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ebb8596db0
LibrePilot/flight/AHRS/ahrs.c
peabody124 ebb8596db0 AHRS: FIx calibration. Move the mag data processing into the loop that acquires accel and gyro 
data.  I don't like this but because of the way the calibration routine works
(sets all gains to 1) this makes the values so far out or range the EKF doesn't
get to run and the mag wasn't previously being updated.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2765 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-09 05:17:32 +00:00

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/**
******************************************************************************
* @addtogroup AHRS AHRS
* @brief The AHRS Modules perform
*
* @{
* @addtogroup AHRS_Main
* @brief Main function which does the hardware dependent stuff
* @{
*
*
* @file ahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief INSGPS Test Program
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
#include "ahrs.h"
#include "pios.h"
#include "ahrs_timer.h"
#include "ahrs_spi_comm.h"
#include "insgps.h"
#include "CoordinateConversions.h"
#include <stdbool.h>
#include "fifo_buffer.h"
#define DEG_TO_RAD (M_PI / 180.0)
#define RAD_TO_DEG (180.0 / M_PI)
#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
#define INSGPS_MAGLEN 1000
#define INSGPS_MAGTOL 0.5 /* error in magnetic vector length to use */
#define GYRO_OOB(x) ((x > (1000 * DEG_TO_RAD)) || (x < (-1000 * DEG_TO_RAD)))
#define ACCEL_OOB(x) (((x > 12*9.81) || (x < -12*9.81)))
#define MAG_RAW_X_IDX 1
#define MAG_RAW_Y_IDX 0
#define MAG_RAW_Z_IDX 2
// For debugging the raw sensors
//#define DUMP_RAW
//#define DUMP_EKF
//#define PIP_DUMP_RAW
volatile int8_t ahrs_algorithm;
/* INS functions */
void ins_outdoor_update();
void ins_indoor_update();
void simple_update();
/* Data accessors */
void adc_callback(float *);
bool get_accel_gyro_data();
void process_mag_data();
void reset_values();
void calibrate_sensors(void);
/* Communication functions */
void send_calibration(void);
void send_attitude(void);
void send_velocity(void);
void send_position(void);
void homelocation_callback(AhrsObjHandle obj);
void altitude_callback(AhrsObjHandle obj);
void calibration_callback(AhrsObjHandle obj);
void gps_callback(AhrsObjHandle obj);
void settings_callback(AhrsObjHandle obj);
/* Bootloader related functions and var*/
static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
void firmwareiapobj_callback(AhrsObjHandle obj);
volatile uint8_t reset_count=0;
/**
* @addtogroup AHRS_Global_Data AHRS Global Data
* @{
* Public data. Used by both EKF and the sender
*/
//! Contains the data from the mag sensor chip
struct mag_sensor mag_data;
//! Contains the data from the accelerometer
struct accel_sensor accel_data;
//! Contains the data from the gyro
struct gyro_sensor gyro_data;
//! Conains the current estimate of the attitude
struct attitude_solution attitude_data;
//! Contains data from the altitude sensor
struct altitude_sensor altitude_data;
//! Contains data from the GPS (via the SPI link)
struct gps_sensor gps_data;
//! The oversampling rate, ekf is 2k / this
static uint8_t adc_oversampling = 15;
//! Offset correction of barometric alt, to match gps data
static float baro_offset = 0;
typedef enum { AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING } states;
volatile int32_t ekf_too_slow;
volatile int32_t total_conversion_blocks;
//! Buffer to allow ADC to run a bit faster than EKF
uint8_t adc_fifo_buf[sizeof(float) * 6 * 4] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
t_fifo_buffer adc_fifo_buffer;
/**
* @}
*/
/* INS functions */
/**
* @brief Update the EKF when in outdoor mode. The primary difference is using the GPS values.
*/
void ins_outdoor_update()
{
float gyro[3], accel[3], vel[3];
static uint32_t last_gps_time = 0;
uint16_t sensors;
// format data for INS algo
gyro[0] = gyro_data.filtered.x;
gyro[1] = gyro_data.filtered.y;
gyro[2] = gyro_data.filtered.z;
accel[0] = accel_data.filtered.x,
accel[1] = accel_data.filtered.y,
accel[2] = accel_data.filtered.z,
INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
attitude_data.quaternion.q1 = Nav.q[0];
attitude_data.quaternion.q2 = Nav.q[1];
attitude_data.quaternion.q3 = Nav.q[2];
attitude_data.quaternion.q4 = Nav.q[3];
send_attitude(); // get message out quickly
send_velocity();
send_position();
INSCovariancePrediction(1 / (float)EKF_RATE);
sensors = 0;
/*
* Detect if greater than certain time since last gps update and if so
* reset EKF to that position since probably drifted too far for safe
* update
*/
uint32_t this_gps_time = timer_count();
float gps_delay;
if (this_gps_time < last_gps_time)
gps_delay = ((0xFFFF - last_gps_time) - this_gps_time) / timer_rate();
else
gps_delay = (this_gps_time - last_gps_time) / timer_rate();
last_gps_time = this_gps_time;
if (gps_data.updated)
{
vel[0] = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD);
vel[1] = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD);
vel[2] = 0;
if(gps_delay > INSGPS_GPS_TIMEOUT)
INSPosVelReset(gps_data.NED,vel); // position stale, reset
else {
sensors |= HORIZ_SENSORS | POS_SENSORS;
}
/*
* When using gps need to make sure that barometer is brought into NED frame
* we should try and see if the altitude from the home location is good enough
* to use for the offset but for now starting with this conservative filter
*/
if(fabs(gps_data.NED[2] + (altitude_data.altitude - baro_offset)) > 10) {
baro_offset = gps_data.NED[2] + altitude_data.altitude;
} else {
/* IIR filter with 100 second or so tau to keep them crudely in the same frame */
baro_offset = baro_offset * 0.999 + (gps_data.NED[2] + altitude_data.altitude) * 0.001;
}
gps_data.updated = false;
} else if (gps_delay > INSGPS_GPS_TIMEOUT) {
vel[0] = 0;
vel[1] = 0;
vel[2] = 0;
sensors |= VERT_SENSORS | HORIZ_SENSORS;
}
if(mag_data.updated) {
sensors |= MAG_SENSORS;
mag_data.updated = false;
}
if(altitude_data.updated) {
sensors |= BARO_SENSOR;
altitude_data.updated = false;
}
/*
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude - baro_offset, sensors);
}
/**
* @brief Update the EKF when in indoor mode
*/
void ins_indoor_update()
{
float gyro[3], accel[3], vel[3];
static uint32_t last_indoor_time = 0;
uint16_t sensors = 0;
// format data for INS algo
gyro[0] = gyro_data.filtered.x;
gyro[1] = gyro_data.filtered.y;
gyro[2] = gyro_data.filtered.z;
accel[0] = accel_data.filtered.x,
accel[1] = accel_data.filtered.y,
accel[2] = accel_data.filtered.z,
INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
attitude_data.quaternion.q1 = Nav.q[0];
attitude_data.quaternion.q2 = Nav.q[1];
attitude_data.quaternion.q3 = Nav.q[2];
attitude_data.quaternion.q4 = Nav.q[3];
send_attitude(); // get message out quickly
send_velocity();
send_position();
INSCovariancePrediction(1 / (float)EKF_RATE);
/* Indoors, update with zero position and velocity and high covariance */
vel[0] = 0;
vel[1] = 0;
vel[2] = 0;
uint32_t this_indoor_time = timer_count();
float indoor_delay;
/*
* Detect if greater than certain time since last gps update and if so
* reset EKF to that position since probably drifted too far for safe
* update
*/
if (this_indoor_time < last_indoor_time)
indoor_delay = ((0xFFFF - last_indoor_time) - this_indoor_time) / timer_rate();
else
indoor_delay = (this_indoor_time - last_indoor_time) / timer_rate();
last_indoor_time = this_indoor_time;
if(indoor_delay > INSGPS_GPS_TIMEOUT)
INSPosVelReset(vel,vel);
else
sensors = HORIZ_SENSORS | VERT_SENSORS;
if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
sensors |= MAG_SENSORS;
mag_data.updated = false;
}
if(altitude_data.updated) {
sensors |= BARO_SENSOR;
altitude_data.updated = false;
}
/*
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
}
/**
* @brief Initialize the EKF assuming stationary
*/
void ins_init_algorithm()
{
float Rbe[3][3], q[4], accels[3], rpy[3], mag;
float ge[3]={0,0,-9.81}, zeros[3]={0,0,0}, Pdiag[16]={25,25,25,5,5,5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-4,1e-4,1e-4};
bool using_mags, using_gps;
INSGPSInit();
HomeLocationData home;
HomeLocationGet(&home);
accels[0]=accel_data.filtered.x;
accels[1]=accel_data.filtered.y;
accels[2]=accel_data.filtered.z;
using_mags = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR);
using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
using_gps = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
/* Block till a data update */
get_accel_gyro_data();
/* Ensure we get mag data in a timely manner */
uint16_t fail_count = 50; // 50 at 200 Hz is up to 0.25 sec
while(using_mags && !mag_data.updated && fail_count--) {
get_accel_gyro_data();
AhrsPoll();
}
using_mags &= mag_data.updated;
if (using_mags) {
/* Spin waiting for mag data */
while(!mag_data.updated) {
get_accel_gyro_data();
AhrsPoll();
}
mag_data.updated = false;
RotFrom2Vectors(accels, ge, mag_data.scaled.axis, home.Be, Rbe);
R2Quaternion(Rbe,q);
if (using_gps)
INSSetState(gps_data.NED, zeros, q, zeros, zeros);
else
INSSetState(zeros, zeros, q, zeros, zeros);
} else {
// assume yaw = 0
mag = VectorMagnitude(accels);
rpy[1] = asinf(-accels[0]/mag);
rpy[0] = atan2(accels[1]/mag,accels[2]/mag);
rpy[2] = 0;
RPY2Quaternion(rpy,q);
if (using_gps)
INSSetState(gps_data.NED, zeros, q, zeros, zeros);
else
INSSetState(zeros, zeros, q, zeros, zeros);
}
INSResetP(Pdiag);
// TODO: include initial estimate of gyro bias?
}
/**
* @brief Simple update using just mag and accel. Yaw biased and big attitude changes.
*/
void simple_update() {
float q[4];
float rpy[3];
/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
/* Very simple computation of the heading and attitude from accel. */
rpy[2] = atan2((mag_data.raw.axis[MAG_RAW_Y_IDX]), (-1 * mag_data.raw.axis[MAG_RAW_X_IDX])) * RAD_TO_DEG;
rpy[1] = atan2(accel_data.filtered.x, accel_data.filtered.z) * RAD_TO_DEG;
rpy[0] = atan2(accel_data.filtered.y, accel_data.filtered.z) * RAD_TO_DEG;
RPY2Quaternion(rpy, q);
attitude_data.quaternion.q1 = q[0];
attitude_data.quaternion.q2 = q[1];
attitude_data.quaternion.q3 = q[2];
attitude_data.quaternion.q4 = q[3];
send_attitude();
}
/**
* @brief Output all the important inputs and states of the ekf through serial port
*/
#ifdef DUMP_EKF
extern float **P, *X; // covariance matrix and state vector
void print_ekf_binary()
{
uint16_t states = ins_get_num_states();
uint8_t framing[16] = { 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0 };
// Dump raw buffer
PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header (1:16)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number (17:20)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & accel_data.filtered.x, 4*3); // accel data (21:32)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & gyro_data.filtered.x, 4*3); // gyro data (33:44)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.updated, 1); // mag update (45)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.scaled.axis, 3*4); // mag data (46:57)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & gps_data, sizeof(gps_data)); // gps data (58:85)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & X, 4 * states); // X (86:149)
for(uint8_t i = 0; i < states; i++)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &((*P)[i + i * states]), 4); // diag(P) (150:213)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & altitude_data.altitude, 4); // BaroAlt (214:217)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & baro_offset, 4); // baro_offset (218:221)
}
#else
void print_ekf_binary() {}
#endif
/**
* @brief Debugging function to output all the ADC samples
*/
#if defined(DUMP_RAW)
void print_ahrs_raw()
{
int result;
static int previous_conversion = 0;
int16_t * valid_data_buffer;
uint8_t framing[16] =
{ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14,
15 };
get_accel_gyro_data();
valid_data_buffer = PIOS_ADC_GetRawBuffer();
if (total_conversion_blocks != previous_conversion + 1)
PIOS_LED_On(LED1); // not keeping up
else
PIOS_LED_Off(LED1);
previous_conversion = total_conversion_blocks;
// Dump raw buffer
result = PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, &framing[0], 16); // framing header
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number
result +=
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX,
(uint8_t *) & valid_data_buffer[0],
adc_oversampling *
PIOS_ADC_NUM_PINS *
sizeof(valid_data_buffer[0]));
if (result == 0)
PIOS_LED_Off(LED1);
else {
PIOS_LED_On(LED1);
}
}
#endif
#if defined(PIP_DUMP_RAW)
#define MAX_OVERSAMPLING PIOS_ADC_MAX_OVERSAMPLING
void print_ahrs_raw()
{
int16_t accel_x[MAX_OVERSAMPLING], accel_y[MAX_OVERSAMPLING], accel_z[MAX_OVERSAMPLING];
int16_t gyro_x[MAX_OVERSAMPLING], gyro_y[MAX_OVERSAMPLING], gyro_z[MAX_OVERSAMPLING];
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
int16_t mag[3];
int16_t mag_x, mag_y, mag_z;
#endif
static int previous_conversion = 0;
uint8_t framing[3] = {0xD2, 0x73, 0x00};
// wait for new raw samples
while (previous_conversion == total_conversion_blocks);
if ((previous_conversion + 1) != total_conversion_blocks)
PIOS_LED_On(LED1); // we are not keeping up
previous_conversion = total_conversion_blocks;
// fetch the buffer address for the new samples
int16_t *valid_data_buffer = PIOS_ADC_GetRawBuffer();
// fetch number of raw samples in the buffer (per channel)
int over_sampling = PIOS_ADC_GetOverSampling();
framing[2] = over_sampling;
// copy the raw samples into their own buffers
for (uint16_t i = 0, j = 0; i < over_sampling; i++, j += PIOS_ADC_NUM_CHANNELS)
{
accel_x[i] = valid_data_buffer[j + 0];
accel_y[i] = valid_data_buffer[j + 2];
accel_z[i] = valid_data_buffer[j + 4];
gyro_x[i] = valid_data_buffer[j + 3];
gyro_y[i] = valid_data_buffer[j + 1];
gyro_z[i] = valid_data_buffer[j + 5];
}
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
if (PIOS_HMC5843_NewDataAvailable())
{
PIOS_HMC5843_ReadMag(mag);
mag_x = mag[MAG_RAW_X_IDX];
mag_y = mag[MAG_RAW_Y_IDX];
mag_z = mag[MAG_RAW_Z_IDX];
}
#endif
// send the raw samples
int result = PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, framing, sizeof(framing));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)accel_x, over_sampling * sizeof(accel_x[0]));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)accel_y, over_sampling * sizeof(accel_y[0]));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)accel_z, over_sampling * sizeof(accel_z[0]));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)gyro_x, over_sampling * sizeof(gyro_x[0]));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)gyro_y, over_sampling * sizeof(gyro_y[0]));
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)gyro_z, over_sampling * sizeof(gyro_z[0]));
if (result != 0)
PIOS_LED_On(LED1); // all data not sent
else
PIOS_LED_Off(LED1);
}
#endif
/**
* @brief AHRS Main function
*/
int main()
{
gps_data.quality = -1;
uint32_t up_time_real = 0;
uint32_t up_time = 0;
uint32_t last_up_time = 0;
static int8_t last_ahrs_algorithm;
uint32_t last_counter_idle_start = 0;
uint32_t last_counter_idle_end = 0;
uint32_t idle_counts = 0;
uint32_t running_counts = 0;
uint32_t counter_val = 0;
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
PIOS_LED_On(LED1);
/* Delay system */
PIOS_DELAY_Init();
/* Communication system */
PIOS_COM_Init();
/* IAP System Setup */
PIOS_IAP_Init();
/* ADC system */
PIOS_ADC_Init();
PIOS_ADC_Config(adc_oversampling);
PIOS_ADC_SetCallback(adc_callback);
/* ADC buffer */
fifoBuf_init(&adc_fifo_buffer, adc_fifo_buf, sizeof(adc_fifo_buf));
/* Setup the Accelerometer FS (Full-Scale) GPIO */
PIOS_GPIO_Enable(0);
SET_ACCEL_6G;
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
/* Magnetic sensor system */
PIOS_I2C_Init();
PIOS_HMC5843_Init();
// Get 3 ID bytes
strcpy((char *)mag_data.id, "ZZZ");
PIOS_HMC5843_ReadID(mag_data.id);
#endif
reset_values();
AhrsInitComms();
while(!AhrsLinkReady()) {
AhrsPoll();
}
/* we didn't connect the callbacks before because we have to wait
for all data to be up to date before doing anything*/
AHRSCalibrationConnectCallback(calibration_callback);
GPSPositionConnectCallback(gps_callback);
BaroAltitudeConnectCallback(altitude_callback);
AHRSSettingsConnectCallback(settings_callback);
HomeLocationConnectCallback(homelocation_callback);
FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
calibration_callback(AHRSCalibrationHandle()); //force an update
#if defined(DUMP_RAW) || defined(PIP_DUMP_RAW)
while (1) {
AhrsPoll();
print_ahrs_raw();
}
#endif
timer_start();
/******************* Main EKF loop ****************************/
while(1) {
AhrsPoll();
AhrsStatusData status;
AhrsStatusGet(&status);
status.CPULoad = ((float)running_counts /
(float)(idle_counts + running_counts)) * 100;
status.IdleTimePerCyle = idle_counts / (timer_rate() / 10000);
status.RunningTimePerCyle = running_counts / (timer_rate() / 10000);
status.DroppedUpdates = ekf_too_slow;
up_time = timer_count();
if(up_time >= last_up_time) // normal condition
up_time_real += ((up_time - last_up_time) * 1000) / timer_rate();
else
up_time_real += ((0xFFFF - last_up_time + up_time) * 1000) / timer_rate();
last_up_time = up_time;
status.RunningTime = up_time_real;
AhrsStatusSet(&status);
// Alive signal
if (((total_conversion_blocks % 100) & 0xFFFE) == 0)
PIOS_LED_Toggle(LED1);
// Delay for valid data
counter_val = timer_count();
running_counts = counter_val - last_counter_idle_end;
last_counter_idle_start = counter_val;
// This function blocks till data avilable
get_accel_gyro_data();
counter_val = timer_count();
idle_counts = counter_val - last_counter_idle_start;
last_counter_idle_end = counter_val;
print_ekf_binary();
/* If algorithm changed reinit. This could go in callback but wouldn't be synchronous */
if (ahrs_algorithm != last_ahrs_algorithm)
ins_init_algorithm();
last_ahrs_algorithm = ahrs_algorithm;
switch(ahrs_algorithm) {
case AHRSSETTINGS_ALGORITHM_SIMPLE:
simple_update();
break;
case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
ins_outdoor_update();
break;
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
ins_indoor_update();
break;
}
}
return 0;
}
/**
* @brief Get the accel and gyro data from whichever source when available
*
* This function will act as the HAL for the new INS sensors
*/
bool get_accel_gyro_data()
{
float accel[6];
float gyro[6];
uint16_t spin_count = 1;
while(fifoBuf_getUsed(&adc_fifo_buffer) < (sizeof(accel) + sizeof(gyro))) {
if(spin_count++ == 0)
AhrsPoll();
process_mag_data();
}
fifoBuf_getData(&adc_fifo_buffer, &accel[0], sizeof(float) * 3);
fifoBuf_getData(&adc_fifo_buffer, &gyro[0], sizeof(float) * 3);
fifoBuf_getData(&adc_fifo_buffer, &accel[3], sizeof(float) * 3);
fifoBuf_getData(&adc_fifo_buffer, &gyro[3], sizeof(float) * 3);
accel_data.filtered.x = (accel[0] + accel[3]) / 2;
accel_data.filtered.y = (accel[1] + accel[4]) / 2;
accel_data.filtered.z = (accel[2] + accel[5]) / 2;
gyro_data.filtered.x = (gyro[0] + gyro[3]) / 2;
gyro_data.filtered.y = (gyro[1] + gyro[4]) / 2;
gyro_data.filtered.z = (gyro[2] + gyro[5]) / 2;
return true;
}
/**
* @brief Downsample the analog data
* @return none
*
* Tried to make as much of the filtering fixed point when possible. Need to account
* for offset for each sample before the multiplication if filter not a boxcar. Could
* precompute fixed offset as sum[fir_coeffs[i]] * ACCEL_OFFSET. Puts data into global
* data structures @ref accel_data and @ref gyro_data.
*
* The accel_data values are converted into a coordinate system where X is forwards along
* the fuselage, Y is along right the wing, and Z is down.
*/
static uint16_t bad_values = 0;
void adc_callback(float * downsampled_data)
{
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
float accel[3], gyro[3];
// Accel data is (y,x,z) in first third and fifth byte. Convert to m/s
accel[0] = (downsampled_data[2] * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0];
accel[1] = (downsampled_data[0] * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1];
accel[2] = (downsampled_data[4] * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
// Gyro data is (x,y,z) in second, fifth and seventh byte. Convert to rad/s
gyro[0] = ( ( downsampled_data[1] + gyro_data.calibration.tempcompfactor[0] * downsampled_data[6] ) * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
gyro[1] = ( ( downsampled_data[3] + gyro_data.calibration.tempcompfactor[1] * downsampled_data[6] ) * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
gyro[2] = ( ( downsampled_data[5] + gyro_data.calibration.tempcompfactor[2] * downsampled_data[7] ) * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
#if 0
static float gravity_tracking[3] = {0,0,0};
const float tau = 0.9999;
gravity_tracking[0] = tau * gravity_tracking[0] + (1-tau) * accel[0];
gravity_tracking[1] = tau * gravity_tracking[1] + (1-tau) * accel[1];
gravity_tracking[2] = tau * gravity_tracking[2] + (1-tau) * (accel[2] + 9.81);
if(settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE) {
accel[0] -= gravity_tracking[0];
accel[1] -= gravity_tracking[1];
accel[2] -= gravity_tracking[2];
}
#endif
if(!(isnan(accel[0] + accel[1] + accel[2]) ||
isnan(gyro[0] + gyro[1] + gyro[2]) ||
ACCEL_OOB(accel[0] + accel[1] + accel[2]) ||
GYRO_OOB(gyro[0] + gyro[1] + gyro[2]))) {
if(fifoBuf_getFree(&adc_fifo_buffer) >= (sizeof(accel) + sizeof(gyro))) {
fifoBuf_putData(&adc_fifo_buffer, (uint8_t *) &accel[0], sizeof(accel));
fifoBuf_putData(&adc_fifo_buffer, (uint8_t *) &gyro[0], sizeof(gyro));
} else {
ekf_too_slow++;
}
} else {
// If any values are NaN or inf don't push them
bad_values++;
}
AttitudeRawData raw;
raw.gyrotemp[0] = downsampled_data[6];
raw.gyrotemp[1] = downsampled_data[7];
raw.gyros[0] = gyro[0] * RAD_TO_DEG;
raw.gyros[1] = gyro[1] * RAD_TO_DEG;
raw.gyros[2] = gyro[2] * RAD_TO_DEG;
raw.accels[0] = accel[0];
raw.accels[1] = accel[1];
raw.accels[2] = accel[2];
raw.magnetometers[0] = mag_data.scaled.axis[0];
raw.magnetometers[1] = mag_data.scaled.axis[1];
raw.magnetometers[2] = mag_data.scaled.axis[2];
if(settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE) {
raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;
raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG;
raw.gyros[2] -= Nav.gyro_bias[2] * RAD_TO_DEG;
raw.accels[0] -= Nav.accel_bias[0];
raw.accels[1] -= Nav.accel_bias[1];
raw.accels[2] -= Nav.accel_bias[2];
}
AttitudeRawSet(&raw);
total_conversion_blocks++;
}
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
/**
* @brief Get the mag data from the I2C sensor and load into structure
* @return none
*
* This function also considers if the home location is set and has a valid
* magnetic field before updating the mag data to prevent data being used that
* cannot be interpreted. In addition the mag data is not used for the first
* five seconds to allow the filter to start to converge
*/
void process_mag_data()
{
// Get magnetic readings
// For now don't use mags until the magnetic field is set AND until 5 seconds
// after initialization otherwise it seems to have problems
// TODO: Follow up this initialization issue
HomeLocationData home;
HomeLocationGet(&home);
if (PIOS_HMC5843_NewDataAvailable()) {
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
// Swap the axis here to acount for orientation of mag chip (notice 0 and 1 swapped in raw)
mag_data.scaled.axis[0] = (mag_data.raw.axis[MAG_RAW_X_IDX] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
mag_data.scaled.axis[1] = (mag_data.raw.axis[MAG_RAW_Y_IDX] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
mag_data.scaled.axis[2] = (mag_data.raw.axis[MAG_RAW_Z_IDX] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
// Only use if magnetic length reasonable
float Blen = sqrt(pow(mag_data.scaled.axis[0],2) + pow(mag_data.scaled.axis[1],2) + pow(mag_data.scaled.axis[2],2));
mag_data.updated = (home.Set == HOMELOCATION_SET_TRUE) &&
((home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0)) &&
((mag_data.raw.axis[MAG_RAW_X_IDX] != 0) || (mag_data.raw.axis[MAG_RAW_Y_IDX] != 0) || (mag_data.raw.axis[MAG_RAW_Z_IDX] != 0)) &&
((Blen < INSGPS_MAGLEN * (1 + INSGPS_MAGTOL)) && (Blen > INSGPS_MAGLEN * (1 - INSGPS_MAGTOL)));
}
}
#else
void process_mag_data() { }
#endif
/**
* @brief Assumes board is not moving computes biases and variances of sensors
* @returns None
*
* All data is stored in global structures. This function should be called from OP when
* aircraft is in stable state and then the data stored to SD card.
*
* After this function the bias for each sensor will be the mean value. This doesn't make
* sense for the z accel so make sure 6 point calibration is also run and those values set
* after these read.
*/
#define NBIAS 100
#define NVAR 500
void calibrate_sensors()
{
int i,j;
float accel_bias[3] = {0, 0, 0};
float gyro_bias[3] = {0, 0, 0};
float mag_bias[3] = {0, 0, 0};
for (i = 0, j = 0; i < NBIAS; i++) {
get_accel_gyro_data();
gyro_bias[0] += gyro_data.filtered.x / NBIAS;
gyro_bias[1] += gyro_data.filtered.y / NBIAS;
gyro_bias[2] += gyro_data.filtered.z / NBIAS;
accel_bias[0] += accel_data.filtered.x / NBIAS;
accel_bias[1] += accel_data.filtered.y / NBIAS;
accel_bias[2] += accel_data.filtered.z / NBIAS;
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
if(PIOS_HMC5843_NewDataAvailable()) {
j ++;
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
mag_data.scaled.axis[0] = (mag_data.raw.axis[MAG_RAW_X_IDX] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
mag_data.scaled.axis[1] = (mag_data.raw.axis[MAG_RAW_Y_IDX] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
mag_data.scaled.axis[2] = (mag_data.raw.axis[MAG_RAW_Z_IDX] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
mag_bias[0] += mag_data.scaled.axis[0];
mag_bias[1] += mag_data.scaled.axis[1];
mag_bias[2] += mag_data.scaled.axis[2];
}
#endif
}
mag_bias[0] /= j;
mag_bias[1] /= j;
mag_bias[2] /= j;
gyro_data.calibration.variance[0] = 0;
gyro_data.calibration.variance[1] = 0;
gyro_data.calibration.variance[2] = 0;
mag_data.calibration.variance[0] = 0;
mag_data.calibration.variance[1] = 0;
mag_data.calibration.variance[2] = 0;
accel_data.calibration.variance[0] = 0;
accel_data.calibration.variance[1] = 0;
accel_data.calibration.variance[2] = 0;
for (i = 0, j = 0; j < NVAR; j++) {
get_accel_gyro_data();
gyro_data.calibration.variance[0] += pow(gyro_data.filtered.x-gyro_bias[0],2) / NVAR;
gyro_data.calibration.variance[1] += pow(gyro_data.filtered.y-gyro_bias[1],2) / NVAR;
gyro_data.calibration.variance[2] += pow(gyro_data.filtered.z-gyro_bias[2],2) / NVAR;
accel_data.calibration.variance[0] += pow(accel_data.filtered.x-accel_bias[0],2) / NVAR;
accel_data.calibration.variance[1] += pow(accel_data.filtered.y-accel_bias[1],2) / NVAR;
accel_data.calibration.variance[2] += pow(accel_data.filtered.z-accel_bias[2],2) / NVAR;
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
if(PIOS_HMC5843_NewDataAvailable()) {
j ++;
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
mag_data.scaled.axis[0] = (mag_data.raw.axis[MAG_RAW_X_IDX] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
mag_data.scaled.axis[1] = (mag_data.raw.axis[MAG_RAW_Y_IDX] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
mag_data.scaled.axis[2] = (mag_data.raw.axis[MAG_RAW_Z_IDX] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
mag_data.calibration.variance[0] += pow(mag_data.scaled.axis[0]-mag_bias[0],2);
mag_data.calibration.variance[1] += pow(mag_data.scaled.axis[1]-mag_bias[1],2);
mag_data.calibration.variance[2] += pow(mag_data.scaled.axis[2]-mag_bias[2],2);
}
#endif
}
mag_data.calibration.variance[0] /= j;
mag_data.calibration.variance[1] /= j;
mag_data.calibration.variance[2] /= j;
gyro_data.calibration.bias[0] -= gyro_bias[0];
gyro_data.calibration.bias[1] -= gyro_bias[1];
gyro_data.calibration.bias[2] -= gyro_bias[2];
}
/**
* @brief Populate fields with initial values
*/
void reset_values() {
accel_data.calibration.scale[0] = 0.012;
accel_data.calibration.scale[1] = 0.012;
accel_data.calibration.scale[2] = -0.012;
accel_data.calibration.bias[0] = 24;
accel_data.calibration.bias[1] = 24;
accel_data.calibration.bias[2] = -24;
accel_data.calibration.variance[0] = 1e-4;
accel_data.calibration.variance[1] = 1e-4;
accel_data.calibration.variance[2] = 1e-4;
gyro_data.calibration.scale[0] = -0.014;
gyro_data.calibration.scale[1] = 0.014;
gyro_data.calibration.scale[2] = -0.014;
gyro_data.calibration.bias[0] = -24;
gyro_data.calibration.bias[1] = -24;
gyro_data.calibration.bias[2] = -24;
gyro_data.calibration.variance[0] = 1;
gyro_data.calibration.variance[1] = 1;
gyro_data.calibration.variance[2] = 1;
gyro_data.calibration.tempcompfactor[0] = 0;
gyro_data.calibration.tempcompfactor[1] = 0;
gyro_data.calibration.tempcompfactor[2] = 0;
mag_data.calibration.scale[0] = 1;
mag_data.calibration.scale[1] = 1;
mag_data.calibration.scale[2] = 1;
mag_data.calibration.bias[0] = 0;
mag_data.calibration.bias[1] = 0;
mag_data.calibration.bias[2] = 0;
mag_data.calibration.variance[0] = 1;
mag_data.calibration.variance[1] = 1;
mag_data.calibration.variance[2] = 1;
}
void send_attitude(void)
{
AttitudeActualData attitude;
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
attitude.q1 = attitude_data.quaternion.q1;
attitude.q2 = attitude_data.quaternion.q2;
attitude.q3 = attitude_data.quaternion.q3;
attitude.q4 = attitude_data.quaternion.q4;
float rpy[3];
Quaternion2RPY(&attitude_data.quaternion.q1, rpy);
attitude.Roll = rpy[0] + settings.RollBias;
attitude.Pitch = rpy[1] + settings.PitchBias;
attitude.Yaw = rpy[2] + settings.YawBias;
if(attitude.Yaw > 360)
attitude.Yaw -= 360;
AttitudeActualSet(&attitude);
}
void send_velocity(void)
{
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
// convert into cm
velocityActual.North = Nav.Vel[0] * 100;
velocityActual.East = Nav.Vel[1] * 100;
velocityActual.Down = Nav.Vel[2] * 100;
VelocityActualSet(&velocityActual);
}
void send_position(void)
{
PositionActualData positionActual;
PositionActualGet(&positionActual);
// convert into cm
positionActual.North = Nav.Pos[0] * 100;
positionActual.East = Nav.Pos[1] * 100;
positionActual.Down = Nav.Pos[2] * 100;
PositionActualSet(&positionActual);
}
void send_calibration(void)
{
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
for(int ct=0; ct<3; ct++)
{
cal.accel_var[ct] = accel_data.calibration.variance[ct];
cal.gyro_bias[ct] = gyro_data.calibration.bias[ct];
cal.gyro_var[ct] = gyro_data.calibration.variance[ct];
cal.mag_var[ct] = mag_data.calibration.variance[ct];
}
cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
AHRSCalibrationSet(&cal);
}
/**
* @brief AHRS calibration callback
*
* Called when the OP board sets the calibration
*/
void calibration_callback(AhrsObjHandle obj)
{
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_SET){
for(int ct=0; ct<3; ct++)
{
accel_data.calibration.scale[ct] = cal.accel_scale[ct];
accel_data.calibration.bias[ct] = cal.accel_bias[ct];
accel_data.calibration.variance[ct] = cal.accel_var[ct];
gyro_data.calibration.scale[ct] = cal.gyro_scale[ct];
gyro_data.calibration.bias[ct] = cal.gyro_bias[ct];
gyro_data.calibration.variance[ct] = cal.gyro_var[ct];
gyro_data.calibration.tempcompfactor[ct] = cal.gyro_tempcompfactor[ct];
mag_data.calibration.bias[ct] = cal.mag_bias[ct];
mag_data.calibration.scale[ct] = cal.mag_scale[ct];
mag_data.calibration.variance[ct] = cal.mag_var[ct];
}
// Note: We need the divided by 1000^2 since we scale mags to have a norm of 1000 and they are scaled to
// one in code
float mag_var[3] = {mag_data.calibration.variance[0] / INSGPS_MAGLEN / INSGPS_MAGLEN,
mag_data.calibration.variance[1] / INSGPS_MAGLEN / INSGPS_MAGLEN,
mag_data.calibration.variance[2] / INSGPS_MAGLEN / INSGPS_MAGLEN};
INSSetMagVar(mag_var);
INSSetAccelVar(accel_data.calibration.variance);
INSSetGyroVar(gyro_data.calibration.variance);
}else if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE){
calibrate_sensors();
send_calibration();
}
INSSetPosVelVar(cal.pos_var, cal.vel_var);
}
void gps_callback(AhrsObjHandle obj)
{
GPSPositionData pos;
GPSPositionGet(&pos);
HomeLocationData home;
HomeLocationGet(&home);
// convert from cm back to meters
double LLA[3] = {(double) pos.Latitude / 1e7, (double) pos.Longitude / 1e7, (double) (pos.GeoidSeparation + pos.Altitude)};
// put in local NED frame
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, gps_data.NED);
gps_data.heading = pos.Heading;
gps_data.groundspeed = pos.Groundspeed;
gps_data.quality = 1; /* currently unused */
gps_data.updated = true;
// if poor don't use this update
if((ahrs_algorithm != AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) ||
(pos.Satellites < INSGPS_GPS_MINSAT) ||
(pos.PDOP >= INSGPS_GPS_MINPDOP) ||
(home.Set == FALSE) ||
((home.ECEF[0] == 0) && (home.ECEF[1] == 0) && (home.ECEF[2] == 0)))
{
gps_data.quality = 0;
gps_data.updated = false;
}
}
void altitude_callback(AhrsObjHandle obj)
{
BaroAltitudeData alt;
BaroAltitudeGet(&alt);
altitude_data.altitude = alt.Altitude;
altitude_data.updated = true;
}
void settings_callback(AhrsObjHandle obj)
{
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
ahrs_algorithm = settings.Algorithm;
if(settings.Downsampling != adc_oversampling) {
adc_oversampling = settings.Downsampling;
PIOS_ADC_Config(adc_oversampling);
}
}
void homelocation_callback(AhrsObjHandle obj)
{
HomeLocationData data;
HomeLocationGet(&data);
float Bmag = sqrt(pow(data.Be[0],2) + pow(data.Be[1],2) + pow(data.Be[2],2));
float Be[3] = {data.Be[0] / Bmag, data.Be[1] / Bmag, data.Be[2] / Bmag};
INSSetMagNorth(Be);
}
void firmwareiapobj_callback(AhrsObjHandle obj)
{
FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj);
if(firmwareIAPObj.ArmReset==0)
reset_count=0;
if(firmwareIAPObj.ArmReset==1)
{
if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF))
{
++reset_count;
if(reset_count>2)
{
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
PIOS_SYS_Reset();
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
{
read_description(firmwareIAPObj.Description);
firmwareIAPObj.crc=iap_calc_crc();
firmwareIAPObj.BoardRevision=BOARD_REVISION;
FirmwareIAPObjSet(&firmwareIAPObj);
}
}
static uint32_t iap_calc_crc(void)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* @}
*/
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