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ee4ca7b93a
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1801 ebee16cc-31ac-478f-84a7-5cbb03baadba
571 lines
18 KiB
C
571 lines
18 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup AHRSCommsModule AHRSComms Module
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* @brief Handles communication with AHRS and updating position
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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 ahrs_comms.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 object: AttitudeSettings
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* Output object: AttitudeActual
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*
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* This module will periodically update the value of latest attitude solution
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* that is available from the AHRS.
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* The module settings can configure how often AHRS is polled for a new solution.
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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 "ahrs_comms.h"
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#include "attitudeactual.h"
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#include "ahrssettings.h"
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#include "attituderaw.h"
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#include "attitudesettings.h"
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#include "ahrsstatus.h"
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#include "alarms.h"
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#include "baroaltitude.h"
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#include "stdbool.h"
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#include "gpsposition.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "homelocation.h"
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#include "ahrscalibration.h"
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#include "CoordinateConversions.h"
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#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
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#include "pios_opahrs_proto.h"
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// Private constants
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#define STACK_SIZE 450
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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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 ahrscommsTask(void *parameters);
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static void load_baro_altitude(struct opahrs_msg_v1_req_update *update);
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static void load_gps_position(struct opahrs_msg_v1_req_update *update);
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static void load_magnetic_north(struct opahrs_msg_v1_req_north *north);
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static void load_calibration(struct opahrs_msg_v1_req_calibration *calibration);
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static void update_attitude_raw(struct opahrs_msg_v1_rsp_attituderaw *attituderaw);
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static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial *serial);
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static void update_calibration(struct opahrs_msg_v1_rsp_calibration *calibration);
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static void process_update(struct opahrs_msg_v1_rsp_update *update); // main information parser
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static bool AHRSSettingsIsUpdatedFlag = false;
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static void AHRSSettingsUpdatedCb(UAVObjEvent * ev)
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{
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AHRSSettingsIsUpdatedFlag = true;
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}
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static bool BaroAltitudeIsUpdatedFlag = false;
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static void BaroAltitudeUpdatedCb(UAVObjEvent * ev)
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{
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BaroAltitudeIsUpdatedFlag = true;
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}
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static bool GPSPositionIsUpdatedFlag = false;
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static void GPSPositionUpdatedCb(UAVObjEvent * ev)
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{
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GPSPositionIsUpdatedFlag = true;
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}
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static bool HomeLocationIsUpdatedFlag = false;
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static void HomeLocationUpdatedCb(UAVObjEvent * ev)
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{
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HomeLocationIsUpdatedFlag = true;
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}
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static bool AHRSCalibrationIsUpdatedFlag = false;
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static bool AHRSCalibrationIsLocallyUpdateFlag = false;
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static void AHRSCalibrationUpdatedCb(UAVObjEvent * ev)
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{
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if (AHRSCalibrationIsLocallyUpdateFlag == true)
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AHRSCalibrationIsLocallyUpdateFlag = false;
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else
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AHRSCalibrationIsUpdatedFlag = true;
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}
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static uint32_t GPSGoodUpdates;
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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 AHRSCommsInitialize(void)
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{
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AHRSSettingsConnectCallback(AHRSSettingsUpdatedCb);
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BaroAltitudeConnectCallback(BaroAltitudeUpdatedCb);
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GPSPositionConnectCallback(GPSPositionUpdatedCb);
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HomeLocationConnectCallback(HomeLocationUpdatedCb);
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AHRSCalibrationConnectCallback(AHRSCalibrationUpdatedCb);
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PIOS_OPAHRS_Init();
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// Start main task
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xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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static uint16_t update_errors = 0;
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static uint16_t attituderaw_errors = 0;
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static uint16_t home_errors = 0;
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static uint16_t calibration_errors = 0;
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static uint16_t algorithm_errors = 0;
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/**
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* Module thread, should not return.
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*/
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static void ahrscommsTask(void *parameters)
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{
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enum opahrs_result result;
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portTickType lastSysTime;
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GPSGoodUpdates = 0;
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AhrsStatusData data;
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AhrsStatusGet(&data);
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data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
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AhrsStatusSet(&data);
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// Main task loop
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while (1) {
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struct opahrs_msg_v1 rsp;
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struct opahrs_msg_v1 req;
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AhrsStatusData data;
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AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
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/* Spin here until we're in sync */
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while (PIOS_OPAHRS_resync() != OPAHRS_RESULT_OK) {
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vTaskDelay(100 / portTICK_RATE_MS);
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}
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/* Give the other side a chance to keep up */
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//vTaskDelay(100 / portTICK_RATE_MS);
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if (PIOS_OPAHRS_GetSerial(&rsp) == OPAHRS_RESULT_OK) {
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update_ahrs_status(&(rsp.payload.user.v.rsp.serial));
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} else {
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/* Comms error */
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continue;
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}
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/* Whenever resyncing, assume AHRS doesn't reset and doesn't know home */
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AhrsStatusGet(&data);
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req.payload.user.v.req.initialized.initialized = AHRS_INIT_QUERY;
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result = PIOS_OPAHRS_SetGetInitialized(&req, &rsp);
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if ((result != OPAHRS_RESULT_OK) || (rsp.payload.user.v.rsp.initialized.initialized == AHRS_UNINITIALIZED)) {
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data.Initialized = AHRSSTATUS_INITIALIZED_FALSE;
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data.HomeSet = AHRSSTATUS_HOMESET_FALSE;
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data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
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data.AlgorithmSet = AHRSSTATUS_ALGORITHMSET_FALSE;
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} else {
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data.Initialized = AHRSSTATUS_INITIALIZED_TRUE;
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AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
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}
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AhrsStatusSet(&data);
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/* We're in sync with the AHRS, spin here until an error occurs */
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lastSysTime = xTaskGetTickCount();
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while (1) {
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AHRSSettingsData settings;
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/* Update settings with latest value */
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AHRSSettingsGet(&settings);
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AhrsStatusGet(&data);
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if ((data.HomeSet == AHRSSTATUS_HOMESET_TRUE) && (data.CalibrationSet == AHRSSTATUS_CALIBRATIONSET_TRUE)
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&& (data.AlgorithmSet == AHRSSTATUS_ALGORITHMSET_TRUE)) {
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req.payload.user.v.req.initialized.initialized = AHRS_INITIALIZED;
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if ((result = PIOS_OPAHRS_SetGetInitialized(&req, &rsp)) == OPAHRS_RESULT_OK) {
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data.Initialized = AHRSSTATUS_INITIALIZED_TRUE;
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AhrsStatusSet(&data);
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PIOS_OPAHRS_SetGetInitialized(&req, &rsp);
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AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
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} else {
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break;
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}
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}
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// Update home coordinate if it hasn't been updated
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AhrsStatusGet(&data);
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if (HomeLocationIsUpdatedFlag || (data.HomeSet == AHRSSTATUS_HOMESET_FALSE)) {
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struct opahrs_msg_v1 req;
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load_magnetic_north(&(req.payload.user.v.req.north));
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if ((result = PIOS_OPAHRS_SetMagNorth(&req)) == OPAHRS_RESULT_OK) {
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HomeLocationIsUpdatedFlag = false;
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data.HomeSet = AHRSSTATUS_HOMESET_TRUE;
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AhrsStatusSet(&data);
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} else {
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/* Comms error */
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home_errors++;
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data.HomeSet = AHRSSTATUS_HOMESET_FALSE;
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AhrsStatusSet(&data);
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break;
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}
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}
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// Update calibration if necessary
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AhrsStatusGet(&data);
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if (AHRSCalibrationIsUpdatedFlag || (data.CalibrationSet == AHRSSTATUS_CALIBRATIONSET_FALSE)) {
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struct opahrs_msg_v1 req;
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struct opahrs_msg_v1 rsp;
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load_calibration(&(req.payload.user.v.req.calibration));
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if ((result = PIOS_OPAHRS_SetGetCalibration(&req, &rsp)) == OPAHRS_RESULT_OK) {
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update_calibration(&(rsp.payload.user.v.rsp.calibration));
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AHRSCalibrationIsUpdatedFlag = false;
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if (rsp.payload.user.v.req.calibration.measure_var != AHRS_ECHO)
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data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_TRUE;
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AhrsStatusSet(&data);
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} else {
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/* Comms error */
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data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
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AhrsStatusSet(&data);
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calibration_errors++;
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break;
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}
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}
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// Update algorithm
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if (AHRSSettingsIsUpdatedFlag || (data.AlgorithmSet == AHRSSTATUS_ALGORITHMSET_FALSE)) {
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struct opahrs_msg_v1 req;
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if (settings.Algorithm == AHRSSETTINGS_ALGORITHM_INSGPS)
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req.payload.user.v.req.algorithm.algorithm = INSGPS_Algo;
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if (settings.Algorithm == AHRSSETTINGS_ALGORITHM_SIMPLE)
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req.payload.user.v.req.algorithm.algorithm = SIMPLE_Algo;
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if ((result = PIOS_OPAHRS_SetAlgorithm(&req)) == OPAHRS_RESULT_OK) {
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data.AlgorithmSet = AHRSSTATUS_ALGORITHMSET_TRUE;
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AhrsStatusSet(&data);
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} else {
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/* Comms error */
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data.AlgorithmSet = AHRSSTATUS_ALGORITHMSET_FALSE;
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AhrsStatusSet(&data);
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algorithm_errors++;
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break;
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}
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}
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// If settings indicate, grab the raw and filtered data instead of estimate
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if (settings.UpdateRaw) {
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if ((result = PIOS_OPAHRS_GetAttitudeRaw(&rsp)) == OPAHRS_RESULT_OK) {
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update_attitude_raw(&(rsp.payload.user.v.rsp.attituderaw));
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} else {
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/* Comms error */
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attituderaw_errors++;
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break;
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}
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}
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if (settings.UpdateFiltered) {
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// Otherwise do standard technique
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struct opahrs_msg_v1 req;
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struct opahrs_msg_v1 rsp;
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// Load barometer if updated
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if (BaroAltitudeIsUpdatedFlag)
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load_baro_altitude(&(req.payload.user.v.req.update));
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else
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req.payload.user.v.req.update.barometer.updated = 0;
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// Load GPS if updated
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if (GPSPositionIsUpdatedFlag)
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load_gps_position(&(req.payload.user.v.req.update));
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else
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req.payload.user.v.req.update.gps.updated = 0;
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// Transfer packet and process returned attitude
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if ((result = PIOS_OPAHRS_SetGetUpdate(&req, &rsp)) == OPAHRS_RESULT_OK) {
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if (req.payload.user.v.req.update.barometer.updated)
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BaroAltitudeIsUpdatedFlag = false;
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if (req.payload.user.v.req.update.gps.updated)
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GPSPositionIsUpdatedFlag = false;
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process_update(&(rsp.payload.user.v.rsp.update));
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} else {
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/* Comms error */
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update_errors++;
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break;
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}
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}
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/* Wait for the next update interval */
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vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);
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}
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}
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}
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static void load_calibration(struct opahrs_msg_v1_req_calibration *calibration)
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{
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AHRSCalibrationData data;
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AHRSCalibrationGet(&data);
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if (data.measure_var == AHRSCALIBRATION_MEASURE_VAR_SET)
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calibration->measure_var = AHRS_SET;
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else if (data.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE)
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calibration->measure_var = AHRS_MEASURE;
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else
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calibration->measure_var = AHRS_ECHO;
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calibration->accel_bias[0] = data.accel_bias[0];
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calibration->accel_bias[1] = data.accel_bias[1];
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calibration->accel_bias[2] = data.accel_bias[2];
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calibration->accel_scale[0] = data.accel_scale[0];
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calibration->accel_scale[1] = data.accel_scale[1];
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calibration->accel_scale[2] = data.accel_scale[2];
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calibration->accel_var[0] = data.accel_var[0];
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calibration->accel_var[1] = data.accel_var[1];
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calibration->accel_var[2] = data.accel_var[2];
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calibration->gyro_bias[0] = data.gyro_bias[0];
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calibration->gyro_bias[1] = data.gyro_bias[1];
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calibration->gyro_bias[2] = data.gyro_bias[2];
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calibration->gyro_scale[0] = data.gyro_scale[0];
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calibration->gyro_scale[1] = data.gyro_scale[1];
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calibration->gyro_scale[2] = data.gyro_scale[2];
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calibration->gyro_var[0] = data.gyro_var[0];
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calibration->gyro_var[1] = data.gyro_var[1];
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calibration->gyro_var[2] = data.gyro_var[2];
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calibration->mag_bias[0] = data.mag_bias[0];
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calibration->mag_bias[1] = data.mag_bias[1];
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calibration->mag_bias[2] = data.mag_bias[2];
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calibration->mag_scale[0] = data.mag_scale[0];
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calibration->mag_scale[1] = data.mag_scale[1];
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calibration->mag_scale[2] = data.mag_scale[2];
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calibration->mag_var[0] = data.mag_var[0];
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calibration->mag_var[1] = data.mag_var[1];
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calibration->mag_var[2] = data.mag_var[2];
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}
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static void update_calibration(struct opahrs_msg_v1_rsp_calibration *calibration)
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{
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AHRSCalibrationData data;
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AHRSCalibrationGet(&data);
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AHRSCalibrationIsLocallyUpdateFlag = true;
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data.accel_var[0] = calibration->accel_var[0];
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data.accel_var[1] = calibration->accel_var[1];
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data.accel_var[2] = calibration->accel_var[2];
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data.gyro_var[0] = calibration->gyro_var[0];
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data.gyro_var[1] = calibration->gyro_var[1];
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data.gyro_var[2] = calibration->gyro_var[2];
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data.mag_var[0] = calibration->mag_var[0];
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data.mag_var[1] = calibration->mag_var[1];
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data.mag_var[2] = calibration->mag_var[2];
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AHRSCalibrationSet(&data);
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}
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static void load_magnetic_north(struct opahrs_msg_v1_req_north *mag_north)
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{
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HomeLocationData data;
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HomeLocationGet(&data);
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mag_north->Be[0] = data.Be[0];
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mag_north->Be[1] = data.Be[1];
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mag_north->Be[2] = data.Be[2];
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if (data.Be[0] == 0 && data.Be[1] == 0 && data.Be[2] == 0) {
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// in case nothing has been set go to default to prevent NaN in attitude solution
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mag_north->Be[0] = 1;
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mag_north->Be[1] = 0;
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mag_north->Be[2] = 0;
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} else {
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// normalize for unit length here
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float len = sqrt(data.Be[0] * data.Be[0] + data.Be[1] * data.Be[1] + data.Be[2] * data.Be[2]);
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mag_north->Be[0] = data.Be[0] / len;
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mag_north->Be[1] = data.Be[1] / len;
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mag_north->Be[2] = data.Be[2] / len;
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}
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}
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static void load_baro_altitude(struct opahrs_msg_v1_req_update *update)
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{
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BaroAltitudeData data;
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BaroAltitudeGet(&data);
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update->barometer.altitude = data.Altitude;
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update->barometer.updated = TRUE;
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}
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static void load_gps_position(struct opahrs_msg_v1_req_update *update)
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{
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GPSPositionData data;
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GPSPositionGet(&data);
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HomeLocationData home;
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HomeLocationGet(&home);
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update->gps.updated = TRUE;
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if (home.Set == HOMELOCATION_SET_FALSE || home.Indoor == HOMELOCATION_INDOOR_TRUE) {
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PositionActualData pos;
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PositionActualGet(&pos);
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update->gps.NED[0] = 0;
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update->gps.NED[1] = 0;
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update->gps.NED[2] = 0;
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update->gps.groundspeed = 0;
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update->gps.heading = 0;
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update->gps.quality = -1; // indicates indoor mode, high variance zeros update
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} else {
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// TODO: Parameterize these heuristics into the settings
|
|
if (data.Satellites >= 7 && data.PDOP < 3.5) {
|
|
if (GPSGoodUpdates < 30) {
|
|
GPSGoodUpdates++;
|
|
update->gps.quality = 0;
|
|
} else {
|
|
update->gps.groundspeed = data.Groundspeed;
|
|
update->gps.heading = data.Heading;
|
|
double LLA[3] =
|
|
{ (double)data.Latitude / 1e7, (double)data.Longitude / 1e7, (double)(data.GeoidSeparation + data.Altitude) };
|
|
// convert from cm back to meters
|
|
double ECEF[3] = { (double)(home.ECEF[0] / 100), (double)(home.ECEF[1] / 100), (double)(home.ECEF[2] / 100) };
|
|
LLA2Base(LLA, ECEF, (float (*)[3])home.RNE, update->gps.NED);
|
|
update->gps.quality = 1;
|
|
}
|
|
} else {
|
|
GPSGoodUpdates = 0;
|
|
update->gps.quality = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void process_update(struct opahrs_msg_v1_rsp_update *update)
|
|
{
|
|
AttitudeActualData data;
|
|
AttitudeSettingsData attitudeSettings;
|
|
AttitudeSettingsGet(&attitudeSettings);
|
|
|
|
data.q1 = update->quaternion.q1;
|
|
data.q2 = update->quaternion.q2;
|
|
data.q3 = update->quaternion.q3;
|
|
data.q4 = update->quaternion.q4;
|
|
|
|
float q[4] = { data.q1, data.q2, data.q3, data.q4 };
|
|
float rpy[3];
|
|
Quaternion2RPY(q, rpy);
|
|
data.Roll = rpy[0] - attitudeSettings.RollBias;
|
|
data.Pitch = rpy[1] - attitudeSettings.PitchBias;
|
|
data.Yaw = rpy[2];
|
|
if (data.Yaw < 0)
|
|
data.Yaw += 360;
|
|
|
|
AttitudeActualSet(&data);
|
|
|
|
PositionActualData pos;
|
|
PositionActualGet(&pos);
|
|
pos.North = update->NED[0];
|
|
pos.East = update->NED[1];
|
|
pos.Down = update->NED[2];
|
|
PositionActualSet(&pos);
|
|
|
|
VelocityActualData vel;
|
|
VelocityActualGet(&vel);
|
|
vel.North = update->Vel[0];
|
|
vel.East = update->Vel[1];
|
|
vel.Down = update->Vel[2];
|
|
VelocityActualSet(&vel);
|
|
|
|
AhrsStatusData status;
|
|
AhrsStatusGet(&status);
|
|
status.CPULoad = update->load;
|
|
status.IdleTimePerCyle = update->idle_time;
|
|
status.RunningTimePerCyle = update->run_time;
|
|
status.DroppedUpdates = update->dropped_updates;
|
|
AhrsStatusSet(&status);
|
|
}
|
|
|
|
static void update_attitude_raw(struct opahrs_msg_v1_rsp_attituderaw *attituderaw)
|
|
{
|
|
AttitudeRawData data;
|
|
|
|
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_X] = attituderaw->mags.x;
|
|
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_Y] = attituderaw->mags.y;
|
|
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_Z] = attituderaw->mags.z;
|
|
|
|
data.gyros[ATTITUDERAW_GYROS_X] = attituderaw->gyros.x;
|
|
data.gyros[ATTITUDERAW_GYROS_Y] = attituderaw->gyros.y;
|
|
data.gyros[ATTITUDERAW_GYROS_Z] = attituderaw->gyros.z;
|
|
|
|
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = attituderaw->gyros_filtered.x;
|
|
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = attituderaw->gyros_filtered.y;
|
|
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = attituderaw->gyros_filtered.z;
|
|
|
|
data.gyrotemp[ATTITUDERAW_GYROTEMP_XY] = attituderaw->gyros.xy_temp;
|
|
data.gyrotemp[ATTITUDERAW_GYROTEMP_Z] = attituderaw->gyros.z_temp;
|
|
|
|
data.accels[ATTITUDERAW_ACCELS_X] = attituderaw->accels.x;
|
|
data.accels[ATTITUDERAW_ACCELS_Y] = attituderaw->accels.y;
|
|
data.accels[ATTITUDERAW_ACCELS_Z] = attituderaw->accels.z;
|
|
|
|
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] = attituderaw->accels_filtered.x;
|
|
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = attituderaw->accels_filtered.y;
|
|
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = attituderaw->accels_filtered.z;
|
|
|
|
AttitudeRawSet(&data);
|
|
}
|
|
|
|
static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial *serial)
|
|
{
|
|
AhrsStatusData data;
|
|
|
|
// Get the current object data
|
|
AhrsStatusGet(&data);
|
|
|
|
for (uint8_t i = 0; i < sizeof(serial->serial_bcd); i++) {
|
|
data.SerialNumber[i] = serial->serial_bcd[i];
|
|
}
|
|
|
|
data.CommErrors[AHRSSTATUS_COMMERRORS_UPDATE] = update_errors;
|
|
data.CommErrors[AHRSSTATUS_COMMERRORS_ATTITUDERAW] = attituderaw_errors;
|
|
data.CommErrors[AHRSSTATUS_COMMERRORS_HOMELOCATION] = home_errors;
|
|
data.CommErrors[AHRSSTATUS_COMMERRORS_CALIBRATION] = calibration_errors;
|
|
data.CommErrors[AHRSSTATUS_COMMERRORS_ALGORITHM] = algorithm_errors;
|
|
|
|
AhrsStatusSet(&data);
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|