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Code Issues Releases Activity

Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects

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instead of AttitudeRaw
This commit is contained in:
James Cotton 2012-01-23 23:28:45 -06:00
parent 4cf82815ce
commit a20d654744
3 changed files with 75 additions and 77 deletions
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3
flight/CopterControl/Makefile
View File

@ -163,7 +163,8 @@ SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
SRC += $(OPUAVSYNTHDIR)/attituderaw.c
SRC += $(OPUAVSYNTHDIR)/accels.c
SRC += $(OPUAVSYNTHDIR)/gyros.c
SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c

143
flight/Modules/Attitude/attitude.c
View File

@ -50,7 +50,8 @@
#include "pios.h"
#include "attitude.h"
#include "attituderaw.h"
#include "gyros.h"
#include "accels.h"
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "flightstatus.h"
@ -77,8 +78,8 @@ static void AttitudeTask(void *parameters);
static float gyro_correct_int[3] = {0,0,0};
static xQueueHandle gyro_queue;
static int8_t updateSensors(AttitudeRawData *);
static void updateAttitude(AttitudeRawData *);
static int8_t updateSensors(AccelsData *, GyrosData *);
static void updateAttitude(AccelsData *, GyrosData *);
static void settingsUpdatedCb(UAVObjEvent * objEv);
static float accelKi = 0;
@ -124,8 +125,9 @@ int32_t AttitudeStart(void)
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
AccelsInitialize();
GyrosInitialize();
// Initialize quaternion
AttitudeActualData attitude;
@ -216,15 +218,16 @@ static void AttitudeTask(void *parameters)
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
if(updateSensors(&attitudeRaw) != 0)
AccelsData accels;
GyrosData gyros;
if(updateSensors(&accels, &gyros) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else {
// Only update attitude when sensor data is good
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
updateAttitude(&accels, &gyros);
AccelsSet(&accels);
GyrosSet(&gyros);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
@ -236,7 +239,7 @@ static void AttitudeTask(void *parameters)
* @param[in] attitudeRaw Populate the UAVO instead of saving right here
* @return 0 if successfull, -1 if not
*/
static int8_t updateSensors(AttitudeRawData * attitudeRaw)
static int8_t updateSensors(AccelsData * accels, GyrosData * gyros)
{
struct pios_adxl345_data accel_data;
float gyro[4];
@ -252,9 +255,9 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
return -1;
// First sample is temperature
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
gyros->x = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
gyros->y = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
gyros->z = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
int32_t x = 0;
int32_t y = 0;
@ -268,8 +271,7 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
y += -accel_data.y;
z += -accel_data.z;
} while ( (i < 32) && (samples_remaining > 0) );
attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_GYRO] = samples_remaining;
attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_ACCEL] = i;
gyros->temperature = samples_remaining;
float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
@ -277,17 +279,17 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
// TODO: rotate sensors too so stabilization is well behaved
float vec_out[3];
rot_mult(R, accel, vec_out);
attitudeRaw->accels[0] = vec_out[0];
attitudeRaw->accels[1] = vec_out[1];
attitudeRaw->accels[2] = vec_out[2];
rot_mult(R, attitudeRaw->gyros, vec_out);
attitudeRaw->gyros[0] = vec_out[0];
attitudeRaw->gyros[1] = vec_out[1];
attitudeRaw->gyros[2] = vec_out[2];
accels->x = vec_out[0];
accels->y = vec_out[1];
accels->z = vec_out[2];
rot_mult(R, &gyros->x, vec_out);
gyros->x = vec_out[0];
gyros->y = vec_out[1];
gyros->z = vec_out[2];
} else {
attitudeRaw->accels[0] = accel[0];
attitudeRaw->accels[1] = accel[1];
attitudeRaw->accels[2] = accel[2];
accels->x = accel[0];
accels->y = accel[1];
accels->z = accel[2];
}
if (trim_requested) {
@ -301,33 +303,33 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) {
trim_samples++;
// Store the digitally scaled version since that is what we use for bias
trim_accels[0] += attitudeRaw->accels[ATTITUDERAW_ACCELS_X];
trim_accels[1] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Y];
trim_accels[2] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Z];
trim_accels[0] += accels->x;
trim_accels[1] += accels->y;
trim_accels[2] += accels->z;
}
}
}
// Scale accels and correct bias
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * ACCEL_SCALE;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * ACCEL_SCALE;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * ACCEL_SCALE;
accels->x = (accels->x - accelbias[0]) * ACCEL_SCALE;
accels->y = (accels->y - accelbias[1]) * ACCEL_SCALE;
accels->z = (accels->z - accelbias[2]) * ACCEL_SCALE;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
gyros->x += gyro_correct_int[0];
gyros->y += gyro_correct_int[1];
gyros->z += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
gyro_correct_int[2] += - gyros->z * yawBiasRate;
return 0;
}
static void updateAttitude(AttitudeRawData * attitudeRaw)
static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
{
float dT;
portTickType thisSysTime = xTaskGetTickCount();
@ -337,48 +339,43 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
float * gyros = &gyrosData->x;
float * accels = &accelsData->x;
{
float * accels = attitudeRaw->accels;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (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]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * accelKi;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
}
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (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]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * accelKi;
// Correct rates based on error, integral component dealt with in updateSensors
gyros[0] += accel_err[0] * accelKp / dT;
gyros[1] += accel_err[1] * accelKp / dT;
gyros[2] += accel_err[2] * accelKp / dT;
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * M_PI / 180 / 2;
qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];

6
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -74,7 +74,6 @@
65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
6534B5571474F78B003DF47C /* pios_mpu6000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6000.h; sourceTree = "<group>"; };
6534B55A14763566003DF47C /* pios_flash_m25p16.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flash_m25p16.c; sourceTree = "<group>"; };
6534B55B1476D3A8003DF47C /* pios_ms5611.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ms5611.h; sourceTree = "<group>"; };
6536D47B1307962C0042A298 /* stabilizationdesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = stabilizationdesired.xml; sourceTree = "<group>"; };
65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
@ -2793,6 +2792,7 @@
65B367FD121C2620003EAD18 /* systemstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = systemstats.xml; sourceTree = "<group>"; };
65B367FE121C2620003EAD18 /* telemetrysettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = telemetrysettings.xml; sourceTree = "<group>"; };
65B367FF121C2620003EAD18 /* src.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = src.pro; sourceTree = "<group>"; };
65BBB6A214CE77EB0003A16F /* pios_iap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_iap.c; sourceTree = "<group>"; };
65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatorcommand.xml; sourceTree = "<group>"; };
65C35E5112EFB2F3004811C2 /* actuatordesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatordesired.xml; sourceTree = "<group>"; };
65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatorsettings.xml; sourceTree = "<group>"; };
@ -8390,6 +8390,7 @@
65E8F03011EFF25C00BBF654 /* Common */ = {
isa = PBXGroup;
children = (
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
65FB1E6614CDBE26009C52B9 /* pios_bma180.c */,
65FB1E6714CDBE26009C52B9 /* pios_bmp085.c */,
65FB1E6814CDBE26009C52B9 /* pios_hmc5883.c */,
@ -8403,8 +8404,6 @@
65E8F03511EFF25C00BBF654 /* pios_opahrs_proto.c */,
65E8F03611EFF25C00BBF654 /* pios_sdcard.c */,
65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
6534B55A14763566003DF47C /* pios_flash_m25p16.c */,
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
6562BE1713CCAD0600C823E8 /* pios_rcvr.c */,
@ -8503,6 +8502,7 @@
65E8F0DF11EFF25C00BBF654 /* pios_exti.c */,
65E8F0E011EFF25C00BBF654 /* pios_gpio.c */,
65E8F0E111EFF25C00BBF654 /* pios_i2c.c */,
65BBB6A214CE77EB0003A16F /* pios_iap.c */,
65E8F0E211EFF25C00BBF654 /* pios_irq.c */,
65E8F0E311EFF25C00BBF654 /* pios_led.c */,
65E8F0E411EFF25C00BBF654 /* pios_ppm.c */,