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also block heart beat. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba
935 lines
32 KiB
C
935 lines
32 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS AHRS
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_Main
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* @brief Main function which does the hardware dependent stuff
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief INSGPS Test Program
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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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/* OpenPilot Includes */
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#include "ahrs.h"
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#include "ahrs_adc.h"
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#include "ahrs_timer.h"
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#include "pios_opahrs_proto.h"
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#include "ahrs_fsm.h" /* lfsm_state */
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#include "insgps.h"
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#include "CoordinateConversions.h"
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// For debugging the raw sensors
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//#define DUMP_RAW
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//#define DUMP_FRIENDLY
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//#define DUMP_EKF
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#ifdef DUMP_EKF
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#define NUMX 13 // number of states, X is the state vector
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#define NUMW 9 // number of plant noise inputs, w is disturbance noise vector
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#define NUMV 10 // number of measurements, v is the measurement noise vector
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#define NUMU 6 // number of deterministic inputs, U is the input vector
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extern float F[NUMX][NUMX], G[NUMX][NUMW], H[NUMV][NUMX]; // linearized system matrices
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extern float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
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extern float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
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extern float K[NUMX][NUMV]; // feedback gain matrix
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#endif
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volatile enum algorithms ahrs_algorithm;
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/**
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* @addtogroup AHRS_Structures Local Structres
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* @{
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*/
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//! Contains the data from the mag sensor chip
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struct mag_sensor {
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uint8_t id[4];
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uint8_t updated;
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struct {
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int16_t axis[3];
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} raw;
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struct {
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float axis[3];
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} scaled;
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struct {
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float bias[3];
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float scale[3];
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float variance[3];
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} calibration;
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} mag_data;
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//! Contains the data from the accelerometer
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struct accel_sensor {
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struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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} raw;
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struct {
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float x;
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float y;
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float z;
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} filtered;
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struct {
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float bias[3];
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float scale[3];
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float variance[3];
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} calibration;
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} accel_data;
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//! Contains the data from the gyro
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struct gyro_sensor {
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struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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} raw;
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struct {
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float x;
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float y;
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float z;
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} filtered;
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struct {
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float bias[3];
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float scale[3];
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float variance[3];
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} calibration;
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struct {
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uint16_t xy;
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uint16_t z;
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} temp;
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} gyro_data;
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//! Conains the current estimate of the attitude
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struct attitude_solution {
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struct {
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float q1;
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float q2;
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float q3;
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float q4;
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} quaternion;
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} attitude_data;
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//! Contains data from the altitude sensor
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struct altitude_sensor {
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float altitude;
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bool updated;
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} altitude_data;
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//! Contains data from the GPS (via the SPI link)
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struct gps_sensor {
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float NED[3];
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float heading;
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float groundspeed;
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float quality;
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bool updated;
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} gps_data;
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/**
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* @}
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*/
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/* Function Prototypes */
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void process_spi_request(void);
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void downsample_data(void);
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void calibrate_sensors(void);
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void reset_values();
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volatile uint32_t last_counter_idle_start = 0;
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volatile uint32_t last_counter_idle_end = 0;
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volatile uint32_t idle_counts;
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volatile uint32_t running_counts;
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uint32_t counter_val;
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/**
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* @addtogroup AHRS_Global_Data AHRS Global Data
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* @{
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* Public data. Used by both EKF and the sender
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*/
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//! Filter coefficients used in decimation. Limited order so filter can't run between samples
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int16_t fir_coeffs[50];
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//! Indicates the communications are requesting a calibration
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uint8_t calibration_pending = FALSE;
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//! The oversampling rate, ekf is 2k / this
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static uint8_t adc_oversampling = 25;
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//! Flag for OP to check if AHRS has been initialized yet
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enum initialized_mode initialized = 0;
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/**
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* @}
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*/
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/**
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* @brief AHRS Main function
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*/
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int main()
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{
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float gyro[3], accel[3], mag[3];
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float vel[3] = { 0, 0, 0 };
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gps_data.quality = -1;
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ahrs_algorithm = INSGPS_Algo;
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Delay system */
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PIOS_DELAY_Init();
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/* Communication system */
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PIOS_COM_Init();
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/* ADC system */
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AHRS_ADC_Config(adc_oversampling);
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/* Setup the Accelerometer FS (Full-Scale) GPIO */
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PIOS_GPIO_Enable(0);
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SET_ACCEL_2G;
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#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
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/* Magnetic sensor system */
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PIOS_I2C_Init();
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PIOS_HMC5843_Init();
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// Get 3 ID bytes
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strcpy((char *)mag_data.id, "ZZZ");
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PIOS_HMC5843_ReadID(mag_data.id);
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#endif
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/* SPI link to master */
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PIOS_SPI_Init();
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lfsm_init();
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reset_values();
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ahrs_state = AHRS_IDLE;
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/* Use simple averaging filter for now */
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for (int i = 0; i < adc_oversampling; i++)
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fir_coeffs[i] = 1;
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fir_coeffs[adc_oversampling] = adc_oversampling;
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INSGPSInit();
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while(initialized != AHRS_INITIALIZED)
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process_spi_request();
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#ifdef DUMP_RAW
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int previous_conversion;
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while (1) {
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int result;
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uint8_t framing[16] =
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{ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14,
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15 };
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while (ahrs_state != AHRS_DATA_READY) ;
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ahrs_state = AHRS_PROCESSING;
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if (total_conversion_blocks != previous_conversion + 1)
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PIOS_LED_On(LED1); // not keeping up
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else
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PIOS_LED_Off(LED1);
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previous_conversion = total_conversion_blocks;
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downsample_data();
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ahrs_state = AHRS_IDLE;;
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// Dump raw buffer
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result = PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header
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result += PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX,
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(uint8_t *) & valid_data_buffer[0],
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adc_oversampling *
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ADC_CONTINUOUS_CHANNELS *
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sizeof(valid_data_buffer[0]));
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if (result == 0)
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PIOS_LED_Off(LED1);
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else {
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PIOS_LED_On(LED1);
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}
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}
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#endif
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timer_start();
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/******************* Main EKF loop ****************************/
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while (1) {
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// Alive signal
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if ((total_conversion_blocks % 100) == 0)
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PIOS_LED_Toggle(LED1);
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if (calibration_pending) {
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calibrate_sensors();
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calibration_pending = FALSE;
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}
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#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
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// Get magnetic readings
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if (PIOS_HMC5843_NewDataAvailable()) {
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PIOS_HMC5843_ReadMag(mag_data.raw.axis);
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mag_data.scaled.axis[0] = (mag_data.raw.axis[0] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
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mag_data.scaled.axis[1] = (mag_data.raw.axis[1] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
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mag_data.scaled.axis[2] = (mag_data.raw.axis[2] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
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mag_data.updated = 1;
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}
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#endif
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// Delay for valid data
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counter_val = timer_count();
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running_counts = counter_val - last_counter_idle_end;
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last_counter_idle_start = counter_val;
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while (ahrs_state != AHRS_DATA_READY) ;
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counter_val = timer_count();
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idle_counts = counter_val - last_counter_idle_start;
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last_counter_idle_end = counter_val;
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ahrs_state = AHRS_PROCESSING;
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downsample_data();
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/******************** INS ALGORITHM **************************/
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if (ahrs_algorithm == INSGPS_Algo) {
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// format data for INS algo
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gyro[0] = gyro_data.filtered.x;
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gyro[1] = gyro_data.filtered.y;
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gyro[2] = gyro_data.filtered.z;
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accel[0] = accel_data.filtered.x,
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accel[1] = accel_data.filtered.y,
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accel[2] = accel_data.filtered.z,
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// Note: The magnetometer driver returns registers X,Y,Z from the chip which are
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// (left, backward, up). Remapping to (forward, right, down).
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mag[0] = -mag_data.scaled.axis[1];
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mag[1] = -mag_data.scaled.axis[0];
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mag[2] = -mag_data.scaled.axis[2];
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INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
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process_spi_request(); // get message out quickly
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INSCovariancePrediction(1 / (float)EKF_RATE);
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if (gps_data.updated && gps_data.quality == 1) {
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// Compute velocity from Heading and groundspeed
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vel[0] =
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gps_data.groundspeed *
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cos(gps_data.heading * M_PI / 180);
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vel[1] =
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gps_data.groundspeed *
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sin(gps_data.heading * M_PI / 180);
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INSSetPosVelVar(0.004);
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if (gps_data.updated) {
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//TOOD: add check for altitude updates
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FullCorrection(mag, gps_data.NED,
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vel,
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altitude_data.
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altitude);
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gps_data.updated = 0;
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} else {
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GpsBaroCorrection(gps_data.NED,
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vel,
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altitude_data.
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altitude);
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}
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gps_data.updated = false;
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mag_data.updated = 0;
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} else if (gps_data.quality != -1
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&& mag_data.updated == 1) {
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float mag_var[3] = {mag_data.calibration.variance[1], mag_data.calibration.variance[0], mag_data.calibration.variance[2]};
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INSSetMagVar(mag_var);
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MagCorrection(mag); // only trust mags if outdoors
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mag_data.updated = 0;
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} else {
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// Indoors, update with zero position and velocity and high covariance
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INSSetPosVelVar(0.1);
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vel[0] = 0;
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vel[1] = 0;
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vel[2] = 0;
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if(mag_data.updated == 1) {
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float mag_var[3] = {10,10,10};
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INSSetMagVar(mag_var);
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MagVelBaroCorrection(mag,vel,altitude_data.altitude); // only trust mags if outdoors
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mag_data.updated = 0;
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} else {
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VelBaroCorrection(vel, altitude_data.altitude);
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}
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}
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attitude_data.quaternion.q1 = Nav.q[0];
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attitude_data.quaternion.q2 = Nav.q[1];
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attitude_data.quaternion.q3 = Nav.q[2];
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attitude_data.quaternion.q4 = Nav.q[3];
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} else if (ahrs_algorithm == SIMPLE_Algo) {
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float q[4];
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float rpy[3];
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/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
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/* Very simple computation of the heading and attitude from accel. */
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rpy[2] =
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atan2((mag_data.raw.axis[0]),
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(-1 * mag_data.raw.axis[1])) * 180 /
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M_PI;
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rpy[1] =
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atan2(accel_data.filtered.x,
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accel_data.filtered.z) * 180 / M_PI;
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rpy[0] =
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atan2(accel_data.filtered.y,
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accel_data.filtered.z) * 180 / M_PI;
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RPY2Quaternion(rpy, q);
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attitude_data.quaternion.q1 = q[0];
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attitude_data.quaternion.q2 = q[1];
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attitude_data.quaternion.q3 = q[2];
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attitude_data.quaternion.q4 = q[3];
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process_spi_request();
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}
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ahrs_state = AHRS_IDLE;
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#ifdef DUMP_FRIENDLY
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PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX, "b: %d\r\n",
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total_conversion_blocks);
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PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX,"a: %d %d %d\r\n",
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(int16_t) (accel_data.filtered.x * 1000),
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(int16_t) (accel_data.filtered.y * 1000),
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(int16_t) (accel_data.filtered.z * 1000));
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PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX, "g: %d %d %d\r\n",
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(int16_t) (gyro_data.filtered.x * 1000),
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(int16_t) (gyro_data.filtered.y * 1000),
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(int16_t) (gyro_data.filtered.z * 1000));
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PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX,"m: %d %d %d\r\n",
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mag_data.raw.axis[0],
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mag_data.raw.axis[1],
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mag_data.raw.axis[2]);
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PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX,
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"q: %d %d %d %d\r\n",
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(int16_t) (Nav.q[0] * 1000),
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(int16_t) (Nav.q[1] * 1000),
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(int16_t) (Nav.q[2] * 1000),
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(int16_t) (Nav.q[3] * 1000));
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#endif
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#ifdef DUMP_EKF
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uint8_t framing[16] =
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{ 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1,
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0 };
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extern float F[NUMX][NUMX], G[NUMX][NUMW], H[NUMV][NUMX]; // linearized system matrices
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extern float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
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extern float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
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extern float K[NUMX][NUMV]; // feedback gain matrix
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// Dump raw buffer
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int8_t result;
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result = PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header
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result += PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX,
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(uint8_t *) & mag_data,
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sizeof(mag_data));
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX,
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(uint8_t *) & gps_data,
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sizeof(gps_data));
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX,
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(uint8_t *) & accel_data,
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sizeof(accel_data));
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX,
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(uint8_t *) & gyro_data,
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sizeof(gyro_data));
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & Q,
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sizeof(float) * NUMX * NUMX);
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & K,
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sizeof(float) * NUMX * NUMV);
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result +=
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & X,
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sizeof(float) * NUMX * NUMX);
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if (result == 0)
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PIOS_LED_Off(LED1);
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else {
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PIOS_LED_On(LED1);
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}
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#endif
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}
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return 0;
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}
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/**
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* @brief Downsample the analog data
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* @return none
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*
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* Tried to make as much of the filtering fixed point when possible. Need to account
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* for offset for each sample before the multiplication if filter not a boxcar. Could
|
|
* precompute fixed offset as sum[fir_coeffs[i]] * ACCEL_OFFSET. Puts data into global
|
|
* data structures @ref accel_data and @ref gyro_data.
|
|
*
|
|
* The accel_data values are converted into a coordinate system where X is forwards along
|
|
* the fuselage, Y is along right the wing, and Z is down.
|
|
*/
|
|
void downsample_data()
|
|
{
|
|
uint16_t i;
|
|
|
|
// Get the Y data. Third byte in. Convert to m/s
|
|
accel_data.filtered.y = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
accel_data.filtered.y += valid_data_buffer[0 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
accel_data.filtered.y /= (float) fir_coeffs[adc_oversampling];
|
|
accel_data.filtered.y = (accel_data.filtered.y * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1];
|
|
|
|
// Get the X data which projects forward/backwards. Fifth byte in. Convert to m/s
|
|
accel_data.filtered.x = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
accel_data.filtered.x += valid_data_buffer[2 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
accel_data.filtered.x /= (float) fir_coeffs[adc_oversampling];
|
|
accel_data.filtered.x = (accel_data.filtered.x * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0];
|
|
|
|
// Get the Z data. Third byte in. Convert to m/s
|
|
accel_data.filtered.z = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
accel_data.filtered.z += valid_data_buffer[4 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
accel_data.filtered.z /= (float) fir_coeffs[adc_oversampling];
|
|
accel_data.filtered.z = (accel_data.filtered.z * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
|
|
|
|
// Get the X gyro data. Seventh byte in. Convert to deg/s.
|
|
gyro_data.filtered.x = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
gyro_data.filtered.x += valid_data_buffer[1 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
gyro_data.filtered.x /= fir_coeffs[adc_oversampling];
|
|
gyro_data.filtered.x = (gyro_data.filtered.x * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
|
|
|
|
// Get the Y gyro data. Second byte in. Convert to deg/s.
|
|
gyro_data.filtered.y = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
gyro_data.filtered.y += valid_data_buffer[3 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
gyro_data.filtered.y /= fir_coeffs[adc_oversampling];
|
|
gyro_data.filtered.y = (gyro_data.filtered.y * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
|
|
|
|
// Get the Z gyro data. Fifth byte in. Convert to deg/s.
|
|
gyro_data.filtered.z = 0;
|
|
for (i = 0; i < adc_oversampling; i++)
|
|
gyro_data.filtered.z += valid_data_buffer[5 + i * PIOS_ADC_NUM_PINS] * fir_coeffs[i];
|
|
gyro_data.filtered.z /= fir_coeffs[adc_oversampling];
|
|
gyro_data.filtered.z = (gyro_data.filtered.z * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
|
|
}
|
|
|
|
/**
|
|
* @brief Assumes board is not moving computes biases and variances of sensors
|
|
* @returns None
|
|
*
|
|
* All data is stored in global structures. This function should be called from OP when
|
|
* aircraft is in stable state and then the data stored to SD card.
|
|
*
|
|
* After this function the bias for each sensor will be the mean value. This doesn't make
|
|
* sense for the z accel so make sure 6 point calibration is also run and those values set
|
|
* after these read.
|
|
*/
|
|
void calibrate_sensors()
|
|
{
|
|
int i,j;
|
|
float accel_bias[3] = {0, 0, 0};
|
|
float gyro_bias[3] = {0, 0, 0};
|
|
float mag_bias[3] = {0, 0, 0};
|
|
|
|
// run few loops to get mean
|
|
gyro_data.calibration.bias[0] = 0;
|
|
gyro_data.calibration.bias[1] = 0;
|
|
gyro_data.calibration.bias[2] = 0;
|
|
accel_data.calibration.bias[0] = 0;
|
|
accel_data.calibration.bias[1] = 0;
|
|
accel_data.calibration.bias[2] = 0;
|
|
mag_data.calibration.bias[0] = 0;
|
|
mag_data.calibration.bias[1] = 0;
|
|
mag_data.calibration.bias[2] = 0;
|
|
|
|
gyro_data.calibration.variance[0] = 0;
|
|
gyro_data.calibration.variance[1] = 0;
|
|
gyro_data.calibration.variance[2] = 0;
|
|
mag_data.calibration.variance[0] = 0;
|
|
mag_data.calibration.variance[1] = 0;
|
|
mag_data.calibration.variance[2] = 0;
|
|
accel_data.calibration.variance[0] = 0;
|
|
accel_data.calibration.variance[1] = 0;
|
|
accel_data.calibration.variance[2] = 0;
|
|
|
|
for (i = 0, j = 0; i < 250; i++) {
|
|
while (ahrs_state != AHRS_DATA_READY) ;
|
|
ahrs_state = AHRS_PROCESSING;
|
|
downsample_data();
|
|
gyro_bias[0] += gyro_data.filtered.x;
|
|
gyro_bias[1] += gyro_data.filtered.y;
|
|
gyro_bias[2] += gyro_data.filtered.z;
|
|
accel_bias[0] += accel_data.filtered.x;
|
|
accel_bias[1] += accel_data.filtered.y;
|
|
accel_bias[2] += accel_data.filtered.z;
|
|
gyro_data.calibration.variance[0] += pow(gyro_data.filtered.x,2);
|
|
gyro_data.calibration.variance[1] += pow(gyro_data.filtered.y,2);
|
|
gyro_data.calibration.variance[2] += pow(gyro_data.filtered.z,2);
|
|
accel_data.calibration.variance[0] += pow(accel_data.filtered.x,2);
|
|
accel_data.calibration.variance[1] += pow(accel_data.filtered.y,2);
|
|
accel_data.calibration.variance[2] += pow(accel_data.filtered.z,2);
|
|
ahrs_state = AHRS_IDLE;
|
|
|
|
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
|
|
if(PIOS_HMC5843_NewDataAvailable()) {
|
|
j ++;
|
|
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
|
|
mag_data.scaled.axis[0] = (mag_data.raw.axis[0] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
|
|
mag_data.scaled.axis[1] = (mag_data.raw.axis[1] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
|
|
mag_data.scaled.axis[2] = (mag_data.raw.axis[2] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
|
|
|
|
mag_bias[0] += mag_data.scaled.axis[0];
|
|
mag_bias[1] += mag_data.scaled.axis[1];
|
|
mag_bias[2] += mag_data.scaled.axis[2];
|
|
mag_data.calibration.variance[0] += pow(mag_data.scaled.axis[0],2);
|
|
mag_data.calibration.variance[1] += pow(mag_data.scaled.axis[1],2);
|
|
mag_data.calibration.variance[2] += pow(mag_data.scaled.axis[2],2);
|
|
}
|
|
#endif
|
|
|
|
process_spi_request();
|
|
}
|
|
gyro_data.calibration.bias[0] = gyro_bias[0] / i;
|
|
gyro_data.calibration.bias[1] = gyro_bias[1] / i;
|
|
gyro_data.calibration.bias[2] = gyro_bias[2] / i;
|
|
accel_data.calibration.bias[0] = accel_bias[0] / i;
|
|
accel_data.calibration.bias[1] = accel_bias[1] / i;
|
|
accel_data.calibration.bias[2] = accel_bias[2] / i;
|
|
mag_data.calibration.bias[0] = mag_bias[0] / j;
|
|
mag_data.calibration.bias[1] = mag_bias[1] / j;
|
|
mag_data.calibration.bias[2] = mag_bias[2] / j;
|
|
|
|
// more iterations for variance
|
|
gyro_data.calibration.variance[0] = gyro_data.calibration.variance[0] / i - pow(gyro_data.calibration.bias[0],2);
|
|
gyro_data.calibration.variance[1] = gyro_data.calibration.variance[1] / i - pow(gyro_data.calibration.bias[1],2);
|
|
gyro_data.calibration.variance[2] = gyro_data.calibration.variance[2] / i - pow(gyro_data.calibration.bias[2],2);
|
|
accel_data.calibration.variance[0] = accel_data.calibration.variance[0] / i - pow(accel_data.calibration.bias[0],2);
|
|
accel_data.calibration.variance[1] = accel_data.calibration.variance[1] / i - pow(accel_data.calibration.bias[1],2);
|
|
accel_data.calibration.variance[2] = accel_data.calibration.variance[2] / i - pow(accel_data.calibration.bias[2],2);
|
|
mag_data.calibration.variance[0] = mag_data.calibration.variance[0] / j - pow(mag_data.calibration.bias[0],2);
|
|
mag_data.calibration.variance[1] = mag_data.calibration.variance[1] / j - pow(mag_data.calibration.bias[1],2);
|
|
mag_data.calibration.variance[2] = mag_data.calibration.variance[2] / j - pow(mag_data.calibration.bias[2],2);
|
|
}
|
|
|
|
/**
|
|
* @brief Populate fields with initial values
|
|
*/
|
|
void reset_values() {
|
|
accel_data.calibration.scale[0] = 0.012;
|
|
accel_data.calibration.scale[1] = 0.012;
|
|
accel_data.calibration.scale[2] = -0.012;
|
|
accel_data.calibration.bias[0] = 24;
|
|
accel_data.calibration.bias[1] = 24;
|
|
accel_data.calibration.bias[2] = -24;
|
|
accel_data.calibration.variance[0] = 1e-4;
|
|
accel_data.calibration.variance[1] = 1e-4;
|
|
accel_data.calibration.variance[2] = 1e-4;
|
|
gyro_data.calibration.scale[0] = -0.014;
|
|
gyro_data.calibration.scale[1] = 0.014;
|
|
gyro_data.calibration.scale[2] = -0.014;
|
|
gyro_data.calibration.bias[0] = -24;
|
|
gyro_data.calibration.bias[1] = -24;
|
|
gyro_data.calibration.bias[2] = -24;
|
|
gyro_data.calibration.variance[0] = 1;
|
|
gyro_data.calibration.variance[1] = 1;
|
|
gyro_data.calibration.variance[2] = 1;
|
|
mag_data.calibration.scale[0] = 1;
|
|
mag_data.calibration.scale[1] = 1;
|
|
mag_data.calibration.scale[2] = 1;
|
|
mag_data.calibration.bias[0] = 0;
|
|
mag_data.calibration.bias[1] = 0;
|
|
mag_data.calibration.bias[2] = 0;
|
|
mag_data.calibration.variance[0] = 1;
|
|
mag_data.calibration.variance[1] = 1;
|
|
mag_data.calibration.variance[2] = 1;
|
|
}
|
|
|
|
/**
|
|
* @addtogroup AHRS_SPI SPI Messaging
|
|
* @{
|
|
* @brief SPI protocol handling requests for data from OP mainboard
|
|
*/
|
|
|
|
static struct opahrs_msg_v1 link_tx_v1;
|
|
static struct opahrs_msg_v1 link_rx_v1;
|
|
static struct opahrs_msg_v1 user_rx_v1;
|
|
static struct opahrs_msg_v1 user_tx_v1;
|
|
|
|
void process_spi_request(void)
|
|
{
|
|
bool msg_to_process = FALSE;
|
|
|
|
PIOS_IRQ_Disable();
|
|
/* Figure out if we're in an interesting stable state */
|
|
switch (lfsm_get_state()) {
|
|
case LFSM_STATE_USER_BUSY:
|
|
msg_to_process = TRUE;
|
|
break;
|
|
case LFSM_STATE_INACTIVE:
|
|
/* Queue up a receive buffer */
|
|
lfsm_user_set_rx_v1(&user_rx_v1);
|
|
lfsm_user_done();
|
|
break;
|
|
case LFSM_STATE_STOPPED:
|
|
/* Get things going */
|
|
lfsm_set_link_proto_v1(&link_tx_v1, &link_rx_v1);
|
|
break;
|
|
default:
|
|
/* Not a stable state */
|
|
break;
|
|
}
|
|
PIOS_IRQ_Enable();
|
|
|
|
if (!msg_to_process) {
|
|
/* Nothing to do */
|
|
return;
|
|
}
|
|
|
|
switch (user_rx_v1.payload.user.t) {
|
|
case OPAHRS_MSG_V1_REQ_RESET:
|
|
PIOS_DELAY_WaitmS(user_rx_v1.payload.user.v.req.reset.
|
|
reset_delay_in_ms);
|
|
PIOS_SYS_Reset();
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_SERIAL:
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,OPAHRS_MSG_V1_RSP_SERIAL);
|
|
PIOS_SYS_SerialNumberGet((char *) &(user_tx_v1.payload.user.v.rsp.
|
|
serial.serial_bcd));
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_ALGORITHM:
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,OPAHRS_MSG_V1_RSP_ALGORITHM);
|
|
ahrs_algorithm = user_rx_v1.payload.user.v.req.algorithm.algorithm;
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_NORTH:
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,OPAHRS_MSG_V1_RSP_NORTH);
|
|
INSSetMagNorth(user_rx_v1.payload.user.v.req.north.Be);
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_CALIBRATION:
|
|
if (user_rx_v1.payload.user.v.req.calibration.
|
|
measure_var == AHRS_MEASURE) {
|
|
calibration_pending = TRUE;
|
|
} else if (user_rx_v1.payload.user.v.req.calibration.measure_var == AHRS_SET) {
|
|
|
|
// Set the accel calibration
|
|
accel_data.calibration.variance[0] = user_rx_v1.payload.user.v.req.calibration.accel_var[0];
|
|
accel_data.calibration.variance[1] = user_rx_v1.payload.user.v.req.calibration.accel_var[1];
|
|
accel_data.calibration.variance[2] = user_rx_v1.payload.user.v.req.calibration.accel_var[2];
|
|
accel_data.calibration.scale[0] = user_rx_v1.payload.user.v.req.calibration.accel_scale[0];
|
|
accel_data.calibration.scale[1] = user_rx_v1.payload.user.v.req.calibration.accel_scale[1];
|
|
accel_data.calibration.scale[2] = user_rx_v1.payload.user.v.req.calibration.accel_scale[2];
|
|
accel_data.calibration.bias[0] = user_rx_v1.payload.user.v.req.calibration.accel_bias[0];
|
|
accel_data.calibration.bias[1] = user_rx_v1.payload.user.v.req.calibration.accel_bias[1];
|
|
accel_data.calibration.bias[2] = user_rx_v1.payload.user.v.req.calibration.accel_bias[2];
|
|
|
|
// Set the gyro calibration
|
|
gyro_data.calibration.variance[0] = user_rx_v1.payload.user.v.req.calibration.gyro_var[0];
|
|
gyro_data.calibration.variance[1] = user_rx_v1.payload.user.v.req.calibration.gyro_var[1];
|
|
gyro_data.calibration.variance[2] = user_rx_v1.payload.user.v.req.calibration.gyro_var[2];
|
|
gyro_data.calibration.scale[0] = user_rx_v1.payload.user.v.req.calibration.gyro_scale[0];
|
|
gyro_data.calibration.scale[1] = user_rx_v1.payload.user.v.req.calibration.gyro_scale[1];
|
|
gyro_data.calibration.scale[2] = user_rx_v1.payload.user.v.req.calibration.gyro_scale[2];
|
|
gyro_data.calibration.bias[0] = user_rx_v1.payload.user.v.req.calibration.gyro_bias[0];
|
|
gyro_data.calibration.bias[1] = user_rx_v1.payload.user.v.req.calibration.gyro_bias[1];
|
|
gyro_data.calibration.bias[2] = user_rx_v1.payload.user.v.req.calibration.gyro_bias[2];
|
|
|
|
// Set the mag calibration
|
|
mag_data.calibration.variance[0] = user_rx_v1.payload.user.v.req.calibration.mag_var[0];
|
|
mag_data.calibration.variance[1] = user_rx_v1.payload.user.v.req.calibration.mag_var[1];
|
|
mag_data.calibration.variance[2] = user_rx_v1.payload.user.v.req.calibration.mag_var[2];
|
|
mag_data.calibration.scale[0] = user_rx_v1.payload.user.v.req.calibration.mag_scale[0];
|
|
mag_data.calibration.scale[1] = user_rx_v1.payload.user.v.req.calibration.mag_scale[1];
|
|
mag_data.calibration.scale[2] = user_rx_v1.payload.user.v.req.calibration.mag_scale[2];
|
|
mag_data.calibration.bias[0] = user_rx_v1.payload.user.v.req.calibration.mag_bias[0];
|
|
mag_data.calibration.bias[1] = user_rx_v1.payload.user.v.req.calibration.mag_bias[1];
|
|
mag_data.calibration.bias[2] = user_rx_v1.payload.user.v.req.calibration.mag_bias[2];
|
|
|
|
float zeros[3] = { 0, 0, 0 };
|
|
INSSetGyroBias(zeros); //gyro bias corrects in preprocessing
|
|
INSSetAccelVar(accel_data.calibration.variance);
|
|
INSSetGyroVar(gyro_data.calibration.variance);
|
|
float mag_var[3] = {mag_data.calibration.variance[1], mag_data.calibration.variance[0], mag_data.calibration.variance[2]};
|
|
INSSetMagVar(mag_var);
|
|
}
|
|
|
|
// echo back the values used
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,
|
|
OPAHRS_MSG_V1_RSP_CALIBRATION);
|
|
user_tx_v1.payload.user.v.rsp.calibration.accel_var[0] = accel_data.calibration.variance[0];
|
|
user_tx_v1.payload.user.v.rsp.calibration.accel_var[1] = accel_data.calibration.variance[1];
|
|
user_tx_v1.payload.user.v.rsp.calibration.accel_var[2] = accel_data.calibration.variance[2];
|
|
user_tx_v1.payload.user.v.rsp.calibration.gyro_var[0] = gyro_data.calibration.variance[0];
|
|
user_tx_v1.payload.user.v.rsp.calibration.gyro_var[1] = gyro_data.calibration.variance[1];
|
|
user_tx_v1.payload.user.v.rsp.calibration.gyro_var[2] = gyro_data.calibration.variance[2];
|
|
user_tx_v1.payload.user.v.rsp.calibration.mag_var[0] = mag_data.calibration.variance[0];
|
|
user_tx_v1.payload.user.v.rsp.calibration.mag_var[1] = mag_data.calibration.variance[1];
|
|
user_tx_v1.payload.user.v.rsp.calibration.mag_var[2] = mag_data.calibration.variance[2];
|
|
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_ATTITUDERAW:
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,
|
|
OPAHRS_MSG_V1_RSP_ATTITUDERAW);
|
|
|
|
// Grab one sample from buffer to populate this
|
|
accel_data.raw.x = valid_data_buffer[0];
|
|
accel_data.raw.y = valid_data_buffer[2];
|
|
accel_data.raw.z = valid_data_buffer[4];
|
|
|
|
gyro_data.raw.x = valid_data_buffer[1];
|
|
gyro_data.raw.y = valid_data_buffer[3];
|
|
gyro_data.raw.z = valid_data_buffer[5];
|
|
|
|
gyro_data.temp.xy = valid_data_buffer[6];
|
|
gyro_data.temp.z = valid_data_buffer[7];
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.mags.x =
|
|
mag_data.raw.axis[0];
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.mags.y =
|
|
mag_data.raw.axis[1];
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.mags.z =
|
|
mag_data.raw.axis[2];
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.x =
|
|
gyro_data.raw.x;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.y =
|
|
gyro_data.raw.y;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.z =
|
|
gyro_data.raw.z;
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros_filtered.
|
|
x = gyro_data.filtered.x;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros_filtered.
|
|
y = gyro_data.filtered.y;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros_filtered.
|
|
z = gyro_data.filtered.z;
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.xy_temp =
|
|
gyro_data.temp.xy;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.z_temp =
|
|
gyro_data.temp.z;
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels.x =
|
|
accel_data.raw.x;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels.y =
|
|
accel_data.raw.y;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels.z =
|
|
accel_data.raw.z;
|
|
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels_filtered.
|
|
x = accel_data.filtered.x;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels_filtered.
|
|
y = accel_data.filtered.y;
|
|
user_tx_v1.payload.user.v.rsp.attituderaw.accels_filtered.
|
|
z = accel_data.filtered.z;
|
|
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_UPDATE:
|
|
// process incoming data
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,
|
|
OPAHRS_MSG_V1_RSP_UPDATE);
|
|
if (user_rx_v1.payload.user.v.req.update.barometer.updated) {
|
|
altitude_data.altitude =
|
|
user_rx_v1.payload.user.v.req.update.barometer.
|
|
altitude;
|
|
altitude_data.updated =
|
|
user_rx_v1.payload.user.v.req.update.barometer.
|
|
updated;
|
|
}
|
|
if (user_rx_v1.payload.user.v.req.update.gps.updated) {
|
|
gps_data.updated = true;
|
|
gps_data.NED[0] = user_rx_v1.payload.user.v.req.update.gps.NED[0];
|
|
gps_data.NED[1] = user_rx_v1.payload.user.v.req.update.gps.NED[1];
|
|
gps_data.NED[2] = user_rx_v1.payload.user.v.req.update.gps.NED[2];
|
|
gps_data.heading = user_rx_v1.payload.user.v.req.update.gps.heading;
|
|
gps_data.groundspeed = user_rx_v1.payload.user.v.req.update.gps.groundspeed;
|
|
gps_data.quality = user_rx_v1.payload.user.v.req.update.gps.quality;
|
|
}
|
|
// send out attitude/position estimate
|
|
user_tx_v1.payload.user.v.rsp.update.quaternion.q1 =
|
|
attitude_data.quaternion.q1;
|
|
user_tx_v1.payload.user.v.rsp.update.quaternion.q2 =
|
|
attitude_data.quaternion.q2;
|
|
user_tx_v1.payload.user.v.rsp.update.quaternion.q3 =
|
|
attitude_data.quaternion.q3;
|
|
user_tx_v1.payload.user.v.rsp.update.quaternion.q4 =
|
|
attitude_data.quaternion.q4;
|
|
|
|
// convert all to cm/s
|
|
user_tx_v1.payload.user.v.rsp.update.NED[0] = Nav.Pos[0]*100;
|
|
user_tx_v1.payload.user.v.rsp.update.NED[1] = Nav.Pos[1]*100;
|
|
user_tx_v1.payload.user.v.rsp.update.NED[2] = Nav.Pos[2]*100;
|
|
user_tx_v1.payload.user.v.rsp.update.Vel[0] = Nav.Vel[0]*100;
|
|
user_tx_v1.payload.user.v.rsp.update.Vel[1] = Nav.Vel[1]*100;
|
|
user_tx_v1.payload.user.v.rsp.update.Vel[2] = Nav.Vel[2]*100;
|
|
|
|
// compute the idle fraction
|
|
user_tx_v1.payload.user.v.rsp.update.load =
|
|
((float)running_counts /
|
|
(float)(idle_counts + running_counts)) * 100;
|
|
user_tx_v1.payload.user.v.rsp.update.idle_time =
|
|
idle_counts / (TIMER_RATE / 10000);
|
|
user_tx_v1.payload.user.v.rsp.update.run_time =
|
|
running_counts / (TIMER_RATE / 10000);
|
|
user_tx_v1.payload.user.v.rsp.update.dropped_updates =
|
|
ekf_too_slow;
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
case OPAHRS_MSG_V1_REQ_INITIALIZED:
|
|
// process incoming data
|
|
opahrs_msg_v1_init_user_tx(&user_tx_v1,OPAHRS_MSG_V1_RSP_INITIALIZED);
|
|
user_tx_v1.payload.user.v.rsp.initialized.initialized = initialized;
|
|
if(user_rx_v1.payload.user.v.req.initialized.initialized == AHRS_INITIALIZED)
|
|
initialized = AHRS_INITIALIZED;
|
|
else if(user_rx_v1.payload.user.v.req.initialized.initialized == AHRS_UNINITIALIZED)
|
|
initialized = AHRS_UNINITIALIZED;
|
|
lfsm_user_set_tx_v1(&user_tx_v1);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
/* Finished processing the received message, requeue it */
|
|
lfsm_user_set_rx_v1(&user_rx_v1);
|
|
lfsm_user_done();
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|