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84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
577 lines
16 KiB
C
577 lines
16 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Sensors
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* @brief Acquires sensor data
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* Specifically updates the the @ref Gyros, @ref Accels, and @ref Magnetometer objects
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* @{
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*
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* @file sensors.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 Gyros @ref Accels @ref Magnetometer
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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 <openpilot.h>
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#include <homelocation.h>
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#include <magnetometer.h>
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#include <magbias.h>
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#include <accels.h>
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#include <gyros.h>
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#include <gyrosbias.h>
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#include <attitudeactual.h>
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#include <attitudesettings.h>
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#include <revocalibration.h>
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#include <flightstatus.h>
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#include <taskinfo.h>
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#include <CoordinateConversions.h>
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#include <pios_board_info.h>
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// Private constants
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#define STACK_SIZE_BYTES 1000
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define SENSOR_PERIOD 2
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// Private types
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// Private functions
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static void SensorsTask(void *parameters);
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static void settingsUpdatedCb(UAVObjEvent * objEv);
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static void magOffsetEstimation(MagnetometerData *mag);
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// Private variables
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static xTaskHandle sensorsTaskHandle;
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RevoCalibrationData cal;
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// These values are initialized by settings but can be updated by the attitude algorithm
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static bool bias_correct_gyro = true;
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static float mag_bias[3] = {0,0,0};
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static float mag_scale[3] = {0,0,0};
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static float accel_bias[3] = {0,0,0};
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static float accel_scale[3] = {0,0,0};
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static float R[3][3] = {{0}};
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static int8_t rotate = 0;
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/**
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* API for sensor fusion algorithms:
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* Configure(xQueueHandle gyro, xQueueHandle accel, xQueueHandle mag, xQueueHandle baro)
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* Stores all the queues the algorithm will pull data from
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* FinalizeSensors() -- before saving the sensors modifies them based on internal state (gyro bias)
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* Update() -- queries queues and updates the attitude estiamte
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*/
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/**
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* Initialise the module. Called before the start function
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t SensorsInitialize(void)
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{
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GyrosInitialize();
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GyrosBiasInitialize();
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AccelsInitialize();
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MagnetometerInitialize();
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MagBiasInitialize();
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RevoCalibrationInitialize();
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AttitudeSettingsInitialize();
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rotate = 0;
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RevoCalibrationConnectCallback(&settingsUpdatedCb);
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AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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return 0;
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}
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/**
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* Start the task. Expects all objects to be initialized by this point.
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t SensorsStart(void)
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{
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// Start main task
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xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
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return 0;
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}
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MODULE_INITCALL(SensorsInitialize, SensorsStart)
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int32_t accel_test;
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int32_t gyro_test;
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int32_t mag_test;
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//int32_t pressure_test;
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/**
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* The sensor task. This polls the gyros at 500 Hz and pumps that data to
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* stabilization and to the attitude loop
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*
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* This function has a lot of if/defs right now to allow these configurations:
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* 1. BMA180 accel and MPU6000 gyro
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* 2. MPU6000 gyro and accel
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* 3. BMA180 accel and L3GD20 gyro
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*/
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uint32_t sensor_dt_us;
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static void SensorsTask(void *parameters)
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{
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portTickType lastSysTime;
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uint32_t accel_samples = 0;
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uint32_t gyro_samples = 0;
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int32_t accel_accum[3] = {0, 0, 0};
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int32_t gyro_accum[3] = {0,0,0};
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float gyro_scaling = 0;
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float accel_scaling = 0;
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static int32_t timeval;
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AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
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UAVObjEvent ev;
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settingsUpdatedCb(&ev);
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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switch(bdinfo->board_rev) {
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case 0x01:
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#if defined(PIOS_INCLUDE_L3GD20)
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gyro_test = PIOS_L3GD20_Test();
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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accel_test = PIOS_BMA180_Test();
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#endif
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break;
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case 0x02:
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#if defined(PIOS_INCLUDE_MPU6000)
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gyro_test = PIOS_MPU6000_Test();
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accel_test = gyro_test;
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#endif
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break;
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default:
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PIOS_DEBUG_Assert(0);
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}
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#if defined(PIOS_INCLUDE_HMC5883)
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mag_test = PIOS_HMC5883_Test();
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#else
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mag_test = 0;
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#endif
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if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
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while(1) {
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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vTaskDelay(10);
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}
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}
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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bool error = false;
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uint32_t mag_update_time = PIOS_DELAY_GetRaw();
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while (1) {
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// TODO: add timeouts to the sensor reads and set an error if the fail
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sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
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timeval = PIOS_DELAY_GetRaw();
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if (error) {
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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lastSysTime = xTaskGetTickCount();
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vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
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AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
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error = false;
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
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}
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for (int i = 0; i < 3; i++) {
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accel_accum[i] = 0;
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gyro_accum[i] = 0;
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}
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accel_samples = 0;
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gyro_samples = 0;
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AccelsData accelsData;
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GyrosData gyrosData;
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switch(bdinfo->board_rev) {
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case 0x01: // L3GD20 + BMA180 board
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#if defined(PIOS_INCLUDE_BMA180)
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{
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struct pios_bma180_data accel;
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int32_t read_good;
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int32_t count;
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count = 0;
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while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
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error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
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if (error) {
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// Unfortunately if the BMA180 ever misses getting read, then it will not
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// trigger more interrupts. In this case we must force a read to kickstarts
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// it.
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struct pios_bma180_data data;
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PIOS_BMA180_ReadAccels(&data);
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continue;
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}
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while(read_good == 0) {
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count++;
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accel_accum[1] += accel.x;
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accel_accum[0] += accel.y;
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accel_accum[2] -= accel.z;
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read_good = PIOS_BMA180_ReadFifo(&accel);
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}
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accel_samples = count;
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accel_scaling = PIOS_BMA180_GetScale();
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// Get temp from last reading
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accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
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}
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#endif
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#if defined(PIOS_INCLUDE_L3GD20)
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{
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struct pios_l3gd20_data gyro;
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gyro_samples = 0;
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xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
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if(xQueueReceive(gyro_queue, (void *) &gyro, 4) == errQUEUE_EMPTY) {
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error = true;
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continue;
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}
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gyro_samples = 1;
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gyro_accum[1] += gyro.gyro_x;
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gyro_accum[0] += gyro.gyro_y;
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gyro_accum[2] -= gyro.gyro_z;
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gyro_scaling = PIOS_L3GD20_GetScale();
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// Get temp from last reading
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gyrosData.temperature = gyro.temperature;
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}
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#endif
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break;
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case 0x02: // MPU6000 board
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case 0x03: // MPU6000 board
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#if defined(PIOS_INCLUDE_MPU6000)
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{
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struct pios_mpu6000_data mpu6000_data;
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xQueueHandle queue = PIOS_MPU6000_GetQueue();
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while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
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{
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gyro_accum[0] += mpu6000_data.gyro_x;
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gyro_accum[1] += mpu6000_data.gyro_y;
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gyro_accum[2] += mpu6000_data.gyro_z;
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accel_accum[0] += mpu6000_data.accel_x;
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accel_accum[1] += mpu6000_data.accel_y;
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accel_accum[2] += mpu6000_data.accel_z;
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gyro_samples ++;
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accel_samples ++;
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}
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if (gyro_samples == 0) {
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PIOS_MPU6000_ReadGyros(&mpu6000_data);
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error = true;
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continue;
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}
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gyro_scaling = PIOS_MPU6000_GetScale();
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accel_scaling = PIOS_MPU6000_GetAccelScale();
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gyrosData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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accelsData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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}
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#endif /* PIOS_INCLUDE_MPU6000 */
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break;
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default:
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PIOS_DEBUG_Assert(0);
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}
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// Scale the accels
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float accels[3] = {(float) accel_accum[0] / accel_samples,
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(float) accel_accum[1] / accel_samples,
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(float) accel_accum[2] / accel_samples};
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float accels_out[3] = {accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
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accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
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accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]};
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if (rotate) {
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rot_mult(R, accels_out, accels);
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accelsData.x = accels[0];
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accelsData.y = accels[1];
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accelsData.z = accels[2];
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} else {
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accelsData.x = accels_out[0];
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accelsData.y = accels_out[1];
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accelsData.z = accels_out[2];
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}
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AccelsSet(&accelsData);
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// Scale the gyros
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float gyros[3] = {(float) gyro_accum[0] / gyro_samples,
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(float) gyro_accum[1] / gyro_samples,
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(float) gyro_accum[2] / gyro_samples};
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float gyros_out[3] = {gyros[0] * gyro_scaling,
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gyros[1] * gyro_scaling,
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gyros[2] * gyro_scaling};
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if (rotate) {
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rot_mult(R, gyros_out, gyros);
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gyrosData.x = gyros[0];
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gyrosData.y = gyros[1];
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gyrosData.z = gyros[2];
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} else {
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gyrosData.x = gyros_out[0];
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gyrosData.y = gyros_out[1];
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gyrosData.z = gyros_out[2];
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}
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if (bias_correct_gyro) {
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// Apply bias correction to the gyros from the state estimator
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GyrosBiasData gyrosBias;
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GyrosBiasGet(&gyrosBias);
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gyrosData.x -= gyrosBias.x;
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gyrosData.y -= gyrosBias.y;
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gyrosData.z -= gyrosBias.z;
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}
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GyrosSet(&gyrosData);
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// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
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// and make it average zero (weakly)
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#if defined(PIOS_INCLUDE_HMC5883)
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MagnetometerData mag;
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if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
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int16_t values[3];
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PIOS_HMC5883_ReadMag(values);
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float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
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(float) values[0] * mag_scale[1] - mag_bias[1],
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-(float) values[2] * mag_scale[2] - mag_bias[2]};
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if (rotate) {
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float mag_out[3];
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rot_mult(R, mags, mag_out);
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mag.x = mag_out[0];
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mag.y = mag_out[1];
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mag.z = mag_out[2];
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} else {
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mag.x = mags[0];
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mag.y = mags[1];
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mag.z = mags[2];
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}
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// Correct for mag bias and update if the rate is non zero
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if(cal.MagBiasNullingRate > 0)
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magOffsetEstimation(&mag);
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MagnetometerSet(&mag);
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mag_update_time = PIOS_DELAY_GetRaw();
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}
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#endif
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PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
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lastSysTime = xTaskGetTickCount();
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}
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}
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/**
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* Perform an update of the @ref MagBias based on
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* Magnetometer Offset Cancellation: Theory and Implementation,
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* revisited William Premerlani, October 14, 2011
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*/
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static void magOffsetEstimation(MagnetometerData *mag)
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{
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#if 0
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// Constants, to possibly go into a UAVO
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static const float MIN_NORM_DIFFERENCE = 50;
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static float B2[3] = {0, 0, 0};
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MagBiasData magBias;
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MagBiasGet(&magBias);
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// Remove the current estimate of the bias
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mag->x -= magBias.x;
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mag->y -= magBias.y;
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mag->z -= magBias.z;
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// First call
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if (B2[0] == 0 && B2[1] == 0 && B2[2] == 0) {
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B2[0] = mag->x;
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B2[1] = mag->y;
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B2[2] = mag->z;
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return;
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}
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float B1[3] = {mag->x, mag->y, mag->z};
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float norm_diff = sqrtf(powf(B2[0] - B1[0],2) + powf(B2[1] - B1[1],2) + powf(B2[2] - B1[2],2));
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if (norm_diff > MIN_NORM_DIFFERENCE) {
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float norm_b1 = sqrtf(B1[0]*B1[0] + B1[1]*B1[1] + B1[2]*B1[2]);
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float norm_b2 = sqrtf(B2[0]*B2[0] + B2[1]*B2[1] + B2[2]*B2[2]);
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float scale = cal.MagBiasNullingRate * (norm_b2 - norm_b1) / norm_diff;
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float b_error[3] = {(B2[0] - B1[0]) * scale, (B2[1] - B1[1]) * scale, (B2[2] - B1[2]) * scale};
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magBias.x += b_error[0];
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magBias.y += b_error[1];
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magBias.z += b_error[2];
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MagBiasSet(&magBias);
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// Store this value to compare against next update
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B2[0] = B1[0]; B2[1] = B1[1]; B2[2] = B1[2];
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}
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#else
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MagBiasData magBias;
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MagBiasGet(&magBias);
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// Remove the current estimate of the bias
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mag->x -= magBias.x;
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mag->y -= magBias.y;
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mag->z -= magBias.z;
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HomeLocationData homeLocation;
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HomeLocationGet(&homeLocation);
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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const float Rxy = sqrtf(homeLocation.Be[0]*homeLocation.Be[0] + homeLocation.Be[1]*homeLocation.Be[1]);
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const float Rz = homeLocation.Be[2];
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|
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const float rate = cal.MagBiasNullingRate;
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float R[3][3];
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float B_e[3];
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float xy[2];
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float delta[3];
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|
|
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// Get the rotation matrix
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Quaternion2R(&attitude.q1, R);
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// Rotate the mag into the NED frame
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B_e[0] = R[0][0] * mag->x + R[1][0] * mag->y + R[2][0] * mag->z;
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B_e[1] = R[0][1] * mag->x + R[1][1] * mag->y + R[2][1] * mag->z;
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B_e[2] = R[0][2] * mag->x + R[1][2] * mag->y + R[2][2] * mag->z;
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|
|
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float cy = cosf(DEG2RAD(attitude.Yaw));
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float sy = sinf(DEG2RAD(attitude.Yaw));
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|
|
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xy[0] = cy * B_e[0] + sy * B_e[1];
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xy[1] = -sy * B_e[0] + cy * B_e[1];
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|
|
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float xy_norm = sqrtf(xy[0]*xy[0] + xy[1]*xy[1]);
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|
|
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delta[0] = -rate * (xy[0] / xy_norm * Rxy - xy[0]);
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delta[1] = -rate * (xy[1] / xy_norm * Rxy - xy[1]);
|
|
delta[2] = -rate * (Rz - B_e[2]);
|
|
|
|
if (!isnan(delta[0]) && !isinf(delta[0]) &&
|
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!isnan(delta[1]) && !isinf(delta[1]) &&
|
|
!isnan(delta[2]) && !isinf(delta[2])) {
|
|
magBias.x += delta[0];
|
|
magBias.y += delta[1];
|
|
magBias.z += delta[2];
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MagBiasSet(&magBias);
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|
}
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|
#endif
|
|
}
|
|
|
|
/**
|
|
* Locally cache some variables from the AtttitudeSettings object
|
|
*/
|
|
static void settingsUpdatedCb(UAVObjEvent * objEv) {
|
|
RevoCalibrationGet(&cal);
|
|
|
|
mag_bias[0] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_X];
|
|
mag_bias[1] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Y];
|
|
mag_bias[2] = cal.mag_bias[REVOCALIBRATION_MAG_BIAS_Z];
|
|
mag_scale[0] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_X];
|
|
mag_scale[1] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Y];
|
|
mag_scale[2] = cal.mag_scale[REVOCALIBRATION_MAG_SCALE_Z];
|
|
accel_bias[0] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_X];
|
|
accel_bias[1] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Y];
|
|
accel_bias[2] = cal.accel_bias[REVOCALIBRATION_ACCEL_BIAS_Z];
|
|
accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
|
|
accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
|
|
accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
|
|
// Do not store gyros_bias here as that comes from the state estimator and should be
|
|
// used from GyroBias directly
|
|
|
|
// Zero out any adaptive tracking
|
|
MagBiasData magBias;
|
|
MagBiasGet(&magBias);
|
|
magBias.x = 0;
|
|
magBias.y = 0;
|
|
magBias.z = 0;
|
|
MagBiasSet(&magBias);
|
|
|
|
|
|
AttitudeSettingsData attitudeSettings;
|
|
AttitudeSettingsGet(&attitudeSettings);
|
|
bias_correct_gyro = (cal.BiasCorrectedRaw == REVOCALIBRATION_BIASCORRECTEDRAW_TRUE);
|
|
|
|
// Indicates not to expend cycles on rotation
|
|
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
|
|
attitudeSettings.BoardRotation[2] == 0) {
|
|
rotate = 0;
|
|
} else {
|
|
float rotationQuat[4];
|
|
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
|
|
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
|
|
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
|
|
RPY2Quaternion(rpy, rotationQuat);
|
|
Quaternion2R(rotationQuat, R);
|
|
rotate = 1;
|
|
}
|
|
|
|
}
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|