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b1e4b65f3d
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2667 ebee16cc-31ac-478f-84a7-5cbb03baadba
242 lines
8.0 KiB
C
242 lines
8.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Attitude Copter Control Attitude Estimation
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* @brief Acquires sensor data and computes attitude estimate
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* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
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* @{
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*
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* @file attitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input objects: None, takes sensor data via pios
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* Output objects: @ref AttitudeRaw @ref AttitudeActual
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*
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* This module computes an attitude estimate from the sensor data
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*
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* The module executes in its own thread.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "pios.h"
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#include "attitude.h"
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#include "attituderaw.h"
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#include "attitudeactual.h"
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#include "attitudedesired.h"
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#include "attitudesettings.h"
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#include "manualcontrolcommand.h"
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#include "CoordinateConversions.h"
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#include "pios_flash_w25x.h"
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// Private constants
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#define STACK_SIZE_BYTES 440
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define UPDATE_RATE 3
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#define GYRO_NEUTRAL 1665
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#define GYRO_SCALE (0.008f * 180 / M_PI)
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#define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void AttitudeTask(void *parameters);
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void adc_callback(float * data);
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float gyro[3] = {0, 0, 0};
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void updateSensors();
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void updateAttitude();
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AttitudeInitialize(void)
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{
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// Start main task
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xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
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return 0;
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}
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static portTickType lastSysTime;
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/**
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* Module thread, should not return.
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*/
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static void AttitudeTask(void *parameters)
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{
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AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
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PIOS_ADC_Config(PIOS_ADC_RATE / (1000 / UPDATE_RATE));
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PIOS_ADC_SetCallback(adc_callback);
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// Keep flash CS pin high while talking accel
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PIOS_FLASH_DISABLE;
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PIOS_ADXL345_Init();
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// Main task loop
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while (1) {
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//
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PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
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// TODO: register the adc callback, push the data onto a queue (safe for thread)
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// with the queue ISR version
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updateSensors();
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updateAttitude();
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/* Wait for the next update interval */
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vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
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//vTaskDelay(UPDATE_RATE / portTICK_RATE_MS);
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}
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}
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void updateSensors()
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{
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AttitudeRawData attitudeRaw;
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AttitudeRawGet(&attitudeRaw);
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AttitudeSettingsData settings;
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AttitudeSettingsGet(&settings);
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struct pios_adxl345_data accel_data;
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static float gyro_bias[3] = {0,0,0};
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float tau = (1-settings.GyroBiasTau);
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = -(gyro[0] - GYRO_NEUTRAL) * GYRO_SCALE;
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = (gyro[1] - GYRO_NEUTRAL) * GYRO_SCALE;
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = -(gyro[2] - GYRO_NEUTRAL) * GYRO_SCALE;
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gyro_bias[0] = tau * gyro_bias[0] + (1-tau) * attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X];
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gyro_bias[1] = tau * gyro_bias[1] + (1-tau) * attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y];
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gyro_bias[2] = tau * gyro_bias[2] + (1-tau) * attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z];
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] -= gyro_bias[0];
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] -= gyro_bias[1];
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] -= gyro_bias[2];
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// Get the accel data
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uint8_t i = 0;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] = 0;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = 0;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = 0;
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do {
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i++;
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attitudeRaw.gyrotemp[0] = PIOS_ADXL345_Read(&accel_data);
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] += (float) accel_data.x * 0.004f * 9.81;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] += -(float) accel_data.y * 0.004f * 9.81;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] += -(float) accel_data.z * 0.004f * 9.81;
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} while ( (i < 32) && (attitudeRaw.gyrotemp[0] > 0) );
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attitudeRaw.gyrotemp[1] = i;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] /= i;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] /= i;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] /= i;
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attitudeRaw.accels[ATTITUDERAW_ACCELS_X] = accel_data.x;
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attitudeRaw.accels[ATTITUDERAW_ACCELS_Y] = accel_data.y;
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attitudeRaw.accels[ATTITUDERAW_ACCELS_Z] = accel_data.z;
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AttitudeRawSet(&attitudeRaw);
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}
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#define UPDATE_FRAC 0.99999f
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void updateAttitude()
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{
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AttitudeSettingsData settings;
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AttitudeSettingsGet(&settings);
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AttitudeActualData attitudeActual;
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AttitudeActualGet(&attitudeActual);
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AttitudeRawData attitudeRaw;
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AttitudeRawGet(&attitudeRaw);
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static portTickType lastSysTime = 0;
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static portTickType thisSysTime;
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float accel_pitch, accel_roll;
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static float dT = 0;
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float tau = 1-settings.AccelTau;
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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// Convert into radians
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attitudeActual.Roll = attitudeActual.Roll * M_PI / 180;
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attitudeActual.Pitch = attitudeActual.Pitch * M_PI / 180;
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attitudeActual.Yaw = attitudeActual.Yaw * M_PI / 180;
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// Integrate gyros
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attitudeActual.Roll = PI_MOD(attitudeActual.Roll + attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] * dT * M_PI / 180);
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attitudeActual.Pitch = PI_MOD(attitudeActual.Pitch + attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] * dT * M_PI / 180);
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attitudeActual.Yaw += attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] * dT * M_PI / 180;
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// Compute gravity sense of ground
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accel_roll = atan2(-attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y],
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-attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z]);
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accel_pitch = atan2(attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X],
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-attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z]);
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// Compute quaternion
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RPY2Quaternion(&attitudeActual.Roll, &attitudeActual.q1);
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// Weighted average and back into degrees
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attitudeActual.Roll = (tau * attitudeActual.Roll + (1-tau) * accel_roll) * 180 / M_PI;
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attitudeActual.Pitch = (tau * attitudeActual.Pitch + (1-tau) * accel_pitch) * 180 / M_PI;
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attitudeActual.Yaw = fmod(attitudeActual.Yaw * 180 / M_PI, 360);
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AttitudeActualSet(&attitudeActual);
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}
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void adc_callback(float * data)
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{
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gyro[0] = data[1];
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gyro[1] = data[2];
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gyro[2] = data[3];
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}
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/**
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* @}
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* @}
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*/
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