.0f };
|
||||
INSSetGyroBias(gyro_bias);
|
||||
|
||||
float pos[3] = { 0.0f, 0.0f, 0.0f };
|
||||
|
||||
if (outdoor_mode) {
|
||||
GPSPositionSensorData gpsPosition;
|
||||
GPSPositionSensorGet(&gpsPosition);
|
||||
|
||||
// Transform the GPS position into NED coordinates
|
||||
getNED(&gpsPosition, pos);
|
||||
|
||||
// Initialize barometric offset to current GPS NED coordinate
|
||||
baroOffset = -pos[2] - baroData.Altitude;
|
||||
} else {
|
||||
// Initialize barometric offset to homelocation altitude
|
||||
baroOffset = -baroData.Altitude;
|
||||
pos[2] = -(baroData.Altitude + baroOffset);
|
||||
}
|
||||
|
||||
// xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
|
||||
// MagSensorGet(&magData);
|
||||
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
|
||||
// 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
|
||||
attitudeState.Roll = atan2f(-accelSensorData.y, -accelSensorData.z);
|
||||
float zn = cosf(attitudeState.Roll) * magData.z + sinf(attitudeState.Roll) * magData.y;
|
||||
float yn = cosf(attitudeState.Roll) * magData.y - sinf(attitudeState.Roll) * magData.z;
|
||||
|
||||
// rotate accels z vector according to roll
|
||||
float azn = cosf(attitudeState.Roll) * accelSensorData.z + sinf(attitudeState.Roll) * accelSensorData.y;
|
||||
attitudeState.Pitch = atan2f(accelSensorData.x, -azn);
|
||||
|
||||
float xn = cosf(attitudeState.Pitch) * magData.x + sinf(attitudeState.Pitch) * zn;
|
||||
|
||||
attitudeState.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
|
||||
|
||||
attitudeState.Roll = RAD2DEG(attitudeState.Roll);
|
||||
attitudeState.Pitch = RAD2DEG(attitudeState.Pitch);
|
||||
attitudeState.Yaw = RAD2DEG(attitudeState.Yaw);
|
||||
|
||||
RPY2Quaternion(&attitudeState.Roll, &attitudeState.q1);
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
float q[4] = { attitudeState.q1, attitudeState.q2, attitudeState.q3, attitudeState.q4 };
|
||||
INSSetState(pos, zeros, q, zeros, zeros);
|
||||
|
||||
INSResetP(cast_struct_to_array(ekfConfiguration.P, ekfConfiguration.P.AttitudeQ1));
|
||||
} else {
|
||||
// Run prediction a bit before any corrections
|
||||
|
||||
// Because the sensor module remove the bias we need to add it
|
||||
// back in here so that the INS algorithm can track it correctly
|
||||
float gyros[3] = { DEG2RAD(gyroSensorData.x), DEG2RAD(gyroSensorData.y), DEG2RAD(gyroSensorData.z) };
|
||||
INSStatePrediction(gyros, &accelSensorData.x, dT);
|
||||
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
attitude.q1 = Nav.q[0];
|
||||
attitude.q2 = Nav.q[1];
|
||||
attitude.q3 = Nav.q[2];
|
||||
attitude.q4 = Nav.q[3];
|
||||
Quaternion2RPY(&attitude.q1, &attitude.Roll);
|
||||
AttitudeStateSet(&attitude);
|
||||
}
|
||||
|
||||
init_stage++;
|
||||
if (init_stage > 10) {
|
||||
inited = true;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!inited) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Because the sensor module remove the bias we need to add it
|
||||
// back in here so that the INS algorithm can track it correctly
|
||||
float gyros[3] = { DEG2RAD(gyroSensorData.x), DEG2RAD(gyroSensorData.y), DEG2RAD(gyroSensorData.z) };
|
||||
|
||||
// Advance the state estimate
|
||||
INSStatePrediction(gyros, &accelSensorData.x, dT);
|
||||
|
||||
// Copy the attitude into the UAVO
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
attitude.q1 = Nav.q[0];
|
||||
attitude.q2 = Nav.q[1];
|
||||
attitude.q3 = Nav.q[2];
|
||||
attitude.q4 = Nav.q[3];
|
||||
Quaternion2RPY(&attitude.q1, &attitude.Roll);
|
||||
AttitudeStateSet(&attitude);
|
||||
|
||||
// Advance the covariance estimate
|
||||
INSCovariancePrediction(dT);
|
||||
|
||||
if (mag_updated) {
|
||||
sensors |= MAG_SENSORS;
|
||||
}
|
||||
|
||||
if (baro_updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
}
|
||||
|
||||
INSSetMagNorth(homeLocation.Be);
|
||||
|
||||
if (gps_updated && outdoor_mode) {
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.R.GPSPosNorth,
|
||||
ekfConfiguration.R.GPSPosEast,
|
||||
ekfConfiguration.R.GPSPosDown },
|
||||
(float[3]) { ekfConfiguration.R.GPSVelNorth,
|
||||
ekfConfiguration.R.GPSVelEast,
|
||||
ekfConfiguration.R.GPSVelDown }
|
||||
);
|
||||
sensors |= POS_SENSORS;
|
||||
|
||||
if (0) { // Old code to take horizontal velocity from GPS Position update
|
||||
sensors |= HORIZ_SENSORS;
|
||||
vel[0] = gpsData.Groundspeed * cosf(DEG2RAD(gpsData.Heading));
|
||||
vel[1] = gpsData.Groundspeed * sinf(DEG2RAD(gpsData.Heading));
|
||||
vel[2] = 0.0f;
|
||||
}
|
||||
// Transform the GPS position into NED coordinates
|
||||
getNED(&gpsData, NED);
|
||||
|
||||
// Track barometric altitude offset with a low pass filter
|
||||
baroOffset = BARO_OFFSET_LOWPASS_ALPHA * baroOffset +
|
||||
(1.0f - BARO_OFFSET_LOWPASS_ALPHA)
|
||||
* (-NED[2] - baroData.Altitude);
|
||||
} else if (!outdoor_mode) {
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor },
|
||||
(float[3]) { ekfConfiguration.FakeR.FakeGPSVelIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSVelIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSVelIndoor }
|
||||
);
|
||||
vel[0] = vel[1] = vel[2] = 0.0f;
|
||||
NED[0] = NED[1] = 0.0f;
|
||||
NED[2] = -(baroData.Altitude + baroOffset);
|
||||
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
|
||||
sensors |= POS_SENSORS | VERT_SENSORS;
|
||||
}
|
||||
|
||||
if (gps_vel_updated && outdoor_mode) {
|
||||
sensors |= HORIZ_SENSORS | VERT_SENSORS;
|
||||
vel[0] = gpsVelData.North;
|
||||
vel[1] = gpsVelData.East;
|
||||
vel[2] = gpsVelData.Down;
|
||||
}
|
||||
|
||||
// Copy the position into the UAVO
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
positionState.North = Nav.Pos[0];
|
||||
positionState.East = Nav.Pos[1];
|
||||
positionState.Down = Nav.Pos[2];
|
||||
PositionStateSet(&positionState);
|
||||
|
||||
// airspeed correction needs current positionState
|
||||
if (airspeed_updated) {
|
||||
// we have airspeed available
|
||||
AirspeedStateData airspeed;
|
||||
AirspeedStateGet(&airspeed);
|
||||
|
||||
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
|
||||
airspeed.TrueAirspeed = (airspeedData.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedData.TrueAirspeed;
|
||||
|
||||
AirspeedStateSet(&airspeed);
|
||||
|
||||
if (!gps_vel_updated && !gps_updated) {
|
||||
// feed airspeed into EKF, treat wind as 1e2 variance
|
||||
sensors |= HORIZ_SENSORS | VERT_SENSORS;
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor },
|
||||
(float[3]) { ekfConfiguration.FakeR.FakeGPSVelAirspeed,
|
||||
ekfConfiguration.FakeR.FakeGPSVelAirspeed,
|
||||
ekfConfiguration.FakeR.FakeGPSVelAirspeed }
|
||||
);
|
||||
// rotate airspeed vector into NED frame - airspeed is measured in X axis only
|
||||
float R[3][3];
|
||||
Quaternion2R(Nav.q, R);
|
||||
float vtas[3] = { airspeed.TrueAirspeed, 0.0f, 0.0f };
|
||||
rot_mult(R, vtas, vel);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
if (sensors) {
|
||||
INSCorrection(&magData.x, NED, vel, (baroData.Altitude + baroOffset), sensors);
|
||||
}
|
||||
|
||||
// Copy the velocity into the UAVO
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
velocityState.North = Nav.Vel[0];
|
||||
velocityState.East = Nav.Vel[1];
|
||||
velocityState.Down = Nav.Vel[2];
|
||||
VelocityStateSet(&velocityState);
|
||||
|
||||
GyroStateData gyroState;
|
||||
gyroState.x = RAD2DEG(gyros[0] - RAD2DEG(Nav.gyro_bias[0]));
|
||||
gyroState.y = RAD2DEG(gyros[1] - RAD2DEG(Nav.gyro_bias[1]));
|
||||
gyroState.z = RAD2DEG(gyros[2] - RAD2DEG(Nav.gyro_bias[2]));
|
||||
GyroStateSet(&gyroState);
|
||||
|
||||
EKFStateVarianceData vardata;
|
||||
EKFStateVarianceGet(&vardata);
|
||||
INSGetP(cast_struct_to_array(vardata.P, vardata.P.AttitudeQ1));
|
||||
EKFStateVarianceSet(&vardata);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Convert the GPS LLA position into NED coordinates
|
||||
* @note this method uses a taylor expansion around the home coordinates
|
||||
* to convert to NED which allows it to be done with all floating
|
||||
* calculations
|
||||
* @param[in] Current GPS coordinates
|
||||
* @param[out] NED frame coordinates
|
||||
* @returns 0 for success, -1 for failure
|
||||
*/
|
||||
float T[3];
|
||||
static int32_t getNED(GPSPositionSensorData *gpsPosition, float *NED)
|
||||
{
|
||||
float dL[3] = { DEG2RAD((gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f),
|
||||
DEG2RAD((gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f),
|
||||
(gpsPosition->Altitude + gpsPosition->GeoidSeparation - homeLocation.Altitude) };
|
||||
|
||||
NED[0] = T[0] * dL[0];
|
||||
NED[1] = T[1] * dL[1];
|
||||
NED[2] = T[2] * dL[2];
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void settingsUpdatedCb(UAVObjEvent *ev)
|
||||
{
|
||||
if (ev == NULL || ev->obj == FlightStatusHandle()) {
|
||||
FlightStatusGet(&flightStatus);
|
||||
}
|
||||
if (ev == NULL || ev->obj == RevoCalibrationHandle()) {
|
||||
RevoCalibrationGet(&revoCalibration);
|
||||
}
|
||||
// change of these settings require reinitialization of the EKF
|
||||
// when an error flag has been risen, we also listen to flightStatus updates,
|
||||
// since we are waiting for the system to get disarmed so we can reinitialize safely.
|
||||
if (ev == NULL ||
|
||||
ev->obj == EKFConfigurationHandle() ||
|
||||
ev->obj == RevoSettingsHandle() ||
|
||||
(variance_error == true && ev->obj == FlightStatusHandle())
|
||||
) {
|
||||
bool error = false;
|
||||
|
||||
EKFConfigurationGet(&ekfConfiguration);
|
||||
int t;
|
||||
for (t = 0; t < EKFCONFIGURATION_P_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.P, ekfConfiguration.P.AttitudeQ1)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
for (t = 0; t < EKFCONFIGURATION_Q_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.Q, ekfConfiguration.Q.AccelX)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
for (t = 0; t < EKFCONFIGURATION_R_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.R, ekfConfiguration.R.BaroZ)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
|
||||
RevoSettingsGet(&revoSettings);
|
||||
|
||||
// Reinitialization of the EKF is not desired during flight.
|
||||
// It will be delayed until the board is disarmed by raising the error flag.
|
||||
// We will not prevent the initial initialization though, since the board could be in always armed mode.
|
||||
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED && !initialization_required) {
|
||||
error = true;
|
||||
}
|
||||
|
||||
if (error) {
|
||||
variance_error = true;
|
||||
} else {
|
||||
// trigger reinitialization - possibly with new algorithm
|
||||
running_algorithm = revoSettings.FusionAlgorithm;
|
||||
variance_error = false;
|
||||
initialization_required = true;
|
||||
}
|
||||
}
|
||||
if (ev == NULL || ev->obj == HomeLocationHandle()) {
|
||||
HomeLocationGet(&homeLocation);
|
||||
// Compute matrix to convert deltaLLA to NED
|
||||
float lat, alt;
|
||||
lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
|
||||
alt = homeLocation.Altitude;
|
||||
|
||||
T[0] = alt + 6.378137E6f;
|
||||
T[1] = cosf(lat) * (alt + 6.378137E6f);
|
||||
T[2] = -1.0f;
|
||||
|
||||
// TODO: convert positionState to new reference frame and gracefully update EKF state!
|
||||
// needed for long range flights where the reference coordinate is adjusted in flight
|
||||
}
|
||||
if (ev == NULL || ev->obj == AttitudeSettingsHandle()) {
|
||||
AttitudeSettingsGet(&attitudeSettings);
|
||||
|
||||
// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
|
||||
const float fakeDt = 0.0015f;
|
||||
if (attitudeSettings.AccelTau < 0.0001f) {
|
||||
accel_alpha = 0; // not trusting this to resolve to 0
|
||||
accel_filter_enabled = false;
|
||||
} else {
|
||||
accel_alpha = expf(-fakeDt / attitudeSettings.AccelTau);
|
||||
accel_filter_enabled = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform an update of the @ref MagBias based on
|
||||
* Magmeter Offset Cancellation: Theory and Implementation,
|
||||
* revisited William Premerlani, October 14, 2011
|
||||
*/
|
||||
static void magOffsetEstimation(MagSensorData *mag)
|
||||
{
|
||||
#if 0
|
||||
// Constants, to possibly go into a UAVO
|
||||
static const float MIN_NORM_DIFFERENCE = 50;
|
||||
|
||||
static float B2[3] = { 0, 0, 0 };
|
||||
|
||||
MagBiasData magBias;
|
||||
MagBiasGet(&magBias);
|
||||
|
||||
// Remove the current estimate of the bias
|
||||
mag->x -= magBias.x;
|
||||
mag->y -= magBias.y;
|
||||
mag->z -= magBias.z;
|
||||
|
||||
// First call
|
||||
if (B2[0] == 0 && B2[1] == 0 && B2[2] == 0) {
|
||||
B2[0] = mag->x;
|
||||
B2[1] = mag->y;
|
||||
B2[2] = mag->z;
|
||||
return;
|
||||
}
|
||||
|
||||
float B1[3] = { mag->x, mag->y, mag->z };
|
||||
float norm_diff = sqrtf(powf(B2[0] - B1[0], 2) + powf(B2[1] - B1[1], 2) + powf(B2[2] - B1[2], 2));
|
||||
if (norm_diff > MIN_NORM_DIFFERENCE) {
|
||||
float norm_b1 = sqrtf(B1[0] * B1[0] + B1[1] * B1[1] + B1[2] * B1[2]);
|
||||
float norm_b2 = sqrtf(B2[0] * B2[0] + B2[1] * B2[1] + B2[2] * B2[2]);
|
||||
float scale = cal.MagBiasNullingRate * (norm_b2 - norm_b1) / norm_diff;
|
||||
float b_error[3] = { (B2[0] - B1[0]) * scale, (B2[1] - B1[1]) * scale, (B2[2] - B1[2]) * scale };
|
||||
|
||||
magBias.x += b_error[0];
|
||||
magBias.y += b_error[1];
|
||||
magBias.z += b_error[2];
|
||||
|
||||
MagBiasSet(&magBias);
|
||||
|
||||
// Store this value to compare against next update
|
||||
B2[0] = B1[0]; B2[1] = B1[1]; B2[2] = B1[2];
|
||||
}
|
||||
#else // if 0
|
||||
static float magBias[3] = { 0 };
|
||||
|
||||
// Remove the current estimate of the bias
|
||||
mag->x -= magBias[0];
|
||||
mag->y -= magBias[1];
|
||||
mag->z -= magBias[2];
|
||||
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
|
||||
const float Rxy = sqrtf(homeLocation.Be[0] * homeLocation.Be[0] + homeLocation.Be[1] * homeLocation.Be[1]);
|
||||
const float Rz = homeLocation.Be[2];
|
||||
|
||||
const float rate = revoCalibration.MagBiasNullingRate;
|
||||
float Rot[3][3];
|
||||
float B_e[3];
|
||||
float xy[2];
|
||||
float delta[3];
|
||||
|
||||
// Get the rotation matrix
|
||||
Quaternion2R(&attitude.q1, Rot);
|
||||
|
||||
// Rotate the mag into the NED frame
|
||||
B_e[0] = Rot[0][0] * mag->x + Rot[1][0] * mag->y + Rot[2][0] * mag->z;
|
||||
B_e[1] = Rot[0][1] * mag->x + Rot[1][1] * mag->y + Rot[2][1] * mag->z;
|
||||
B_e[2] = Rot[0][2] * mag->x + Rot[1][2] * mag->y + Rot[2][2] * mag->z;
|
||||
|
||||
float cy = cosf(DEG2RAD(attitude.Yaw));
|
||||
float sy = sinf(DEG2RAD(attitude.Yaw));
|
||||
|
||||
xy[0] = cy * B_e[0] + sy * B_e[1];
|
||||
xy[1] = -sy * B_e[0] + cy * B_e[1];
|
||||
|
||||
float xy_norm = sqrtf(xy[0] * xy[0] + xy[1] * xy[1]);
|
||||
|
||||
delta[0] = -rate * (xy[0] / xy_norm * Rxy - xy[0]);
|
||||
delta[1] = -rate * (xy[1] / xy_norm * Rxy - xy[1]);
|
||||
delta[2] = -rate * (Rz - B_e[2]);
|
||||
|
||||
if (!isnan(delta[0]) && !isinf(delta[0]) &&
|
||||
!isnan(delta[1]) && !isinf(delta[1]) &&
|
||||
!isnan(delta[2]) && !isinf(delta[2])) {
|
||||
magBias[0] += delta[0];
|
||||
magBias[1] += delta[1];
|
||||
magBias[2] += delta[2];
|
||||
}
|
||||
#endif // if 0
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -64,7 +64,8 @@ static int32_t alt_ds_pres = 0;
|
||||
static int alt_ds_count = 0;
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
pios_hmc5x83_dev_t mag_handle = 0;
|
||||
int32_t mag_test;
|
||||
static float mag_bias[3] = { 0, 0, 0 };
|
||||
static float mag_scale[3] = { 1, 1, 1 };
|
||||
@ -108,7 +109,7 @@ int32_t MagBaroInitialize()
|
||||
#endif
|
||||
|
||||
if (magbaroEnabled) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorInitialize();
|
||||
#endif
|
||||
|
||||
@ -127,15 +128,16 @@ MODULE_INITCALL(MagBaroInitialize, MagBaroStart);
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
.exti_cfg = 0,
|
||||
#endif
|
||||
.M_ODR = PIOS_HMC5883_ODR_15,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_15,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif
|
||||
|
||||
@ -148,9 +150,9 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
|
||||
PIOS_BMP085_Init();
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorData mag;
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
mag_handle = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
|
||||
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
|
||||
#endif
|
||||
|
||||
@ -197,10 +199,10 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_BMP085) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
if (PIOS_HMC5x83_NewDataAvailable(mag_handle) || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
|
||||
int16_t values[3];
|
||||
PIOS_HMC5883_ReadMag(values);
|
||||
PIOS_HMC5x83_ReadMag(mag_handle, values);
|
||||
float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
|
||||
(float)values[0] * mag_scale[1] - mag_bias[1],
|
||||
-(float)values[2] * mag_scale[2] - mag_bias[2] };
|
||||
|
@ -82,6 +82,11 @@ static xTaskHandle sensorsTaskHandle;
|
||||
RevoCalibrationData cal;
|
||||
AccelGyroSettingsData agcal;
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
#include <pios_hmc5x83.h>
|
||||
extern pios_hmc5x83_dev_t onboard_mag;
|
||||
#endif
|
||||
|
||||
// These values are initialized by settings but can be updated by the attitude algorithm
|
||||
|
||||
static float mag_bias[3] = { 0, 0, 0 };
|
||||
@ -200,8 +205,8 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
mag_test = PIOS_HMC5883_Test();
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
mag_test = PIOS_HMC5x83_Test(onboard_mag);
|
||||
#else
|
||||
mag_test = 0;
|
||||
#endif
|
||||
@ -409,11 +414,11 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
|
||||
// and make it average zero (weakly)
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorData mag;
|
||||
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
|
||||
if (PIOS_HMC5x83_NewDataAvailable(onboard_mag) || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
|
||||
int16_t values[3];
|
||||
PIOS_HMC5883_ReadMag(values);
|
||||
PIOS_HMC5x83_ReadMag(onboard_mag, values);
|
||||
float mags[3] = { (float)values[1] - mag_bias[0],
|
||||
(float)values[0] - mag_bias[1],
|
||||
-(float)values[2] - mag_bias[2] };
|
||||
@ -428,7 +433,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
MagSensorSet(&mag);
|
||||
mag_update_time = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_HMC5883) */
|
||||
#endif /* if defined(PIOS_INCLUDE_HMC5X83) */
|
||||
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
|
||||
|
@ -221,7 +221,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
|
||||
|
||||
// During initialization and
|
||||
if (this->first_run) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
// wait until mags have been updated
|
||||
if (!this->magUpdated) {
|
||||
return FILTERRESULT_ERROR;
|
||||
|
@ -49,6 +49,9 @@ static xSemaphoreHandle mutex = 0;
|
||||
#endif
|
||||
|
||||
static bool logging_enabled = false;
|
||||
#define MAX_CONSECUTIVE_FAILS_COUNT 10
|
||||
static bool log_is_full = false;
|
||||
static uint8_t fails_count = 0;
|
||||
static uint16_t flightnum = 0;
|
||||
static uint16_t lognum = 0;
|
||||
static DebugLogEntryData *buffer = 0;
|
||||
@ -56,8 +59,16 @@ static DebugLogEntryData *buffer = 0;
|
||||
static DebugLogEntryData staticbuffer;
|
||||
#endif
|
||||
|
||||
/* Private Function Prototypes */
|
||||
#define LOG_ENTRY_MAX_DATA_SIZE (sizeof(((DebugLogEntryData *)0)->Data))
|
||||
#define LOG_ENTRY_HEADER_SIZE (sizeof(DebugLogEntryData) - LOG_ENTRY_MAX_DATA_SIZE)
|
||||
// build the obj_id as a DEBUGLOGENTRY ID with least significant byte zeroed and filled with flight number
|
||||
#define LOG_GET_FLIGHT_OBJID(x) ((DEBUGLOGENTRY_OBJID & ~0xFF) | (x & 0xFF))
|
||||
|
||||
static uint32_t used_buffer_space = 0;
|
||||
|
||||
/* Private Function Prototypes */
|
||||
static void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data);
|
||||
static bool write_current_buffer();
|
||||
/**
|
||||
* @brief Initialize the log facility
|
||||
*/
|
||||
@ -75,9 +86,12 @@ void PIOS_DEBUGLOG_Initialize()
|
||||
return;
|
||||
}
|
||||
mutexlock();
|
||||
lognum = 0;
|
||||
flightnum = 0;
|
||||
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
lognum = 0;
|
||||
flightnum = 0;
|
||||
fails_count = 0;
|
||||
used_buffer_space = 0;
|
||||
log_is_full = false;
|
||||
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
flightnum++;
|
||||
}
|
||||
mutexunlock();
|
||||
@ -90,6 +104,11 @@ void PIOS_DEBUGLOG_Initialize()
|
||||
*/
|
||||
void PIOS_DEBUGLOG_Enable(uint8_t enabled)
|
||||
{
|
||||
// increase the flight num as soon as logging is disabled
|
||||
if (logging_enabled && !enabled) {
|
||||
flightnum++;
|
||||
lognum = 0;
|
||||
}
|
||||
logging_enabled = enabled;
|
||||
}
|
||||
|
||||
@ -103,30 +122,13 @@ void PIOS_DEBUGLOG_Enable(uint8_t enabled)
|
||||
*/
|
||||
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
|
||||
{
|
||||
if (!logging_enabled || !buffer) {
|
||||
if (!logging_enabled || !buffer || log_is_full) {
|
||||
return;
|
||||
}
|
||||
mutexlock();
|
||||
buffer->Flight = flightnum;
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
|
||||
#else
|
||||
buffer->FlightTime = 0;
|
||||
#endif
|
||||
buffer->Entry = lognum;
|
||||
buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
|
||||
buffer->ObjectID = objid;
|
||||
buffer->InstanceID = instid;
|
||||
if (size > sizeof(buffer->Data)) {
|
||||
size = sizeof(buffer->Data);
|
||||
}
|
||||
buffer->Size = size;
|
||||
memset(buffer->Data, 0xff, sizeof(buffer->Data));
|
||||
memcpy(buffer->Data, data, size);
|
||||
|
||||
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
lognum++;
|
||||
}
|
||||
enqueue_data(objid, instid, size, data);
|
||||
|
||||
mutexunlock();
|
||||
}
|
||||
/**
|
||||
@ -137,27 +139,30 @@ void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8
|
||||
*/
|
||||
void PIOS_DEBUGLOG_Printf(char *format, ...)
|
||||
{
|
||||
if (!logging_enabled || !buffer) {
|
||||
if (!logging_enabled || !buffer || log_is_full) {
|
||||
return;
|
||||
}
|
||||
|
||||
va_list args;
|
||||
va_start(args, format);
|
||||
mutexlock();
|
||||
// flush any pending buffer before writing debug text
|
||||
if (used_buffer_space) {
|
||||
write_current_buffer();
|
||||
}
|
||||
memset(buffer->Data, 0xff, sizeof(buffer->Data));
|
||||
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
|
||||
buffer->Flight = flightnum;
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
|
||||
#else
|
||||
buffer->FlightTime = 0;
|
||||
#endif
|
||||
|
||||
buffer->FlightTime = PIOS_DELAY_GetuS();
|
||||
|
||||
buffer->Entry = lognum;
|
||||
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
|
||||
buffer->ObjectID = 0;
|
||||
buffer->InstanceID = 0;
|
||||
buffer->Size = strlen((const char *)buffer->Data);
|
||||
|
||||
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
lognum++;
|
||||
}
|
||||
mutexunlock();
|
||||
@ -179,7 +184,7 @@ void PIOS_DEBUGLOG_Printf(char *format, ...)
|
||||
int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
|
||||
{
|
||||
PIOS_Assert(mybuffer);
|
||||
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
|
||||
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flight), inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
|
||||
}
|
||||
|
||||
/**
|
||||
@ -214,11 +219,68 @@ void PIOS_DEBUGLOG_Format(void)
|
||||
{
|
||||
mutexlock();
|
||||
PIOS_FLASHFS_Format(pios_user_fs_id);
|
||||
lognum = 0;
|
||||
flightnum = 0;
|
||||
lognum = 0;
|
||||
flightnum = 0;
|
||||
log_is_full = false;
|
||||
fails_count = 0;
|
||||
used_buffer_space = 0;
|
||||
mutexunlock();
|
||||
}
|
||||
|
||||
void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
|
||||
{
|
||||
DebugLogEntryData *entry;
|
||||
|
||||
// start a new block
|
||||
if (!used_buffer_space) {
|
||||
entry = buffer;
|
||||
memset(buffer->Data, 0xff, sizeof(buffer->Data));
|
||||
used_buffer_space += size;
|
||||
} else {
|
||||
// if an instance is being filled and there is enough space, does enqueues new data.
|
||||
if (used_buffer_space + size + LOG_ENTRY_HEADER_SIZE > LOG_ENTRY_MAX_DATA_SIZE) {
|
||||
buffer->Type = DEBUGLOGENTRY_TYPE_MULTIPLEUAVOBJECTS;
|
||||
if (!write_current_buffer()) {
|
||||
return;
|
||||
}
|
||||
entry = buffer;
|
||||
memset(buffer->Data, 0xff, sizeof(buffer->Data));
|
||||
used_buffer_space += size;
|
||||
} else {
|
||||
entry = (DebugLogEntryData *)&buffer->Data[used_buffer_space];
|
||||
used_buffer_space += size + LOG_ENTRY_HEADER_SIZE;
|
||||
}
|
||||
}
|
||||
|
||||
entry->Flight = flightnum;
|
||||
entry->FlightTime = PIOS_DELAY_GetuS();
|
||||
entry->Entry = lognum;
|
||||
entry->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
|
||||
entry->ObjectID = objid;
|
||||
entry->InstanceID = instid;
|
||||
if (size > sizeof(buffer->Data)) {
|
||||
size = sizeof(buffer->Data);
|
||||
}
|
||||
entry->Size = size;
|
||||
|
||||
memcpy(entry->Data, data, size);
|
||||
}
|
||||
|
||||
bool write_current_buffer()
|
||||
{
|
||||
// not enough space, write the block and start a new one
|
||||
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
|
||||
lognum++;
|
||||
fails_count = 0;
|
||||
used_buffer_space = 0;
|
||||
} else {
|
||||
if (fails_count++ > MAX_CONSECUTIVE_FAILS_COUNT) {
|
||||
log_is_full = true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
@ -75,13 +75,16 @@ struct jedec_flash_dev {
|
||||
enum pios_jedec_dev_magic magic;
|
||||
};
|
||||
|
||||
#define FLASH_FAST_PRESCALER PIOS_SPI_PRESCALER_2
|
||||
#define FLASH_PRESCALER PIOS_SPI_PRESCALER_4
|
||||
|
||||
// ! Private functions
|
||||
static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev *flash_dev);
|
||||
static struct jedec_flash_dev *PIOS_Flash_Jedec_alloc(void);
|
||||
|
||||
static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev);
|
||||
static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev);
|
||||
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev);
|
||||
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev, bool fast);
|
||||
static int32_t PIOS_Flash_Jedec_ReleaseBus(struct jedec_flash_dev *flash_dev);
|
||||
static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev);
|
||||
static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev *flash_dev);
|
||||
@ -166,12 +169,12 @@ int32_t PIOS_Flash_Jedec_Init(uintptr_t *flash_id, uint32_t spi_id, uint32_t sla
|
||||
* @brief Claim the SPI bus for flash use and assert CS pin
|
||||
* @return 0 for sucess, -1 for failure to get semaphore
|
||||
*/
|
||||
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev)
|
||||
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev, bool fast)
|
||||
{
|
||||
if (PIOS_SPI_ClaimBus(flash_dev->spi_id) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
PIOS_SPI_SetClockSpeed(flash_dev->spi_id, fast ? FLASH_FAST_PRESCALER : FLASH_PRESCALER);
|
||||
PIOS_SPI_RC_PinSet(flash_dev->spi_id, flash_dev->slave_num, 0);
|
||||
flash_dev->claimed = true;
|
||||
|
||||
@ -209,7 +212,7 @@ static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev *flash_dev)
|
||||
*/
|
||||
static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev)
|
||||
{
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -226,7 +229,7 @@ static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev)
|
||||
*/
|
||||
static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev)
|
||||
{
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -247,7 +250,7 @@ static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev)
|
||||
*/
|
||||
static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev)
|
||||
{
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
|
||||
return -2;
|
||||
}
|
||||
|
||||
@ -354,7 +357,7 @@ static int32_t PIOS_Flash_Jedec_EraseSector(uintptr_t flash_id, uint32_t addr)
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -368,7 +371,7 @@ static int32_t PIOS_Flash_Jedec_EraseSector(uintptr_t flash_id, uint32_t addr)
|
||||
// Keep polling when bus is busy too
|
||||
while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) {
|
||||
#if defined(FLASH_FREERTOS)
|
||||
vTaskDelay(1);
|
||||
vTaskDelay(2);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -394,7 +397,7 @@ static int32_t PIOS_Flash_Jedec_EraseChip(uintptr_t flash_id)
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -455,16 +458,14 @@ static int32_t PIOS_Flash_Jedec_WriteData(uintptr_t flash_id, uint32_t addr, uin
|
||||
if (((addr & 0xff) + len) > 0x100) {
|
||||
return -3;
|
||||
}
|
||||
|
||||
if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Execute write page command and clock in address. Keep CS asserted */
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
|
||||
PIOS_Flash_Jedec_ReleaseBus(flash_dev);
|
||||
return -1;
|
||||
@ -486,7 +487,7 @@ static int32_t PIOS_Flash_Jedec_WriteData(uintptr_t flash_id, uint32_t addr, uin
|
||||
#else
|
||||
|
||||
// Query status this way to prevent accel chip locking us out
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -536,13 +537,12 @@ static int32_t PIOS_Flash_Jedec_WriteChunks(uintptr_t flash_id, uint32_t addr, s
|
||||
if (((addr & 0xff) + len) > 0x100) {
|
||||
return -3;
|
||||
}
|
||||
|
||||
if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Execute write page command and clock in address. Keep CS asserted */
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) {
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -582,17 +582,29 @@ static int32_t PIOS_Flash_Jedec_ReadData(uintptr_t flash_id, uint32_t addr, uint
|
||||
if (PIOS_Flash_Jedec_Validate(flash_dev) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) == -1) {
|
||||
bool fast_read = flash_dev->cfg->fast_read != 0;
|
||||
if (PIOS_Flash_Jedec_ClaimBus(flash_dev, fast_read) == -1) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Execute read command and clock in address. Keep CS asserted */
|
||||
uint8_t out[] = { JEDEC_READ_DATA, (addr >> 16) & 0xff, (addr >> 8) & 0xff, addr & 0xff };
|
||||
|
||||
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
|
||||
PIOS_Flash_Jedec_ReleaseBus(flash_dev);
|
||||
return -2;
|
||||
if (!fast_read) {
|
||||
uint8_t out[] = { JEDEC_READ_DATA, (addr >> 16) & 0xff, (addr >> 8) & 0xff, addr & 0xff };
|
||||
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
|
||||
PIOS_Flash_Jedec_ReleaseBus(flash_dev);
|
||||
return -2;
|
||||
}
|
||||
} else {
|
||||
uint8_t cmdlen = flash_dev->cfg->fast_read_dummy_bytes + 4;
|
||||
uint8_t out[cmdlen];
|
||||
memset(out, 0x0, cmdlen);
|
||||
out[0] = flash_dev->cfg->fast_read;
|
||||
out[1] = (addr >> 16) & 0xff;
|
||||
out[2] = (addr >> 8) & 0xff;
|
||||
out[3] = addr & 0xff;
|
||||
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, cmdlen, NULL) < 0) {
|
||||
PIOS_Flash_Jedec_ReleaseBus(flash_dev);
|
||||
return -2;
|
||||
}
|
||||
}
|
||||
|
||||
/* Copy the transfer data to the buffer */
|
||||
|
@ -1,425 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
* @file pios_hmc5883.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5883 Magnetic Sensor Functions from AHRS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5883
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
|
||||
/* Local Variables */
|
||||
volatile bool pios_hmc5883_data_ready;
|
||||
|
||||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg);
|
||||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
static const struct pios_hmc5883_cfg *dev_cfg;
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor.
|
||||
* @return none
|
||||
*/
|
||||
void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg)
|
||||
{
|
||||
dev_cfg = cfg; // store config before enabling interrupt
|
||||
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
#endif
|
||||
|
||||
int32_t val = PIOS_HMC5883_Config(cfg);
|
||||
|
||||
PIOS_Assert(val == 0);
|
||||
|
||||
pios_hmc5883_data_ready = false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor
|
||||
* \return none
|
||||
* \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
* CTRL_REGA: Control Register A
|
||||
* Read Write
|
||||
* Default value: 0x10
|
||||
* 7:5 0 These bits must be cleared for correct operation.
|
||||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | 0.75
|
||||
* 0 | 0 | 1 | 1.5
|
||||
* 0 | 1 | 0 | 3
|
||||
* 0 | 1 | 1 | 7.5
|
||||
* 1 | 0 | 0 | 15 (default)
|
||||
* 1 | 0 | 1 | 30
|
||||
* 1 | 1 | 0 | 75
|
||||
* 1 | 1 | 1 | Not Used
|
||||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Normal
|
||||
* 0 | 1 | Positive Bias
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Not Used
|
||||
*
|
||||
* CTRL_REGB: Control RegisterB
|
||||
* Read Write
|
||||
* Default value: 0x20
|
||||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||||
* | | | Range[Ga] | [LSB/mGa] |
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||||
* |Not recommended|
|
||||
*
|
||||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||||
*
|
||||
* _MODE_REG: Mode Register
|
||||
* Read Write
|
||||
* Default value: 0x02
|
||||
* 7:2 0 These bits must be cleared for correct operation.
|
||||
* 1:0 MD1-MD0: Mode Select Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Continuous-Conversion Mode.
|
||||
* 0 | 1 | Single-Conversion Mode
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
static uint8_t CTRLB = 0x00;
|
||||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg)
|
||||
{
|
||||
uint8_t CTRLA = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
CTRLB = 0;
|
||||
|
||||
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
|
||||
CTRLB |= (uint8_t)(cfg->Gain);
|
||||
MODE |= (uint8_t)(cfg->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// CRTL_REGB
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Mode register
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return 0 for success or -1 for failure
|
||||
*/
|
||||
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
|
||||
{
|
||||
pios_hmc5883_data_ready = false;
|
||||
uint8_t buffer[6];
|
||||
int32_t temp;
|
||||
int32_t sensitivity;
|
||||
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
switch (CTRLB & 0xE0) {
|
||||
case 0x00:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_0_88Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_1_3Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_1_9Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_2_5Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_4_0Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_4_7Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_5_6Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_8_1Ga;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / sensitivity;
|
||||
out[i] = temp;
|
||||
}
|
||||
// Data reads out as X,Z,Y
|
||||
temp = out[2];
|
||||
out[2] = out[1];
|
||||
out[1] = temp;
|
||||
|
||||
// This should not be necessary but for some reason it is coming out of continuous conversion mode
|
||||
PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_CONTINUOUS);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the HMC5883 sensor
|
||||
* \param[out] uint8_t array of size 4 to store HMC5883 ID.
|
||||
* \return 0 if successful, -1 if not
|
||||
*/
|
||||
uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
|
||||
{
|
||||
uint8_t retval = PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3);
|
||||
|
||||
out[3] = '\0';
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tells whether new magnetometer readings are available
|
||||
* \return true if new data is available
|
||||
* \return false if new data is not available
|
||||
*/
|
||||
bool PIOS_HMC5883_NewDataAvailable(void)
|
||||
{
|
||||
return pios_hmc5883_data_ready;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5883 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5883
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
;
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation. Do not call this during operational use!!
|
||||
* \return 0 if success, -1 if test failed
|
||||
*/
|
||||
int32_t PIOS_HMC5883_Test(void)
|
||||
{
|
||||
int32_t failed = 0;
|
||||
uint8_t registers[3] = { 0, 0, 0 };
|
||||
uint8_t status;
|
||||
uint8_t ctrl_a_read;
|
||||
uint8_t ctrl_b_read;
|
||||
uint8_t mode_read;
|
||||
int16_t values[3];
|
||||
|
||||
|
||||
/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
|
||||
char id[4];
|
||||
|
||||
PIOS_HMC5883_ReadID((uint8_t *)id);
|
||||
if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Backup existing configuration */
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, registers, 3) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Stop the device and read out last value */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_IDLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Put HMC5883 into self test mode
|
||||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||||
* and then placing the mode register into single-measurement mode. This causes the HMC5883
|
||||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||||
*
|
||||
* If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||||
*
|
||||
* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
|
||||
*/
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_8_1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Must wait for value to be updated */
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
if(abs(values[0] - 766) > 20)
|
||||
failed |= 1;
|
||||
if(abs(values[1] - 766) > 20)
|
||||
failed |= 1;
|
||||
if(abs(values[2] - 713) > 20)
|
||||
failed |= 1;
|
||||
*/
|
||||
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_MODE_REG, &mode_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1);
|
||||
|
||||
|
||||
/* Restore backup configuration */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, registers[0]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, registers[1]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, registers[2]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return failed;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
bool PIOS_HMC5883_IRQHandler(void)
|
||||
{
|
||||
pios_hmc5883_data_ready = true;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
557
flight/pios/common/pios_hmc5x83.c
Normal file
557
flight/pios/common/pios_hmc5x83.c
Normal file
@ -0,0 +1,557 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5x83 HMC5x83 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
* @file pios_hmc5x83.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5x83 Magnetic Sensor Functions from AHRS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
#include <pios_hmc5x83.h>
|
||||
#include <pios_mem.h>
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
|
||||
#define PIOS_HMC5X83_MAGIC 0x4d783833
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
|
||||
typedef struct {
|
||||
uint32_t magic;
|
||||
const struct pios_hmc5x83_cfg *cfg;
|
||||
uint32_t port_id;
|
||||
uint8_t slave_num;
|
||||
uint8_t CTRLB;
|
||||
volatile bool data_ready;
|
||||
} pios_hmc5x83_dev_data_t;
|
||||
|
||||
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
|
||||
|
||||
/**
|
||||
* Allocate the device setting structure
|
||||
* @return pios_hmc5x83_dev_data_t pointer to newly created structure
|
||||
*/
|
||||
pios_hmc5x83_dev_data_t *dev_alloc()
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = (pios_hmc5x83_dev_data_t *)pios_malloc(sizeof(pios_hmc5x83_dev_data_t));
|
||||
|
||||
PIOS_DEBUG_Assert(dev);
|
||||
memset(dev, 0x00, sizeof(pios_hmc5x83_dev_data_t));
|
||||
dev->magic = PIOS_HMC5X83_MAGIC;
|
||||
return dev;
|
||||
}
|
||||
|
||||
/**
|
||||
* Validate a pios_hmc5x83_dev_t handler and return the related pios_hmc5x83_dev_data_t pointer
|
||||
* @param dev device handler
|
||||
* @return the device data structure
|
||||
*/
|
||||
pios_hmc5x83_dev_data_t *dev_validate(pios_hmc5x83_dev_t dev)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev_data = (pios_hmc5x83_dev_data_t *)dev;
|
||||
|
||||
PIOS_DEBUG_Assert(dev_data->magic == PIOS_HMC5X83_MAGIC);
|
||||
return dev_data;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5x83 magnetometer sensor.
|
||||
* @return none
|
||||
*/
|
||||
pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t slave_num)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_alloc();
|
||||
|
||||
dev->cfg = cfg; // store config before enabling interrupt
|
||||
dev->port_id = port_id;
|
||||
dev->slave_num = slave_num;
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
#endif
|
||||
|
||||
int32_t val = PIOS_HMC5x83_Config(dev);
|
||||
PIOS_Assert(val == 0);
|
||||
|
||||
dev->data_ready = false;
|
||||
return (pios_hmc5x83_dev_t)dev;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5x83 magnetometer sensor
|
||||
* \return none
|
||||
* \param[in] pios_hmc5x83_dev_data_t device config to be used.
|
||||
* \param[in] PIOS_HMC5x83_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
* CTRL_REGA: Control Register A
|
||||
* Read Write
|
||||
* Default value: 0x10
|
||||
* 7:5 0 These bits must be cleared for correct operation.
|
||||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | 0.75
|
||||
* 0 | 0 | 1 | 1.5
|
||||
* 0 | 1 | 0 | 3
|
||||
* 0 | 1 | 1 | 7.5
|
||||
* 1 | 0 | 0 | 15 (default)
|
||||
* 1 | 0 | 1 | 30
|
||||
* 1 | 1 | 0 | 75
|
||||
* 1 | 1 | 1 | Not Used
|
||||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Normal
|
||||
* 0 | 1 | Positive Bias
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Not Used
|
||||
*
|
||||
* CTRL_REGB: Control RegisterB
|
||||
* Read Write
|
||||
* Default value: 0x20
|
||||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||||
* | | | Range[Ga] | [LSB/mGa] |
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||||
* |Not recommended|
|
||||
*
|
||||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||||
*
|
||||
* _MODE_REG: Mode Register
|
||||
* Read Write
|
||||
* Default value: 0x02
|
||||
* 7:2 0 These bits must be cleared for correct operation.
|
||||
* 1:0 MD1-MD0: Mode Select Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Continuous-Conversion Mode.
|
||||
* 0 | 1 | Single-Conversion Mode
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
uint8_t CTRLA = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
const struct pios_hmc5x83_cfg *cfg = dev->cfg;
|
||||
|
||||
dev->CTRLB = 0;
|
||||
|
||||
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
|
||||
CTRLA |= cfg->TempCompensation ? PIOS_HMC5x83_CTRLA_TEMP : 0;
|
||||
dev->CTRLB |= (uint8_t)(cfg->Gain);
|
||||
MODE |= (uint8_t)(cfg->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// CRTL_REGB
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_B, dev->CTRLB) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Mode register
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_MODE_REG, MODE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[in] dev device handler
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return 0 for success or -1 for failure
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
dev->data_ready = false;
|
||||
uint8_t buffer[6];
|
||||
int32_t temp;
|
||||
int32_t sensitivity;
|
||||
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
switch (dev->CTRLB & 0xE0) {
|
||||
case 0x00:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_0_88Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_1_3Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_1_9Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_2_5Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_4_0Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_4_7Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_5_6Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_8_1Ga;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / sensitivity;
|
||||
out[i] = temp;
|
||||
}
|
||||
// Data reads out as X,Z,Y
|
||||
temp = out[2];
|
||||
out[2] = out[1];
|
||||
out[1] = temp;
|
||||
|
||||
// This should not be necessary but for some reason it is coming out of continuous conversion mode
|
||||
dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the HMC5x83 sensor
|
||||
* \param[out] uint8_t array of size 4 to store HMC5x83 ID.
|
||||
* \return 0 if successful, -1 if not
|
||||
*/
|
||||
uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4])
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t retval = dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3);
|
||||
|
||||
out[3] = '\0';
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tells whether new magnetometer readings are available
|
||||
* \return true if new data is available
|
||||
* \return false if new data is not available
|
||||
*/
|
||||
bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
return dev->data_ready;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation. Do not call this during operational use!!
|
||||
* \return 0 if success, -1 if test failed
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
int32_t failed = 0;
|
||||
uint8_t registers[3] = { 0, 0, 0 };
|
||||
uint8_t status;
|
||||
uint8_t ctrl_a_read;
|
||||
uint8_t ctrl_b_read;
|
||||
uint8_t mode_read;
|
||||
int16_t values[3];
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
/* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */
|
||||
char id[4];
|
||||
|
||||
PIOS_HMC5x83_ReadID(handler, (uint8_t *)id);
|
||||
if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Backup existing configuration */
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, registers, 3) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Stop the device and read out last value */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_IDLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Put HMC5x83 into self test mode
|
||||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||||
* and then placing the mode register into single-measurement mode. This causes the HMC5x83
|
||||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||||
*
|
||||
* If gain were PIOS_HMC5x83_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||||
*
|
||||
* Changing measurement config back to PIOS_HMC5x83_MEASCONF_NORMAL will leave self-test mode.
|
||||
*/
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, PIOS_HMC5x83_MEASCONF_BIAS_POS | PIOS_HMC5x83_ODR_15) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, PIOS_HMC5x83_GAIN_8_1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_SINGLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Must wait for value to be updated */
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, &ctrl_a_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_B, &ctrl_b_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_MODE_REG, &mode_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1);
|
||||
|
||||
|
||||
/* Restore backup configuration */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, registers[0]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, registers[1]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, registers[2]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return failed;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
dev->data_ready = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPI
|
||||
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
|
||||
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER = {
|
||||
.Read = PIOS_HMC5x83_SPI_Read,
|
||||
.Write = PIOS_HMC5x83_SPI_Write,
|
||||
};
|
||||
|
||||
static int32_t pios_hmc5x83_spi_claim_bus(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
if (PIOS_SPI_ClaimBus(dev->port_id) < 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void pios_hmc5x83_spi_release_bus(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 1);
|
||||
PIOS_SPI_ReleaseBus(dev->port_id);
|
||||
}
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5x83 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
memset(buffer, 0xA5, len);
|
||||
PIOS_SPI_TransferByte(dev->port_id, address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG);
|
||||
|
||||
// buffer[0] = address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG;
|
||||
/* Copy the transfer data to the buffer */
|
||||
if (PIOS_SPI_TransferBlock(dev->port_id, NULL, buffer, len, NULL) < 0) {
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return -3;
|
||||
}
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5x83
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim spi device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
|
||||
return -1;
|
||||
}
|
||||
uint8_t data[] = {
|
||||
address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG,
|
||||
buffer,
|
||||
};
|
||||
|
||||
if (PIOS_SPI_TransferBlock(dev->port_id, data, NULL, sizeof(data), NULL) < 0) {
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return -2;
|
||||
}
|
||||
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return 0;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
#ifdef PIOS_INCLUDE_I2C
|
||||
|
||||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
|
||||
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = {
|
||||
.Read = PIOS_HMC5x83_I2C_Read,
|
||||
.Write = PIOS_HMC5x83_I2C_Write,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5x83 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5x83
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
;
|
||||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
|
||||
#endif /* PIOS_INCLUDE_HMC5x83 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -40,29 +40,37 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_ST,
|
||||
.expect_memorytype = 0x20,
|
||||
.expect_capacity = 0x15,
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // m25px16
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_ST,
|
||||
.expect_memorytype = 0x71,
|
||||
.expect_capacity = 0x15,
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // w25x
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
|
||||
.expect_memorytype = 0x30,
|
||||
.expect_capacity = 0x13,
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60,
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // 25q16
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
|
||||
.expect_memorytype = 0x40,
|
||||
.expect_capacity = 0x15,
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60,
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
}
|
||||
};
|
||||
const uint32_t pios_flash_jedec_catalog_size = NELEMENTS(pios_flash_jedec_catalog);
|
||||
|
@ -40,11 +40,13 @@ extern const struct pios_flash_driver pios_jedec_flash_driver;
|
||||
#define JEDEC_MANUFACTURER_WINBOND 0xEF
|
||||
|
||||
struct pios_flash_jedec_cfg {
|
||||
uint8_t expect_manufacturer;
|
||||
uint8_t expect_memorytype;
|
||||
uint8_t expect_capacity;
|
||||
uint32_t sector_erase;
|
||||
uint32_t chip_erase;
|
||||
uint8_t expect_manufacturer;
|
||||
uint8_t expect_memorytype;
|
||||
uint8_t expect_capacity;
|
||||
uint8_t sector_erase;
|
||||
uint8_t chip_erase;
|
||||
uint8_t fast_read;
|
||||
uint8_t fast_read_dummy_bytes;
|
||||
};
|
||||
|
||||
int32_t PIOS_Flash_Jedec_Init(uintptr_t *flash_id, uint32_t spi_id, uint32_t slave_num);
|
||||
|
@ -1,116 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5883.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5883 functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_HMC5883_H
|
||||
#define PIOS_HMC5883_H
|
||||
|
||||
/* HMC5883 Addresses */
|
||||
#define PIOS_HMC5883_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5883_I2C_READ_ADDR 0x3D
|
||||
#define PIOS_HMC5883_I2C_WRITE_ADDR 0x3C
|
||||
#define PIOS_HMC5883_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5883_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5883_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5883_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5883_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5883_DATAOUT_ZMSB_REG 0x05
|
||||
#define PIOS_HMC5883_DATAOUT_ZLSB_REG 0x06
|
||||
#define PIOS_HMC5883_DATAOUT_YMSB_REG 0x07
|
||||
#define PIOS_HMC5883_DATAOUT_YLSB_REG 0x08
|
||||
#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5883_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5883_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5883_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5883_ODR_0_75 0x00
|
||||
#define PIOS_HMC5883_ODR_1_5 0x04
|
||||
#define PIOS_HMC5883_ODR_3 0x08
|
||||
#define PIOS_HMC5883_ODR_7_5 0x0C
|
||||
#define PIOS_HMC5883_ODR_15 0x10
|
||||
#define PIOS_HMC5883_ODR_30 0x14
|
||||
#define PIOS_HMC5883_ODR_75 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5883_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5883_GAIN_0_88 0x00
|
||||
#define PIOS_HMC5883_GAIN_1_3 0x20
|
||||
#define PIOS_HMC5883_GAIN_1_9 0x40
|
||||
#define PIOS_HMC5883_GAIN_2_5 0x60
|
||||
#define PIOS_HMC5883_GAIN_4_0 0x80
|
||||
#define PIOS_HMC5883_GAIN_4_7 0xA0
|
||||
#define PIOS_HMC5883_GAIN_5_6 0xC0
|
||||
#define PIOS_HMC5883_GAIN_8_1 0xE0
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5883_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5883_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5883_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5883_MODE_SLEEP 0x03
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_3Ga 1090 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_9Ga 820 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_2_5Ga 660 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_0Ga 440 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_7Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_5_6Ga 330 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
|
||||
struct pios_hmc5883_cfg {
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
|
||||
#endif
|
||||
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
|
||||
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Mode;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg);
|
||||
extern bool PIOS_HMC5883_NewDataAvailable(void);
|
||||
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
|
||||
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5883_Test(void);
|
||||
extern bool PIOS_HMC5883_IRQHandler();
|
||||
|
||||
#endif /* PIOS_HMC5883_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
137
flight/pios/inc/pios_hmc5x83.h
Normal file
137
flight/pios/inc/pios_hmc5x83.h
Normal file
@ -0,0 +1,137 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5x83 HMC5x83 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5x83.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5x83 functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_HMC5x83_H
|
||||
#define PIOS_HMC5x83_H
|
||||
#include <stdint.h>
|
||||
/* HMC5x83 Addresses */
|
||||
#define PIOS_HMC5x83_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
|
||||
#define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C
|
||||
|
||||
#define PIOS_HMC5x83_SPI_READ_FLAG 0x80
|
||||
#define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40
|
||||
#define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5x83_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05
|
||||
#define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06
|
||||
#define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07
|
||||
#define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08
|
||||
#define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5x83_ODR_0_75 0x00
|
||||
#define PIOS_HMC5x83_ODR_1_5 0x04
|
||||
#define PIOS_HMC5x83_ODR_3 0x08
|
||||
#define PIOS_HMC5x83_ODR_7_5 0x0C
|
||||
#define PIOS_HMC5x83_ODR_15 0x10
|
||||
#define PIOS_HMC5x83_ODR_30 0x14
|
||||
#define PIOS_HMC5x83_ODR_75 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5x83_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5x83_GAIN_0_88 0x00
|
||||
#define PIOS_HMC5x83_GAIN_1_3 0x20
|
||||
#define PIOS_HMC5x83_GAIN_1_9 0x40
|
||||
#define PIOS_HMC5x83_GAIN_2_5 0x60
|
||||
#define PIOS_HMC5x83_GAIN_4_0 0x80
|
||||
#define PIOS_HMC5x83_GAIN_4_7 0xA0
|
||||
#define PIOS_HMC5x83_GAIN_5_6 0xC0
|
||||
#define PIOS_HMC5x83_GAIN_8_1 0xE0
|
||||
|
||||
#define PIOS_HMC5x83_CTRLA_TEMP 0x40
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5x83_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5x83_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5x83_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5x83_MODE_SLEEP 0x03
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
typedef uintptr_t pios_hmc5x83_dev_t;
|
||||
|
||||
struct pios_hmc5x83_io_driver {
|
||||
int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
};
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPI
|
||||
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_I2C
|
||||
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
|
||||
#endif
|
||||
|
||||
struct pios_hmc5x83_cfg {
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
|
||||
#endif
|
||||
uint8_t M_ODR; // OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Meas_Conf; // Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
|
||||
uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Mode;
|
||||
bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
|
||||
const struct pios_hmc5x83_io_driver *Driver;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
|
||||
extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
|
||||
extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
|
||||
extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
|
||||
extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
|
||||
|
||||
#endif /* PIOS_HMC5x83_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -40,6 +40,7 @@
|
||||
#define M_2_SQRTPI_F 1.12837916709551257389615890312f /* 2/sqrt(pi) */
|
||||
#define M_1_PI_F 0.31830988618379067153776752675f /* 1/pi */
|
||||
#define M_2_PI_F 0.63661977236758134307553505349f /* 2/pi */
|
||||
#define M_2PI_F 6.28318530717958647692528676656f /* 2pi */
|
||||
#define M_LN10_F 2.30258509299404568401799145468f /* ln(10) */
|
||||
#define M_LN2_F 0.69314718055994530941723212146f /* ln(2) */
|
||||
#define M_LNPI_F 1.14472988584940017414342735135f /* ln(pi) */
|
||||
@ -54,6 +55,7 @@
|
||||
#define M_PI_D 3.14159265358979323846264338328d /* pi */
|
||||
#define M_PI_2_D 1.57079632679489661923132169164d /* pi/2 */
|
||||
#define M_PI_4_D 0.78539816339744830961566084582d /* pi/4 */
|
||||
#define M_2PI_D 6.28318530717958647692528676656d /* 2pi */
|
||||
#define M_SQRTPI_D 1.77245385090551602729816748334d /* sqrt(pi) */
|
||||
#define M_2_SQRTPI_D 1.12837916709551257389615890312d /* 2/sqrt(pi) */
|
||||
#define M_1_PI_D 0.31830988618379067153776752675d /* 1/pi */
|
||||
|
@ -204,10 +204,10 @@
|
||||
#include <pios_hmc5843.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5883
|
||||
/* HMC5883 3-Axis Digital Compass */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#include <pios_hmc5883.h>
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
/* HMC5883/HMC5983 3-Axis Digital Compass */
|
||||
/* #define PIOS_HMC5x83_HAS_GPIOS */
|
||||
#include <pios_hmc5x83.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_BMP085
|
||||
|
@ -585,6 +585,9 @@ static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer
|
||||
|
||||
/* Wait until all bytes have been transmitted/received */
|
||||
while (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) {
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
vTaskDelay(0);
|
||||
#endif
|
||||
;
|
||||
}
|
||||
|
||||
|
@ -84,7 +84,7 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_INCLUDE_HMC5X83 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
|
@ -84,8 +84,8 @@
|
||||
// #define PIOS_INCLUDE_MPU6000
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
// #define PIOS_INCLUDE_HMC5883
|
||||
// #define PIOS_HMC5883_HAS_GPIOS
|
||||
// #define PIOS_INCLUDE_HMC5X83
|
||||
// #define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
// #define PIOS_INCLUDE_MS5611
|
||||
// #define PIOS_INCLUDE_MPXV
|
||||
|
@ -90,10 +90,10 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#include "pios_hmc5x83.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5x83_IRQHandler,
|
||||
.line = EXTI_Line7,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -123,14 +123,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -929,8 +930,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
@ -81,7 +81,7 @@
|
||||
/* #define PIOS_INCLUDE_MPU6000 */
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_INCLUDE_HMC5X83 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
|
@ -81,8 +81,8 @@
|
||||
/* #define PIOS_INCLUDE_MPU6000 */
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
/* #define PIOS_HMC5X83_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
|
@ -84,8 +84,8 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
|
@ -57,6 +57,7 @@
|
||||
*/
|
||||
|
||||
#if defined(PIOS_INCLUDE_ADC)
|
||||
|
||||
#include "pios_adc_priv.h"
|
||||
void PIOS_ADC_DMC_irq_handler(void);
|
||||
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
|
||||
@ -91,10 +92,16 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#include "pios_hmc5x83.h"
|
||||
pios_hmc5x83_dev_t onboard_mag = 0;
|
||||
|
||||
bool pios_board_internal_mag_handler()
|
||||
{
|
||||
return PIOS_HMC5x83_IRQHandler(onboard_mag);
|
||||
}
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = pios_board_internal_mag_handler,
|
||||
.line = EXTI_Line7,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -124,14 +131,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -944,8 +952,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
@ -81,8 +81,8 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
|
@ -81,10 +81,16 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
pios_hmc5x83_dev_t onboard_mag = 0;
|
||||
|
||||
bool pios_board_internal_mag_handler()
|
||||
{
|
||||
return PIOS_HMC5x83_IRQHandler(onboard_mag);
|
||||
}
|
||||
#include "pios_hmc5x83.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = pios_board_internal_mag_handler,
|
||||
.line = EXTI_Line5,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -114,14 +120,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -938,8 +945,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
@ -100,6 +100,7 @@ SRC += $(FLIGHTLIB)/sanitycheck.c
|
||||
SRC += $(MATHLIB)/sin_lookup.c
|
||||
SRC += $(MATHLIB)/pid.c
|
||||
SRC += $(MATHLIB)/mathmisc.c
|
||||
SRC += $(MATHLIB)/butterworth.c
|
||||
|
||||
SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
|
||||
|
@ -63,7 +63,7 @@
|
||||
|
||||
/* Select the sensors to include */
|
||||
// #define PIOS_INCLUDE_BMA180
|
||||
// #define PIOS_INCLUDE_HMC5883
|
||||
// #define PIOS_INCLUDE_HMC5X83
|
||||
// #define PIOS_INCLUDE_MPU6000
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
// #define PIOS_INCLUDE_L3GD20
|
||||
|
@ -55,9 +55,9 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
|
||||
connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
|
||||
|
||||
connect(m_txpid->PID1, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
|
||||
connect(m_txpid->PID2, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
|
||||
connect(m_txpid->PID3, SIGNAL(currentTextChanged(QString)), this, SLOT(updateSpinBoxProperties(const QString &)));
|
||||
connect(m_txpid->PID1, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
||||
connect(m_txpid->PID2, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
||||
connect(m_txpid->PID3, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSpinBoxProperties(int)));
|
||||
|
||||
addWidgetBinding("TxPIDSettings", "BankNumber", m_txpid->pidBank, 0, 1, true);
|
||||
|
||||
@ -101,102 +101,174 @@ ConfigTxPIDWidget::~ConfigTxPIDWidget()
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
static bool isResponsivenessOption(const QString & pidOption)
|
||||
static bool isResponsivenessOption(int pidOption)
|
||||
{
|
||||
return pidOption.endsWith(".Resp");
|
||||
switch (pidOption) {
|
||||
case TxPIDSettings::PIDS_ROLLRATERESP:
|
||||
case TxPIDSettings::PIDS_PITCHRATERESP:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATERESP:
|
||||
case TxPIDSettings::PIDS_YAWRATERESP:
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
||||
return true;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
static bool isAttitudeOption(const QString & pidOption)
|
||||
static bool isAttitudeOption(int pidOption)
|
||||
{
|
||||
return pidOption.contains("Attitude");
|
||||
switch (pidOption) {
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEKP:
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEKP:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKP:
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEKP:
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEKI:
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEKI:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKI:
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEKI:
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEILIMIT:
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEILIMIT:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEILIMIT:
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEILIMIT:
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
||||
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
||||
return true;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
template <class StabilizationSettingsBankX>
|
||||
static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, const QString & pidOption)
|
||||
static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, int pidOption)
|
||||
{
|
||||
if (pidOption == "Disabled") {
|
||||
switch (pidOption) {
|
||||
case TxPIDSettings::PIDS_DISABLED:
|
||||
return 0.0f;
|
||||
} else if (pidOption == "Roll Rate.Kp") {
|
||||
return bank->getRollRatePID_Kp();
|
||||
} else if (pidOption == "Pitch Rate.Kp") {
|
||||
return bank->getPitchRatePID_Kp();
|
||||
} else if (pidOption == "Roll+Pitch Rate.Kp") {
|
||||
return bank->getRollRatePID_Kp();
|
||||
} else if (pidOption == "Yaw Rate.Kp") {
|
||||
return bank->getYawRatePID_Kp();
|
||||
} else if (pidOption == "Roll Rate.Ki") {
|
||||
return bank->getRollRatePID_Ki();
|
||||
} else if (pidOption == "Pitch Rate.Ki") {
|
||||
return bank->getPitchRatePID_Ki();
|
||||
} else if (pidOption == "Roll+Pitch Rate.Ki") {
|
||||
return bank->getRollRatePID_Ki();
|
||||
} else if (pidOption == "Yaw Rate.Ki") {
|
||||
return bank->getYawRatePID_Ki();
|
||||
} else if (pidOption == "Roll Rate.Kd") {
|
||||
return bank->getRollRatePID_Kd();
|
||||
} else if (pidOption == "Pitch Rate.Kd") {
|
||||
return bank->getPitchRatePID_Kd();
|
||||
} else if (pidOption == "Roll+Pitch Rate.Kd") {
|
||||
return bank->getRollRatePID_Kd();
|
||||
} else if (pidOption == "Yaw Rate.Kd") {
|
||||
return bank->getYawRatePID_Kd();
|
||||
} else if (pidOption == "Roll Rate.ILimit") {
|
||||
return bank->getRollRatePID_ILimit();
|
||||
} else if (pidOption == "Pitch Rate.ILimit") {
|
||||
return bank->getPitchRatePID_ILimit();
|
||||
} else if (pidOption == "Roll+Pitch Rate.ILimit") {
|
||||
return bank->getRollRatePID_ILimit();
|
||||
} else if (pidOption == "Yaw Rate.ILimit") {
|
||||
return bank->getYawRatePID_ILimit();
|
||||
} else if (pidOption == "Roll Rate.Resp") {
|
||||
return bank->getManualRate_Roll();
|
||||
} else if (pidOption == "Pitch Rate.Resp") {
|
||||
return bank->getManualRate_Pitch();
|
||||
} else if (pidOption == "Roll+Pitch Rate.Resp") {
|
||||
return bank->getManualRate_Roll();
|
||||
} else if (pidOption == "Yaw Rate.Resp") {
|
||||
return bank->getManualRate_Yaw();
|
||||
} else if (pidOption == "Roll Attitude.Kp") {
|
||||
return bank->getRollPI_Kp();
|
||||
} else if (pidOption == "Pitch Attitude.Kp") {
|
||||
return bank->getPitchPI_Kp();
|
||||
} else if (pidOption == "Roll+Pitch Attitude.Kp") {
|
||||
return bank->getRollPI_Kp();
|
||||
} else if (pidOption == "Yaw Attitude.Kp") {
|
||||
return bank->getYawPI_Kp();
|
||||
} else if (pidOption == "Roll Attitude.Ki") {
|
||||
return bank->getRollPI_Ki();
|
||||
} else if (pidOption == "Pitch Attitude.Ki") {
|
||||
return bank->getPitchPI_Ki();
|
||||
} else if (pidOption == "Roll+Pitch Attitude.Ki") {
|
||||
return bank->getRollPI_Ki();
|
||||
} else if (pidOption == "Yaw Attitude.Ki") {
|
||||
return bank->getYawPI_Ki();
|
||||
} else if (pidOption == "Roll Attitude.ILimit") {
|
||||
return bank->getRollPI_ILimit();
|
||||
} else if (pidOption == "Pitch Attitude.ILimit") {
|
||||
return bank->getPitchPI_ILimit();
|
||||
} else if (pidOption == "Roll+Pitch Attitude.ILimit") {
|
||||
return bank->getRollPI_ILimit();
|
||||
} else if (pidOption == "Yaw Attitude.ILimit") {
|
||||
return bank->getYawPI_ILimit();
|
||||
} else if (pidOption == "Roll Attitude.Resp") {
|
||||
return (float)bank->getRollMax();
|
||||
} else if (pidOption == "Pitch Attitude.Resp") {
|
||||
return (float)bank->getPitchMax();
|
||||
} else if (pidOption == "Roll+Pitch Attitude.Resp") {
|
||||
return (float)bank->getRollMax();
|
||||
} else if (pidOption == "Yaw Attitude.Resp") {
|
||||
return bank->getYawMax();
|
||||
}
|
||||
|
||||
qDebug() << "getDefaultValueForOption: Incorrect PID option" << pidOption;
|
||||
return 0.0f;
|
||||
case TxPIDSettings::PIDS_ROLLRATEKP:
|
||||
return bank->getRollRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATEKP:
|
||||
return bank->getPitchRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
|
||||
return bank->getRollRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWRATEKP:
|
||||
return bank->getYawRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLRATEKI:
|
||||
return bank->getRollRatePID_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATEKI:
|
||||
return bank->getPitchRatePID_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATEKI:
|
||||
return bank->getRollRatePID_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWRATEKI:
|
||||
return bank->getYawRatePID_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLRATEKD:
|
||||
return bank->getRollRatePID_Kd();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATEKD:
|
||||
return bank->getPitchRatePID_Kd();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATEKD:
|
||||
return bank->getRollRatePID_Kd();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWRATEKD:
|
||||
return bank->getYawRatePID_Kd();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLRATEILIMIT:
|
||||
return bank->getRollRatePID_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATEILIMIT:
|
||||
return bank->getPitchRatePID_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATEILIMIT:
|
||||
return bank->getRollRatePID_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWRATEILIMIT:
|
||||
return bank->getYawRatePID_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLRATERESP:
|
||||
return bank->getManualRate_Roll();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATERESP:
|
||||
return bank->getManualRate_Pitch();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATERESP:
|
||||
return bank->getManualRate_Roll();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWRATERESP:
|
||||
return bank->getManualRate_Yaw();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEKP:
|
||||
return bank->getRollPI_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEKP:
|
||||
return bank->getPitchPI_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKP:
|
||||
return bank->getRollPI_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEKP:
|
||||
return bank->getYawPI_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEKI:
|
||||
return bank->getRollPI_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEKI:
|
||||
return bank->getPitchPI_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEKI:
|
||||
return bank->getRollPI_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEKI:
|
||||
return bank->getYawPI_Ki();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDEILIMIT:
|
||||
return bank->getRollPI_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDEILIMIT:
|
||||
return bank->getPitchPI_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDEILIMIT:
|
||||
return bank->getRollPI_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWATTITUDEILIMIT:
|
||||
return bank->getYawPI_ILimit();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLATTITUDERESP:
|
||||
return (float)bank->getRollMax();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHATTITUDERESP:
|
||||
return (float)bank->getPitchMax();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHATTITUDERESP:
|
||||
return (float)bank->getRollMax();
|
||||
|
||||
case TxPIDSettings::PIDS_YAWATTITUDERESP:
|
||||
return bank->getYawMax();
|
||||
|
||||
default:
|
||||
qDebug() << "getDefaultValueForOption: Incorrect PID option" << pidOption;
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
float ConfigTxPIDWidget::getDefaultValueForPidOption(const QString & pidOption)
|
||||
float ConfigTxPIDWidget::getDefaultValueForPidOption(int pidOption)
|
||||
{
|
||||
if (pidOption == "GyroTau") {
|
||||
if (pidOption == TxPIDSettings::PIDS_GYROTAU) {
|
||||
StabilizationSettings *stab = qobject_cast<StabilizationSettings *>(getObject(QString("StabilizationSettings")));
|
||||
return stab->getGyroTau();
|
||||
}
|
||||
@ -218,7 +290,7 @@ float ConfigTxPIDWidget::getDefaultValueForPidOption(const QString & pidOption)
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigTxPIDWidget::updateSpinBoxProperties(const QString & selectedPidOption)
|
||||
void ConfigTxPIDWidget::updateSpinBoxProperties(int selectedPidOption)
|
||||
{
|
||||
QObject *PIDx = sender();
|
||||
|
||||
|
@ -40,8 +40,8 @@ private:
|
||||
Ui_TxPIDWidget *m_txpid;
|
||||
|
||||
private slots:
|
||||
void updateSpinBoxProperties(const QString & selectedPidOption);
|
||||
float getDefaultValueForPidOption(const QString & pidOption);
|
||||
void updateSpinBoxProperties(int selectedPidOption);
|
||||
float getDefaultValueForPidOption(int pidOption);
|
||||
void refreshValues();
|
||||
void applySettings();
|
||||
void saveSettings();
|
||||
|
@ -7,7 +7,7 @@ import org.openpilot 1.0
|
||||
import "functions.js" as Functions
|
||||
|
||||
Rectangle {
|
||||
width: 600
|
||||
width: 700
|
||||
height: 400
|
||||
id: root
|
||||
ColumnLayout {
|
||||
@ -59,11 +59,11 @@ Rectangle {
|
||||
delegate:
|
||||
Text {
|
||||
verticalAlignment: Text.AlignVCenter
|
||||
text: Functions.millisToTime(styleData.value)
|
||||
text: Functions.microsToTime(styleData.value)
|
||||
}
|
||||
}
|
||||
TableViewColumn {
|
||||
role: "Type"; title: "Type"; width: 60;
|
||||
role: "Type"; title: "Type"; width: 50;
|
||||
delegate:
|
||||
Text {
|
||||
verticalAlignment: Text.AlignVCenter
|
||||
@ -72,6 +72,7 @@ Rectangle {
|
||||
case 0 : text: qsTr("Empty"); break;
|
||||
case 1 : text: qsTr("Text"); break;
|
||||
case 2 : text: qsTr("UAVO"); break;
|
||||
case 3 : text: qsTr("UAVO(P)"); break;
|
||||
default: text: qsTr("Unknown"); break;
|
||||
}
|
||||
}
|
||||
@ -93,12 +94,16 @@ Rectangle {
|
||||
spacing: 10
|
||||
Text {
|
||||
id: totalFlights
|
||||
text: "<b>" + qsTr("Flights recorded: ") + "</b>" + (logStatus.Flight + 1)
|
||||
text: "<b>" + qsTr("Flights recorded:") + "</b> " + (logStatus.Flight + 1)
|
||||
}
|
||||
Text {
|
||||
id: totalSlots
|
||||
text: "<b>" + qsTr("Slots used/free:") + "</b> " +
|
||||
logStatus.UsedSlots + "/" + logStatus.FreeSlots
|
||||
}
|
||||
Text {
|
||||
id: totalEntries
|
||||
text: "<b>" + qsTr("Entries logged (free): ") + "</b>" +
|
||||
logStatus.UsedSlots + " (" + logStatus.FreeSlots + ")"
|
||||
text: "<b>" + qsTr("Entries downloaded:") + "</b> " + logManager.logEntriesCount
|
||||
}
|
||||
Rectangle {
|
||||
Layout.fillHeight: true
|
||||
|
@ -205,21 +205,47 @@ void FlightLogManager::retrieveLogs(int flightToRetrieve)
|
||||
for (int flight = startFlight; flight <= endFlight; flight++) {
|
||||
m_flightLogControl->setFlight(flight);
|
||||
bool gotLast = false;
|
||||
int entry = 0;
|
||||
int slot = 0;
|
||||
while (!gotLast) {
|
||||
// Send request for loading flight entry on flight side and wait for ack/nack
|
||||
m_flightLogControl->setEntry(entry);
|
||||
m_flightLogControl->setEntry(slot);
|
||||
|
||||
if (updateHelper.doObjectAndWait(m_flightLogControl, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS &&
|
||||
requestHelper.doObjectAndWait(m_flightLogEntry, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS) {
|
||||
if (m_flightLogEntry->getType() != DebugLogEntry::TYPE_EMPTY) {
|
||||
// Ok, we retrieved the entry, and it was the correct one. clone it and add it to the list
|
||||
ExtendedDebugLogEntry *logEntry = new ExtendedDebugLogEntry();
|
||||
|
||||
logEntry->setData(m_flightLogEntry->getData(), m_objectManager);
|
||||
m_logEntries << logEntry;
|
||||
if (logEntry->getData().Type == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
const quint32 total_len = sizeof(DebugLogEntry::DataFields);
|
||||
const quint32 data_len = sizeof(((DebugLogEntry::DataFields *)0)->Data);
|
||||
const quint32 header_len = total_len - data_len;
|
||||
|
||||
DebugLogEntry::DataFields fields;
|
||||
quint32 start = logEntry->getData().Size;
|
||||
|
||||
// cycle until there is space for another object
|
||||
while (start + header_len + 1 < data_len) {
|
||||
memset(&fields, 0xFF, total_len);
|
||||
memcpy(&fields, &logEntry->getData().Data[start], header_len);
|
||||
// check wether a packed object is found
|
||||
// note that empty data blocks are set as 0xFF in flight side to minimize flash wearing
|
||||
// thus as soon as this read outside of used area, the test will fail as lenght would be 0xFFFF
|
||||
quint32 toread = header_len + fields.Size;
|
||||
if (!(toread + start > data_len)) {
|
||||
memcpy(&fields, &logEntry->getData().Data[start], toread);
|
||||
ExtendedDebugLogEntry *subEntry = new ExtendedDebugLogEntry();
|
||||
subEntry->setData(fields, m_objectManager);
|
||||
m_logEntries << subEntry;
|
||||
}
|
||||
start += toread;
|
||||
}
|
||||
}
|
||||
|
||||
// Increment to get next entry from flight side
|
||||
entry++;
|
||||
slot++;
|
||||
} else {
|
||||
// We are done, not more entries on this flight
|
||||
gotLast = true;
|
||||
@ -280,7 +306,7 @@ void FlightLogManager::exportToOPL(QString fileName)
|
||||
ExtendedDebugLogEntry *entry = m_logEntries[currentEntry];
|
||||
|
||||
// Only log uavobjects
|
||||
if (entry->getType() == ExtendedDebugLogEntry::TYPE_UAVOBJECT) {
|
||||
if (entry->getType() == ExtendedDebugLogEntry::TYPE_UAVOBJECT || entry->getType() == ExtendedDebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
// Set timestamp that should be logged for this entry
|
||||
logFile.setNextTimeStamp(entry->getFlightTime() - adjustedBaseTime);
|
||||
|
||||
@ -615,7 +641,7 @@ QString ExtendedDebugLogEntry::getLogString()
|
||||
{
|
||||
if (getType() == DebugLogEntry::TYPE_TEXT) {
|
||||
return QString((const char *)getData().Data);
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) {
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
return m_object->toString().replace("\n", " ").replace("\t", " ");
|
||||
} else {
|
||||
return "";
|
||||
@ -631,7 +657,7 @@ void ExtendedDebugLogEntry::toXML(QXmlStreamWriter *xmlWriter, quint32 baseTime)
|
||||
if (getType() == DebugLogEntry::TYPE_TEXT) {
|
||||
xmlWriter->writeAttribute("type", "text");
|
||||
xmlWriter->writeTextElement("message", QString((const char *)getData().Data));
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) {
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
xmlWriter->writeAttribute("type", "uavobject");
|
||||
m_object->toXML(xmlWriter);
|
||||
}
|
||||
@ -644,7 +670,7 @@ void ExtendedDebugLogEntry::toCSV(QTextStream *csvStream, quint32 baseTime)
|
||||
|
||||
if (getType() == DebugLogEntry::TYPE_TEXT) {
|
||||
data = QString((const char *)getData().Data);
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) {
|
||||
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
data = m_object->toString().replace("\n", "").replace("\t", "");
|
||||
}
|
||||
*csvStream << QString::number(getFlight() + 1) << '\t' << QString::number(getFlightTime() - baseTime) << '\t' << QString::number(getEntry()) << '\t' << data << '\n';
|
||||
@ -654,7 +680,7 @@ void ExtendedDebugLogEntry::setData(const DebugLogEntry::DataFields &data, UAVOb
|
||||
{
|
||||
DebugLogEntry::setData(data);
|
||||
|
||||
if (getType() == DebugLogEntry::TYPE_UAVOBJECT) {
|
||||
if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
|
||||
UAVDataObject *object = (UAVDataObject *)objectManager->getObject(getObjectID(), getInstanceID());
|
||||
Q_ASSERT(object);
|
||||
m_object = object->clone(getInstanceID());
|
||||
|
@ -94,6 +94,10 @@ public slots:
|
||||
setDirty(true);
|
||||
if (m_setting != 1 && m_setting != 3) {
|
||||
setPeriod(0);
|
||||
} else {
|
||||
if (!period()) {
|
||||
setPeriod(500);
|
||||
}
|
||||
}
|
||||
emit settingChanged(setting);
|
||||
}
|
||||
@ -178,7 +182,7 @@ class FlightLogManager : public QObject {
|
||||
Q_PROPERTY(QStringList logSettings READ logSettings NOTIFY logSettingsChanged)
|
||||
Q_PROPERTY(QStringList logStatuses READ logStatuses NOTIFY logStatusesChanged)
|
||||
Q_PROPERTY(int loggingEnabled READ loggingEnabled WRITE setLoggingEnabled NOTIFY loggingEnabledChanged)
|
||||
|
||||
Q_PROPERTY(int logEntriesCount READ logEntriesCount NOTIFY logEntriesChanged)
|
||||
|
||||
public:
|
||||
explicit FlightLogManager(QObject *parent = 0);
|
||||
@ -240,7 +244,10 @@ public:
|
||||
{
|
||||
return m_loggingEnabled;
|
||||
}
|
||||
|
||||
int logEntriesCount()
|
||||
{
|
||||
return m_logEntries.count();
|
||||
}
|
||||
signals:
|
||||
void logEntriesChanged();
|
||||
void flightEntriesChanged();
|
||||
|
@ -11,6 +11,12 @@ function millisToTime(ms) {
|
||||
return pad(hours, 2) + ":" + pad(minutes, 2) + ":" + pad(seconds, 2) + ":" + pad(msleft, 3);
|
||||
}
|
||||
|
||||
|
||||
function microsToTime(us) {
|
||||
var ms = Math.floor(us / 1000);
|
||||
return millisToTime(ms);
|
||||
}
|
||||
|
||||
function pad(number, length) {
|
||||
var str = '' + number;
|
||||
while (str.length < length) {
|
||||
|
@ -64,7 +64,7 @@ SRC += $(PIOSCOMMON)/pios_etasv3.c
|
||||
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_hcsr04.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5843.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5x83.c
|
||||
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
|
||||
SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
||||
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
@ -109,6 +109,7 @@ SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(MATHLIB)/sin_lookup.c
|
||||
SRC += $(MATHLIB)/pid.c
|
||||
SRC += $(MATHLIB)/mathmisc.c
|
||||
SRC += $(MATHLIB)/butterworth.c
|
||||
SRC += $(FLIGHTLIB)/printf-stdarg.c
|
||||
|
||||
## Modules
|
||||
|
@ -5,7 +5,8 @@
|
||||
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
|
||||
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
|
||||
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="None"/>
|
||||
<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
|
||||
<field name="IMUBasedEstimationLowPassPeriod1" units="s" type="float" elements="1" defaultvalue="0.5" />
|
||||
<field name="IMUBasedEstimationLowPassPeriod2" units="s" type="float" elements="1" defaultvalue="10" />
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
@ -2,9 +2,9 @@
|
||||
<object name="DebugLogEntry" singleinstance="true" settings="false" category="System">
|
||||
<description>Log Entry in Flash</description>
|
||||
<field name="Flight" units="" type="uint16" elements="1" />
|
||||
<field name="FlightTime" units="ms" type="uint32" elements="1" />
|
||||
<field name="FlightTime" units="us" type="uint32" elements="1" />
|
||||
<field name="Entry" units="" type="uint16" elements="1" />
|
||||
<field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject" />
|
||||
<field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject, MultipleUAVObjects" />
|
||||
<field name="ObjectID" units="" type="uint32" elements="1"/>
|
||||
<field name="InstanceID" units="" type="uint16" elements="1"/>
|
||||
<field name="Size" units="" type="uint16" elements="1" />
|
||||
|
Loading…
x
Reference in New Issue
Block a user