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Merge branch 'andrecillo/OP-1317_IMU_wind_estimation' into corvuscorax/OP-1317_IMU_wind_estimation

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Corvus Corax 2014-07-26 17:01:03 +02:00
commit 5edb2dbae3
8 changed files with 216 additions and 48 deletions
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102
flight/libraries/math/butterworth.c Normal file
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@ -0,0 +1,102 @@
/**
******************************************************************************
* @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"
#define SQRT2 1.414213562f
/**
* 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 + SQRT2 * ita + ita * ita);
const float a1 = 2.0f * b0 * (ita * ita - 1.0f);
const float a2 = -b0 * (1.0f - SQRT2 * 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;
}

46
flight/libraries/math/butterworth.h Normal file
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@ -0,0 +1,46 @@
/**
******************************************************************************
* @addtogroup OpenPilot Math Utilities
* @{
* @addtogroup Butterworth low pass filter
* @{
*
* @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
*
*****************************************************************************/
/*
* 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 BUTTERWORTH_H
#define BUTTERWORTH_H
// Coefficients of second order Butterworth biquadratic filter in direct from 2
struct ButterWorthDF2Filter {
float b0;
float a1;
float a2;
};
// 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

2
flight/modules/Airspeed/airspeed.c
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@ -166,7 +166,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
if (!imuAirspeedInitialized) {
imuAirspeedInitialized = true;
imu_airspeedInitialize();
imu_airspeedInitialize(&airspeedSettings);
}
break;
}

106
flight/modules/Airspeed/imu_airspeed.c
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@ -37,18 +37,23 @@
#include "airspeedsettings.h"
#include "imu_airspeed.h"
#include "CoordinateConversions.h"
#include "butterworth.h"
#include <pios_math.h>
// Private constants
#define TWO_PI 6.283185308f
#define SQRT2 1.414213562f
#define EPS 1e-6f
#define EPS_REORIENTATION 1e-10f
#define EPS_VELOCITY 1.f
// Private types
// structure with smoothed fuselage orientation, ground speed and their changes in time
// 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;
@ -99,11 +104,11 @@ static void Quaternion2PY(const float q0, const float q1, const float q2, const
} else {
// calculate needed mutliples of 2pi to avoid jumps
// number of cycles accumulated in old yaw
const int cycles = (int)(*yPtr / TWO_PI);
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 int mod = (int)((y_ - (*yPtr - cycles * TWO_PI)) / (TWO_PI * 0.9f));
*yPtr = y_ + TWO_PI * (cycles - mod);
const int32_t mod = (int32_t)((y_ - (*yPtr - cycles * M_2PI_F)) / (M_2PI_F * 0.8f));
*yPtr = y_ + M_2PI_F * (cycles - mod);
}
}
@ -127,30 +132,16 @@ static void PY2DeltaxB(const float p, const float y, const float xB[3], float x[
}
// second order Butterworth filter with cut-off frequency ratio ff
// 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
float FilterButterWorthDF2(const float ff, const float xn, float *wn1Ptr, float *wn2Ptr)
{
const float ita = 1.0f / tanf(M_PI_F * ff);
const float b0 = 1.0f / (1.0f + SQRT2 * ita + Sq(ita));
const float a1 = 2.0f * b0 * (Sq(ita) - 1.0f);
const float a2 = -b0 * (1.0f - SQRT2 * ita + Sq(ita));
const float wn = xn + a1 * (*wn1Ptr) + a2 * (*wn2Ptr);
const float val = b0 * (wn + 2.0f * (*wn1Ptr) + (*wn2Ptr));
*wn2Ptr = *wn1Ptr;
*wn1Ptr = wn;
return val;
}
/*
* Initialize function loads first data sets, and allocates memory for structure.
*/
void imu_airspeedInitialize()
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));
@ -162,21 +153,30 @@ void imu_airspeedInitialize()
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));
imu->pn1 = imu->pn2 = imu->pOld;
imu->yn1 = imu->yn2 = imu->yOld;
imu->v1n1 = imu->v1n2 = imu->v1Old = velData.North;
imu->v2n1 = imu->v2n2 = imu->v2Old = velData.East;
imu->v3n1 = imu->v3n2 = imu->v3Old = velData.Down;
// 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->Vw1n1 = imu->Vw1n2 = 0.0f;
imu->Vw2n1 = imu->Vw2n2 = 0.0f;
imu->Vw3n1 = imu->Vw3n2 = 0.0f;
imu->Vw1 = imu->Vw2 = 0.0f;
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;
}
/*
@ -196,13 +196,29 @@ void imu_airspeedInitialize()
* 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, AirspeedSettingsData *airspeedSettings)
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;
@ -222,17 +238,17 @@ void imu_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
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(ff, p, &(imu->pn1), &(imu->pn2));
y = FilterButterWorthDF2(ff, y, &(imu->yn1), &(imu->yn2));
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(ff, velData.North, &(imu->v1n1), &(imu->v1n2));
const float fv2n = FilterButterWorthDF2(ff, velData.East, &(imu->v2n1), &(imu->v2n2));
const float fv3n = FilterButterWorthDF2(ff, velData.Down, &(imu->v3n1), &(imu->v3n2));
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);
@ -262,9 +278,9 @@ void imu_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
imu->v2Old - xB[1] * airspeed,
imu->v3Old - xB[2] * airspeed };
// filter raw wind
imu->Vw1 = FilterButterWorthDF2(ffV, wind[0], &(imu->Vw1n1), &(imu->Vw1n2));
imu->Vw2 = FilterButterWorthDF2(ffV, wind[1], &(imu->Vw2n1), &(imu->Vw2n2));
imu->Vw3 = FilterButterWorthDF2(ffV, wind[2], &(imu->Vw3n1), &(imu->Vw3n2));
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

4
flight/modules/Airspeed/inc/imu_airspeed.h
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@ -31,8 +31,8 @@
#ifndef IMU_AIRSPEED_H
#define IMU_AIRSPEED_H
void imu_airspeedInitialize();
void imu_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *airspeedSettings);
void imu_airspeedInitialize(const AirspeedSettingsData *airspeedSettings);
void imu_airspeedGet(AirspeedSensorData *airspeedData, const AirspeedSettingsData *airspeedSettings);
#endif // IMU_AIRSPEED_H

2
flight/pios/inc/pios_math.h
View File

@ -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 */

1
flight/targets/boards/simposix/firmware/Makefile
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@ -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

1
make/apps-defs.mk
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@ -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