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Work on the INS algorithm
This commit is contained in:
James Cotton
parent
7034a45e44
commit
55ee568fe2
@ -39,6 +39,8 @@
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* @{
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*/
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#define POS_SENSORS 0x007
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#define HORIZ_POS_SENSORS 0x003
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#define VER_POS_SENSORS 0x004
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#define HORIZ_SENSORS 0x018
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#define VERT_SENSORS 0x020
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#define MAG_SENSORS 0x1C0
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@ -62,6 +62,7 @@
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#include "baroaltitude.h"
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#include "flightstatus.h"
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#include "homelocation.h"
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#include "gpsposition.h"
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#include "CoordinateConversions.h"
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// Private constants
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@ -95,8 +96,6 @@ static float accelKp = 0;
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static float yawBiasRate = 0;
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static float gyroGain = 0.42;
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static int16_t accelbias[3];
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static float R[3][3];
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static int8_t rotate = 0;
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static bool zero_during_arming = false;
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@ -140,9 +139,9 @@ int32_t AttitudeInitialize(void)
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gyrosBias.z = 0;
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GyrosBiasSet(&gyrosBias);
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for(uint8_t i = 0; i < 3; i++)
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for(uint8_t j = 0; j < 3; j++)
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R[i][j] = 0;
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//for(uint8_t i = 0; i < 3; i++)
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// for(uint8_t j = 0; j < 3; j++)
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// R[i][j] = 0;
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AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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@ -197,7 +196,7 @@ static void AttitudeTask(void *parameters)
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while (1) {
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// This function blocks on data queue
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if(1)
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if(0)
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updateAttitudeComplimentary(first_run);
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else
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updateAttitudeINSGPS(first_run);
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@ -398,6 +397,9 @@ static int32_t updateAttitudeComplimentary(bool first_run)
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#include "insgps.h"
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int32_t ins_failed = 0;
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extern struct NavStruct Nav;
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bool outdoor_mode = false;
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int32_t init_stage = 0;
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static int32_t updateAttitudeINSGPS(bool first_run)
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{
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UAVObjEvent ev;
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@ -405,12 +407,25 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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AccelsData accelsData;
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MagnetometerData magData;
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BaroAltitudeData baroData;
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GPSPositionData gpsData;
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GyrosBiasData gyrosBias;
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static bool mag_updated;
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static bool baro_updated;
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static bool gps_updated;
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static uint32_t ins_last_time = 0;
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static bool inited;
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if (first_run)
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inited = false;
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float NED[3] = {0.0f, 0.0f, 0.0f};
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float vel[3] = {0.0f, 0.0f, 0.0f};
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float zeros[3] = {0.0f, 0.0f, 0.0f};
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// Perform the update
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uint16_t sensors = 0;
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float dT;
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inited = first_run ? false : inited;
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// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
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if ( (xQueueReceive(gyroQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) ||
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@ -420,69 +435,120 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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return -1;
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}
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// Get most recent data
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// TODO: Acquire all data in a queue
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GyrosGet(&gyrosData);
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AccelsGet(&accelsData);
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MagnetometerGet(&magData);
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BaroAltitudeGet(&baroData);
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bool mag_updated;
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bool baro_updated;
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bool gps_updated;
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if (inited) {
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mag_updated = 0;
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baro_updated = 0;
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gps_updated = 0;
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}
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mag_updated |= xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
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baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
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gps_updated |= xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
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gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
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if (!inited && (!mag_updated || !baro_updated || !gps_updated)) {
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// Get most recent data
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GyrosGet(&gyrosData);
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AccelsGet(&accelsData);
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MagnetometerGet(&magData);
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BaroAltitudeGet(&baroData);
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GPSPositionGet(&gpsData);
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// Have a minimum requirement for gps usage
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gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP >= 3.0f);
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if (!inited)
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
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else if (outdoor_mode && gpsData.Satellites < 7)
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
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else
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AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
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if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode)) {
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// Don't initialize until all sensors are read
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return -1;
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} else if (!inited ) {
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inited = true;
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float Rbe[3][3], q[4];
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float ge[3]={0.0f,0.0f,-9.81f};
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float zeros[3]={0.0f,0.0f,0.0f};
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if (init_stage == 0 && !outdoor_mode) {
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float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
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float vel[3], NED[3];
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float q[4];
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float var[3] = {500.0f, 500.0f, 500.0f};
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float pos[3] = {0.0f, 0.0f, 0.0f};
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pos[2] = baroData.Altitude * -1.0f;
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// Reset the INS algorithm
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INSGPSInit();
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var[0] = var[1] = var[2] = 5e-3f;
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INSSetMagVar(var);
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var[0] = var[1] = var[2] = 1.5e-5f;
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INSSetAccelVar(var);
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var[0] = var[1] = var[2] = 2.0e-4f;
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INSSetGyroVar(var);
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// Set initial attitude
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float rpy[3];
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rpy[0] = atan2f(accelsData.x, accelsData.z) * 180.0f / F_PI;
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rpy[1] = atan2f(accelsData.y, accelsData.z) * 180.0f / F_PI;
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rpy[2] = atan2f(magData.x, -magData.y) * 180.0f / F_PI;
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RPY2Quaternion(rpy,q);
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INSSetState(pos, zeros, q, zeros, zeros);
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INSResetP(Pdiag);
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} else if (init_stage == 0 && outdoor_mode) {
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float q[4], rpy[3];
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float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
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float NED[3];
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float var[3];
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// Reset the INS algorithm
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INSGPSInit();
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var[0] = var[1] = var[2] = 5e-3f;
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INSSetMagVar(var);
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var[0] = var[1] = var[2] = 1.5e-5f;
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INSSetAccelVar(var);
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var[0] = var[1] = var[2] = 2.0e-4f;
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INSSetGyroVar(var);
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HomeLocationData home;
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HomeLocationGet(&home);
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INSSetMagNorth(home.Be);
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GPSPositionData gpsPosition;
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GPSPositionGet(&gpsPosition);
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vel[0] = gpsPosition.Groundspeed * cosf(gpsPosition.Heading * F_PI / 180.0f);
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vel[1] = gpsPosition.Groundspeed * sinf(gpsPosition.Heading * F_PI / 180.0f);
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vel[2] = 0;
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// convert from cm back to meters
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float LLA[3] = {(float) gpsPosition.Latitude / 1e7f, (float) gpsPosition.Longitude / 1e7f, (float) (gpsPosition.GeoidSeparation + gpsPosition.Altitude)};
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float LLA[3] = {(float) gpsPosition.Latitude / 1e7f,
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(float) gpsPosition.Longitude / 1e7f,
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(float) (gpsPosition.GeoidSeparation + gpsPosition.Altitude)};
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// put in local NED frame
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float ECEF[3] = {(float) (home.ECEF[0] / 100.0f), (float) (home.ECEF[1] / 100.0f), (float) (home.ECEF[2] / 100.0f)};
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float ECEF[3] = {(float) (home.ECEF[0] / 100.0f),
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(float) (home.ECEF[1] / 100.0f),
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(float) (home.ECEF[2] / 100.0f)};
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LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, NED);
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RotFrom2Vectors(&accelsData.x, ge, &magData.x, home.Be, Rbe);
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R2Quaternion(Rbe,q);
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INSSetState(NED, vel, q, &gyrosData.x, zeros);
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INSSetGyroBias(&gyrosData.x);
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INSResetP(Pdiag);
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// Set initial attitude
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rpy[0] = atan2f(accelsData.x, accelsData.z) * 180.0f / F_PI;
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rpy[1] = atan2f(accelsData.y, accelsData.z) * 180.0f / F_PI;
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rpy[2] = atan2f(magData.x, -magData.y) * 180.0f / F_PI;
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RPY2Quaternion(rpy,q);
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ins_last_time = PIOS_DELAY_GetRaw();
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return 0;
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INSSetState(NED, zeros, q, zeros, zeros);
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INSResetP(Pdiag);
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} else if (init_stage > 0) {
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// Run prediction a bit before any corrections
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GyrosBiasGet(&gyrosBias);
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float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f,
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(gyrosData.y + gyrosBias.y) * F_PI / 180.0f,
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(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
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INSStatePrediction(gyros, &accelsData.x, 0.002f);
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}
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// Perform the update
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uint16_t sensors = 0;
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float dT;
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init_stage++;
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if(init_stage > 500)
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inited = true;
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ins_last_time = PIOS_DELAY_GetRaw();
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return -1;
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}
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if (!inited)
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return -1;
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dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
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ins_last_time = PIOS_DELAY_GetRaw();
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@ -493,10 +559,9 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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else if(dT <= 0.001f)
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dT = 0.001f;
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GyrosBiasData gyrosBias;
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// Because the sensor module remove the bias we need to add it
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// back in here so that the INS algorithm can track it correctly
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GyrosBiasGet(&gyrosBias);
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float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f,
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(gyrosData.y + gyrosBias.y) * F_PI / 180.0f,
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(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
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@ -523,17 +588,21 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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// Advance the covariance estimate
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INSCovariancePrediction(dT);
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if(mag_updated)
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sensors |= MAG_SENSORS;
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//if(mag_updated)
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// sensors |= MAG_SENSORS;
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if(baro_updated)
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sensors |= BARO_SENSOR;
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float NED[3] = {0,0,0};
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float vel[3] = {0,0,0};
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HomeLocationData home;
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HomeLocationGet(&home);
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if(gps_updated)
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INSSetMagNorth(home.Be);
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if(gps_updated && outdoor_mode)
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{
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sensors = HORIZ_SENSORS | VERT_SENSORS;
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INSSetPosVelVar(1.0f, 1.0f);
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sensors = POS_SENSORS; //HORIZ_SENSORS | VERT_SENSORS;
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GPSPositionData gpsPosition;
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GPSPositionGet(&gpsPosition);
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@ -541,20 +610,29 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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vel[1] = gpsPosition.Groundspeed * sinf(gpsPosition.Heading * F_PI / 180.0f);
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vel[2] = 0;
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HomeLocationData home;
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HomeLocationGet(&home);
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// convert from cm back to meters
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float LLA[3] = {(float) gpsPosition.Latitude / 1e7f, (float) gpsPosition.Longitude / 1e7f, (float) (gpsPosition.GeoidSeparation + gpsPosition.Altitude)};
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float LLA[3] = {(float) gpsPosition.Latitude / 1e7f,
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(float) gpsPosition.Longitude / 1e7f,
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(float) (gpsPosition.GeoidSeparation + gpsPosition.Altitude)};
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// put in local NED frame
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float ECEF[3] = {(float) (home.ECEF[0] / 100.0f), (float) (home.ECEF[1] / 100.0f), (float) (home.ECEF[2] / 100.0f)};
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float ECEF[3] = {(float) (home.ECEF[0] / 100.0f),
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(float) (home.ECEF[1] / 100.0f),
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(float) (home.ECEF[2] / 100.0f)};
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LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, NED);
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} else if (!outdoor_mode) {
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//INSSetPosVelVar(0.1f, 0.1f);
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vel[0] = vel[1] = vel[2] = 0;
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NED[0] = NED[1] = 0;
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NED[2] = baroData.Altitude;
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sensors |= HORIZ_POS_SENSORS;
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//sensors |= HORIZ_SENSORS | VERT_SENSORS | POS_SENSORS;
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}
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/*
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* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
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* although probably should occur within INS itself
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*/
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if (sensors)
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INSCorrection(&magData.x, NED, vel, baroData.Altitude, sensors);
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// Copy the position and velocity into the UAVO
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@ -572,7 +650,6 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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velocityActual.Down = Nav.Vel[2];
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VelocityActualSet(&velocityActual);
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if(fabs(Nav.gyro_bias[0]) > 0.1f || fabs(Nav.gyro_bias[1]) > 0.1f || fabs(Nav.gyro_bias[2]) > 0.1f) {
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float zeros[3] = {0.0f,0.0f,0.0f};
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INSSetGyroBias(zeros);
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@ -586,7 +663,6 @@ static void settingsUpdatedCb(UAVObjEvent * objEv)
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AttitudeSettingsData attitudeSettings;
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AttitudeSettingsGet(&attitudeSettings);
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accelKp = attitudeSettings.AccelKp;
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accelKi = attitudeSettings.AccelKi;
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yawBiasRate = attitudeSettings.YawBiasRate;
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@ -604,24 +680,6 @@ static void settingsUpdatedCb(UAVObjEvent * objEv)
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gyrosBias.y = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
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gyrosBias.z = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
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GyrosBiasSet(&gyrosBias);
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// Indicates not to expend cycles on rotation
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if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
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attitudeSettings.BoardRotation[2] == 0) {
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rotate = 0;
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// Shouldn't be used but to be safe
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float rotationQuat[4] = {1,0,0,0};
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Quaternion2R(rotationQuat, R);
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} else {
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float rotationQuat[4];
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const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
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RPY2Quaternion(rpy, rotationQuat);
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Quaternion2R(rotationQuat, R);
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rotate = 1;
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}
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}
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/**
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* @}
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@ -231,6 +231,17 @@ void MagCorrection(float mag_data[3])
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INSCorrection(mag_data, zeros, zeros, zeros[0], MAG_SENSORS);
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}
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void BaroCorrection(float baro)
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{
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INSCorrection(zeros, zeros, zeros, baro, BARO_SENSOR);
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}
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void GpsCorrection(float Pos[3], float Vel[3])
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{
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INSCorrection(zeros, Pos, Vel, zeros[0],
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POS_SENSORS); // | HORIZ_SENSORS | VERT_SENSORS);
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}
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void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt)
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{
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INSCorrection(mag_data, zeros, Vel, BaroAlt,
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@ -241,7 +252,7 @@ void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt)
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void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt)
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{
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INSCorrection(zeros, Pos, Vel, BaroAlt,
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HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
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POS_SENSORS | HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
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}
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void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
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@ -62,6 +62,8 @@ void INSSetMagVar(float scaled_mag_var[3]);
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void INSPosVelReset(float pos[3], float vel[3]);
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||||
|
||||
void MagCorrection(float mag_data[3]);
|
||||
void BaroCorrection(float baro);
|
||||
void GpsCorrection(float Pos[3], float Vel[3]);
|
||||
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
|
||||
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
|
||||
float BaroAlt);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user