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432 lines
13 KiB
C
432 lines
13 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Attitude Copter Control Attitude Estimation
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* @brief Acquires sensor data and computes attitude estimate
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* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
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* @{
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*
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* @file attitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input objects: None, takes sensor data via pios
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* Output objects: @ref AttitudeRaw @ref AttitudeActual
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*
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* This module computes an attitude estimate from the sensor data
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*
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* The module executes in its own thread.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "pios.h"
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#include "attitude.h"
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#include "attituderaw.h"
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#include "attitudeactual.h"
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#include "attitudesettings.h"
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#include "flightstatus.h"
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#include "CoordinateConversions.h"
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#include "pios_flash_w25x.h"
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// Private constants
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#define STACK_SIZE_BYTES 540
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define UPDATE_RATE 2.0f
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#define GYRO_NEUTRAL 1665
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#define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void AttitudeTask(void *parameters);
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static float gyro_correct_int[3] = {0,0,0};
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static xQueueHandle gyro_queue;
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static int8_t updateSensors(AttitudeRawData *);
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static void updateAttitude(AttitudeRawData *);
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static void settingsUpdatedCb(UAVObjEvent * objEv);
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static float accelKi = 0;
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static float accelKp = 0;
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static float yawBiasRate = 0;
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static float gyroGain = 0.42;
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static int16_t accelbias[3];
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static float q[4] = {1,0,0,0};
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static float R[3][3];
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static int8_t rotate = 0;
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static bool zero_during_arming = false;
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static bool bias_correct_gyro = true;
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AttitudeStart(void)
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{
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// Start main task
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xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AttitudeInitialize(void)
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{
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// Initialize quaternion
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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attitude.q1 = 1;
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attitude.q2 = 0;
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attitude.q3 = 0;
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attitude.q4 = 0;
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AttitudeActualSet(&attitude);
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// Cannot trust the values to init right above if BL runs
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gyro_correct_int[0] = 0;
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gyro_correct_int[1] = 0;
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gyro_correct_int[2] = 0;
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q[0] = 1;
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q[1] = 0;
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q[2] = 0;
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q[3] = 0;
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for(uint8_t i = 0; i < 3; i++)
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for(uint8_t j = 0; j < 3; j++)
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R[i][j] = 0;
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// Create queue for passing gyro data, allow 2 back samples in case
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gyro_queue = xQueueCreate(1, sizeof(float) * 4);
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if(gyro_queue == NULL)
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return -1;
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PIOS_ADC_SetQueue(gyro_queue);
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AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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return 0;
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}
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MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
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/**
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* Module thread, should not return.
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*/
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static void AttitudeTask(void *parameters)
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{
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uint8_t init = 0;
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AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
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PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
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// Keep flash CS pin high while talking accel
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PIOS_FLASH_DISABLE;
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PIOS_ADXL345_Init();
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// Set critical error and wait until the accel is producing data
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while(PIOS_ADXL345_FifoElements() == 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
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PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
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}
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// Force settings update to make sure rotation loaded
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settingsUpdatedCb(AttitudeSettingsHandle());
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// Main task loop
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while (1) {
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
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// For first 7 seconds use accels to get gyro bias
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accelKp = 1;
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accelKi = 0.9;
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yawBiasRate = 0.23;
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init = 0;
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}
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else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
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accelKp = 1;
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accelKi = 0.9;
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yawBiasRate = 0.23;
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init = 0;
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} else if (init == 0) {
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// Reload settings (all the rates)
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AttitudeSettingsAccelKiGet(&accelKi);
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AttitudeSettingsAccelKpGet(&accelKp);
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AttitudeSettingsYawBiasRateGet(&yawBiasRate);
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init = 1;
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}
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PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
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AttitudeRawData attitudeRaw;
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AttitudeRawGet(&attitudeRaw);
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if(updateSensors(&attitudeRaw) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
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else {
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// Only update attitude when sensor data is good
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updateAttitude(&attitudeRaw);
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AttitudeRawSet(&attitudeRaw);
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AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
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}
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}
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}
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/**
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* Get an update from the sensors
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* @param[in] attitudeRaw Populate the UAVO instead of saving right here
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* @return 0 if successfull, -1 if not
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*/
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static int8_t updateSensors(AttitudeRawData * attitudeRaw)
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{
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struct pios_adxl345_data accel_data;
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float gyro[4];
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// Only wait the time for two nominal updates before setting an alarm
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if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
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return -1;
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}
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// No accel data available
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if(PIOS_ADXL345_FifoElements() == 0)
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return -1;
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// First sample is temperature
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attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
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attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
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attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
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int32_t x = 0;
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int32_t y = 0;
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int32_t z = 0;
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uint8_t i = 0;
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uint8_t samples_remaining;
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do {
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i++;
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samples_remaining = PIOS_ADXL345_Read(&accel_data);
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x += accel_data.x;
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y += -accel_data.y;
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z += -accel_data.z;
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} while ( (i < 32) && (samples_remaining > 0) );
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attitudeRaw->gyrotemp[0] = samples_remaining;
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attitudeRaw->gyrotemp[1] = i;
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float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
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if(rotate) {
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// TODO: rotate sensors too so stabilization is well behaved
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float vec_out[3];
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rot_mult(R, accel, vec_out);
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attitudeRaw->accels[0] = vec_out[0];
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attitudeRaw->accels[1] = vec_out[1];
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attitudeRaw->accels[2] = vec_out[2];
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rot_mult(R, attitudeRaw->gyros, vec_out);
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attitudeRaw->gyros[0] = vec_out[0];
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attitudeRaw->gyros[1] = vec_out[1];
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attitudeRaw->gyros[2] = vec_out[2];
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} else {
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attitudeRaw->accels[0] = accel[0];
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attitudeRaw->accels[1] = accel[1];
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attitudeRaw->accels[2] = accel[2];
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}
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// Scale accels and correct bias
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attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
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attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
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attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
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if(bias_correct_gyro) {
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// Applying integral component here so it can be seen on the gyros and correct bias
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attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
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attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
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attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
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}
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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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gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
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return 0;
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}
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static void updateAttitude(AttitudeRawData * attitudeRaw)
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{
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float dT;
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portTickType thisSysTime = xTaskGetTickCount();
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static portTickType lastSysTime = 0;
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dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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// Bad practice to assume structure order, but saves memory
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float gyro[3];
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gyro[0] = attitudeRaw->gyros[0];
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gyro[1] = attitudeRaw->gyros[1];
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gyro[2] = attitudeRaw->gyros[2];
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{
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float * accels = attitudeRaw->accels;
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float grot[3];
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float accel_err[3];
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// Rotate gravity to body frame and cross with accels
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grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
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grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
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grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
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CrossProduct((const float *) accels, (const float *) grot, accel_err);
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// Account for accel magnitude
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float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
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accel_err[0] /= accel_mag;
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accel_err[1] /= accel_mag;
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accel_err[2] /= accel_mag;
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// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
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gyro_correct_int[0] += accel_err[0] * accelKi;
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gyro_correct_int[1] += accel_err[1] * accelKi;
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//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
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// Correct rates based on error, integral component dealt with in updateSensors
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gyro[0] += accel_err[0] * accelKp / dT;
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gyro[1] += accel_err[1] * accelKp / dT;
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gyro[2] += accel_err[2] * accelKp / dT;
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}
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{ // scoping variables to save memory
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// Work out time derivative from INSAlgo writeup
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// Also accounts for the fact that gyros are in deg/s
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float qdot[4];
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qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
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// Take a time step
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q[0] = q[0] + qdot[0];
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q[1] = q[1] + qdot[1];
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q[2] = q[2] + qdot[2];
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q[3] = q[3] + qdot[3];
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if(q[0] < 0) {
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q[0] = -q[0];
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q[1] = -q[1];
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q[2] = -q[2];
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q[3] = -q[3];
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}
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}
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// Renomalize
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float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
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q[0] = q[0] / qmag;
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q[1] = q[1] / qmag;
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q[2] = q[2] / qmag;
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q[3] = q[3] / qmag;
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// If quaternion has become inappropriately short or is nan reinit.
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// THIS SHOULD NEVER ACTUALLY HAPPEN
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if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
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q[0] = 1;
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q[1] = 0;
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q[2] = 0;
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q[3] = 0;
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}
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AttitudeActualData attitudeActual;
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AttitudeActualGet(&attitudeActual);
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quat_copy(q, &attitudeActual.q1);
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// Convert into eueler degrees (makes assumptions about RPY order)
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Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
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AttitudeActualSet(&attitudeActual);
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}
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static void settingsUpdatedCb(UAVObjEvent * objEv) {
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AttitudeSettingsData attitudeSettings;
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AttitudeSettingsGet(&attitudeSettings);
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accelKp = attitudeSettings.AccelKp;
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accelKi = attitudeSettings.AccelKi;
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yawBiasRate = attitudeSettings.YawBiasRate;
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gyroGain = attitudeSettings.GyroGain;
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zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
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bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
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accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
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accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
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accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
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gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
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gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
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gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
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// Indicates not to expend cycles on rotation
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if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
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attitudeSettings.BoardRotation[2] == 0) {
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rotate = 0;
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// Shouldn't be used but to be safe
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float rotationQuat[4] = {1,0,0,0};
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Quaternion2R(rotationQuat, R);
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} else {
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float rotationQuat[4];
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const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
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attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
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RPY2Quaternion(rpy, rotationQuat);
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Quaternion2R(rotationQuat, R);
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rotate = 1;
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}
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}
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/**
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* @}
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* @}
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*/
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