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Merged in alessiomorale/librepilot/amorale/LP-150_slower_attittude_est_cc (pull request #239)

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LP-150 slower attittude estimation for CC/CC3D
This commit is contained in:
Lalanne Laurent 2016-05-09 12:21:56 +02:00
commit c3f0d693b5
4 changed files with 53 additions and 18 deletions
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49
flight/modules/Attitude/attitude.c
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@ -332,11 +332,8 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
} else { } else {
// Do not update attitude data in simulation mode // Do not update attitude data in simulation mode
if (!AttitudeStateReadOnly()) { if (!AttitudeStateReadOnly()) {
PERF_TIMED_SECTION_START(counterAtt);
updateAttitude(&accelState, &gyros); updateAttitude(&accelState, &gyros);
PERF_TIMED_SECTION_END(counterAtt);
} }
PERF_MEASURE_PERIOD(counterPeriod);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
} }
vTaskDelayUntil(&lastSysTime, sensor_period_ms / portTICK_PERIOD_MS); vTaskDelayUntil(&lastSysTime, sensor_period_ms / portTICK_PERIOD_MS);
@ -606,17 +603,41 @@ static inline void apply_accel_filter(const float *raw, float *filtered)
__attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosData) __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accelStateData, GyroStateData *gyrosData)
{ {
float dT = PIOS_DELTATIME_GetAverageSeconds(&dtconfig); static uint32_t samples = 0;
static float gyros_accum[3];
static float accels_accum[3];
// Bad practice to assume structure order, but saves memory // Bad practice to assume structure order, but saves memory
float *gyros = &gyrosData->x; float *gyros = &gyrosData->x;
float *accels = &accelStateData->x; float *accels = &accelStateData->x;
if (samples < ATTITUDE_SENSORS_DOWNSAMPLE - 1) {
gyros_accum[0] += gyros[0];
gyros_accum[1] += gyros[1];
gyros_accum[2] += gyros[2];
accels_accum[0] += accels[0];
accels_accum[1] += accels[1];
accels_accum[2] += accels[2];
samples++;
return;
}
float dT = PIOS_DELTATIME_GetAverageSeconds(&dtconfig);
PERF_TIMED_SECTION_START(counterAtt);
float inv_samples_count = 1.0f / (float)samples;
samples = 0;
gyros_accum[0] *= inv_samples_count;
gyros_accum[1] *= inv_samples_count;
gyros_accum[2] *= inv_samples_count;
accels_accum[0] *= inv_samples_count;
accels_accum[1] *= inv_samples_count;
accels_accum[2] *= inv_samples_count;
float grot[3]; float grot[3];
float accel_err[3]; float accel_err[3];
// Apply smoothing to accel values, to reduce vibration noise before main calculations. // Apply smoothing to accel values, to reduce vibration noise before main calculations.
apply_accel_filter(accels, accels_filtered); apply_accel_filter(accels_accum, accels_filtered);
// Rotate gravity unit vector to body frame, filter and cross with accels // Rotate gravity unit vector to body frame, filter and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2])); grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
@ -658,18 +679,18 @@ __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accel
// Correct rates based on error, integral component dealt with in updateSensors // Correct rates based on error, integral component dealt with in updateSensors
const float kpInvdT = accelKp / dT; const float kpInvdT = accelKp / dT;
gyros[0] += accel_err[0] * kpInvdT; gyros_accum[0] += accel_err[0] * kpInvdT;
gyros[1] += accel_err[1] * kpInvdT; gyros_accum[1] += accel_err[1] * kpInvdT;
gyros[2] += accel_err[2] * kpInvdT; gyros_accum[2] += accel_err[2] * kpInvdT;
{ // scoping variables to save memory { // scoping variables to save memory
// Work out time derivative from INSAlgo writeup // Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s // Also accounts for the fact that gyros are in deg/s
float qdot[4]; float qdot[4];
qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f); qdot[0] = (-q[1] * gyros_accum[0] - q[2] * gyros_accum[1] - q[3] * gyros_accum[2]) * dT * (M_PI_F / 180.0f / 2.0f);
qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f); qdot[1] = (q[0] * gyros_accum[0] - q[3] * gyros_accum[1] + q[2] * gyros_accum[2]) * dT * (M_PI_F / 180.0f / 2.0f);
qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f); qdot[2] = (q[3] * gyros_accum[0] + q[0] * gyros_accum[1] - q[1] * gyros_accum[2]) * dT * (M_PI_F / 180.0f / 2.0f);
qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (M_PI_F / 180.0f / 2.0f); qdot[3] = (-q[2] * gyros_accum[0] + q[1] * gyros_accum[1] + q[0] * gyros_accum[2]) * dT * (M_PI_F / 180.0f / 2.0f);
// Take a time step // Take a time step
q[0] = q[0] + qdot[0]; q[0] = q[0] + qdot[0];
@ -711,6 +732,10 @@ __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accel
Quaternion2RPY(&attitudeState.q1, &attitudeState.Roll); Quaternion2RPY(&attitudeState.q1, &attitudeState.Roll);
AttitudeStateSet(&attitudeState); AttitudeStateSet(&attitudeState);
gyros_accum[0] = gyros_accum[1] = gyros_accum[2] = 0.0f;
accels_accum[0] = accels_accum[1] = accels_accum[2] = 0.0f;
PERF_TIMED_SECTION_END(counterAtt);
PERF_MEASURE_PERIOD(counterPeriod);
} }
static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)

5
flight/modules/Stabilization/inc/stabilization.h
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@ -80,9 +80,12 @@ extern StabilizationData stabSettings;
// must be same as eventdispatcher to avoid needing additional mutexes // must be same as eventdispatcher to avoid needing additional mutexes
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL #define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
// outer loop only executes every 4th uavobject update to save CPU // outer loop only executes every 4th uavobject update to save CPU
#define OUTERLOOP_SKIPCOUNT 4 #define OUTERLOOP_SKIPCOUNT 4
#else
#define OUTERLOOP_SKIPCOUNT ATTITUDE_SENSORS_DOWNSAMPLE
#endif // STABILIZATION_ATTITUDE_DOWNSAMPLED
#endif // STABILIZATION_H #endif // STABILIZATION_H
/** /**

13
flight/modules/Stabilization/outerloop.c
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@ -365,14 +365,19 @@ static void stabilizationOuterloopTask()
static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
// to reduce CPU utilization, outer loop is not executed on every state update // to reduce CPU utilization, outer loop is not executed on every state update
static uint8_t cpusaver = 0; static uint8_t cpusaver = 0;
if ((cpusaver++ % OUTERLOOP_SKIPCOUNT) == 0) { if ((cpusaver++ % OUTERLOOP_SKIPCOUNT) == 0) {
// this does not need mutex protection as both eventdispatcher and stabi run in same callback task! #endif
AttitudeStateGet(&attitude); // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle); AttitudeStateGet(&attitude);
} PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
#ifndef STABILIZATION_ATTITUDE_DOWNSAMPLED
}
#endif
} }
/** /**

4
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
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@ -93,7 +93,9 @@
/* #define PIOS_INCLUDE_ETASV3 */ /* #define PIOS_INCLUDE_ETASV3 */
/* #define PIOS_INCLUDE_HCSR04 */ /* #define PIOS_INCLUDE_HCSR04 */
#define PIOS_SENSOR_RATE 500.0f #define PIOS_SENSOR_RATE 500.0f
#define STABILIZATION_ATTITUDE_DOWNSAMPLED
#define ATTITUDE_SENSORS_DOWNSAMPLE 4
/* PIOS receiver drivers */ /* PIOS receiver drivers */
#define PIOS_INCLUDE_PWM #define PIOS_INCLUDE_PWM