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ahrs_int_cmpl_quat.c
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ahrs_int_cmpl_quat.c
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/*
* Copyright (C) 2008-2012 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file subsystems/ahrs/ahrs_int_cmpl_quat.c
*
* Quaternion complementary filter (fixed-point).
*
* Estimate the attitude, heading and gyro bias.
*
*/
#include "generated/airframe.h"
#include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
#include "subsystems/ahrs/ahrs_aligner.h"
#include "subsystems/ahrs/ahrs_int_utils.h"
#include "state.h"
#include "subsystems/imu.h"
#if USE_GPS
#include "subsystems/gps.h"
#endif
#include "math/pprz_trig_int.h"
#include "math/pprz_algebra_int.h"
#ifdef AHRS_MAG_UPDATE_YAW_ONLY
#warning "AHRS_MAG_UPDATE_YAW_ONLY is deprecated, please remove it. This is the default behaviour. Define AHRS_MAG_UPDATE_ALL_AXES to use mag for all axes and not only yaw."
#endif
#if USE_MAGNETOMETER && AHRS_USE_GPS_HEADING
#warning "Using magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
#endif
#ifndef AHRS_PROPAGATE_FREQUENCY
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
#ifndef AHRS_CORRECT_FREQUENCY
#define AHRS_CORRECT_FREQUENCY AHRS_PROPAGATE_FREQUENCY
#endif
PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
#ifndef AHRS_RATE_CORRECTION_GAIN
#define AHRS_RATE_CORRECTION_GAIN 32
#endif
#ifndef AHRS_BIAS_CORRECTION_GAIN
#define AHRS_BIAS_CORRECTION_GAIN 32
#endif
#ifdef AHRS_UPDATE_FW_ESTIMATOR
// remotely settable
#ifndef INS_ROLL_NEUTRAL_DEFAULT
#define INS_ROLL_NEUTRAL_DEFAULT 0
#endif
#ifndef INS_PITCH_NEUTRAL_DEFAULT
#define INS_PITCH_NEUTRAL_DEFAULT 0
#endif
float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
#endif
struct AhrsIntCmpl ahrs_impl;
static inline void set_body_state_from_quat(void);
static inline void ahrs_update_mag_full(void);
static inline void ahrs_update_mag_2d(void);
void ahrs_init(void) {
ahrs.status = AHRS_UNINIT;
ahrs_impl.ltp_vel_norm_valid = FALSE;
ahrs_impl.heading_aligned = FALSE;
/* set ltp_to_imu so that body is zero */
QUAT_COPY(ahrs_impl.ltp_to_imu_quat, imu.body_to_imu_quat);
INT_RATES_ZERO(ahrs_impl.imu_rate);
INT_RATES_ZERO(ahrs_impl.gyro_bias);
INT_RATES_ZERO(ahrs_impl.rate_correction);
INT_RATES_ZERO(ahrs_impl.high_rez_bias);
/* set default correction gains */
ahrs_impl.rate_correction_gain = AHRS_RATE_CORRECTION_GAIN;
ahrs_impl.bias_correction_gain = AHRS_BIAS_CORRECTION_GAIN;
#if AHRS_GRAVITY_UPDATE_COORDINATED_TURN
ahrs_impl.correct_gravity = TRUE;
#else
ahrs_impl.correct_gravity = FALSE;
#endif
#if AHRS_GRAVITY_UPDATE_NORM_HEURISTIC
ahrs_impl.use_gravity_heuristic = TRUE;
#else
ahrs_impl.use_gravity_heuristic = FALSE;
#endif
VECT3_ASSIGN(ahrs_impl.mag_h, MAG_BFP_OF_REAL(AHRS_H_X), MAG_BFP_OF_REAL(AHRS_H_Y), MAG_BFP_OF_REAL(AHRS_H_Z));
}
void ahrs_align(void) {
#if USE_MAGNETOMETER
/* Compute an initial orientation from accel and mag directly as quaternion */
ahrs_int_get_quat_from_accel_mag(&ahrs_impl.ltp_to_imu_quat, &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
ahrs_impl.heading_aligned = TRUE;
#else
/* Compute an initial orientation from accel and just set heading to zero */
ahrs_int_get_quat_from_accel(&ahrs_impl.ltp_to_imu_quat, &ahrs_aligner.lp_accel);
ahrs_impl.heading_aligned = FALSE;
#endif
set_body_state_from_quat();
/* Use low passed gyro value as initial bias */
RATES_COPY( ahrs_impl.gyro_bias, ahrs_aligner.lp_gyro);
RATES_COPY( ahrs_impl.high_rez_bias, ahrs_aligner.lp_gyro);
INT_RATES_LSHIFT(ahrs_impl.high_rez_bias, ahrs_impl.high_rez_bias, 28);
ahrs.status = AHRS_RUNNING;
}
void ahrs_propagate(void) {
/* unbias gyro */
struct Int32Rates omega;
RATES_DIFF(omega, imu.gyro_prev, ahrs_impl.gyro_bias);
/* low pass rate */
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
RATES_SMUL(ahrs_impl.imu_rate, ahrs_impl.imu_rate,2);
RATES_ADD(ahrs_impl.imu_rate, omega);
RATES_SDIV(ahrs_impl.imu_rate, ahrs_impl.imu_rate, 3);
#else
RATES_COPY(ahrs_impl.imu_rate, omega);
#endif
/* add correction */
RATES_ADD(omega, ahrs_impl.rate_correction);
/* and zeros it */
INT_RATES_ZERO(ahrs_impl.rate_correction);
/* integrate quaternion */
INT32_QUAT_INTEGRATE_FI(ahrs_impl.ltp_to_imu_quat, ahrs_impl.high_rez_quat, omega, AHRS_PROPAGATE_FREQUENCY);
INT32_QUAT_NORMALIZE(ahrs_impl.ltp_to_imu_quat);
set_body_state_from_quat();
}
void ahrs_update_accel(void) {
// c2 = ltp z-axis in imu-frame
struct Int32RMat ltp_to_imu_rmat;
INT32_RMAT_OF_QUAT(ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
struct Int32Vect3 c2 = { RMAT_ELMT(ltp_to_imu_rmat, 0,2),
RMAT_ELMT(ltp_to_imu_rmat, 1,2),
RMAT_ELMT(ltp_to_imu_rmat, 2,2)};
struct Int32Vect3 residual;
struct Int32Vect3 pseudo_gravity_measurement;
if (ahrs_impl.correct_gravity && ahrs_impl.ltp_vel_norm_valid) {
/*
* centrifugal acceleration in body frame
* a_c_body = omega x (omega x r)
* (omega x r) = tangential velocity in body frame
* a_c_body = omega x vel_tangential_body
* assumption: tangential velocity only along body x-axis
*/
// FIXME: check overflows !
#define COMPUTATION_FRAC 16
#define ACC_FROM_CROSS_FRAC INT32_RATE_FRAC + INT32_SPEED_FRAC - INT32_ACCEL_FRAC - COMPUTATION_FRAC
const struct Int32Vect3 vel_tangential_body = {ahrs_impl.ltp_vel_norm >> COMPUTATION_FRAC, 0, 0};
struct Int32Vect3 acc_c_body;
VECT3_RATES_CROSS_VECT3(acc_c_body, (*stateGetBodyRates_i()), vel_tangential_body);
INT32_VECT3_RSHIFT(acc_c_body, acc_c_body, ACC_FROM_CROSS_FRAC);
/* convert centrifucal acceleration from body to imu frame */
struct Int32Vect3 acc_c_imu;
INT32_RMAT_VMULT(acc_c_imu, imu.body_to_imu_rmat, acc_c_body);
/* and subtract it from imu measurement to get a corrected measurement of the gravitiy vector */
INT32_VECT3_DIFF(pseudo_gravity_measurement, imu.accel, acc_c_imu);
} else {
VECT3_COPY(pseudo_gravity_measurement, imu.accel);
}
/* compute the residual of the pseudo gravity vector in imu frame */
INT32_VECT3_CROSS_PRODUCT(residual, pseudo_gravity_measurement, c2);
int32_t inv_weight = 1;
if (ahrs_impl.use_gravity_heuristic) {
/* heuristic on acceleration norm */
/* FIR filtered pseudo_gravity_measurement */
static struct Int32Vect3 filtered_gravity_measurement = {0, 0, 0};
VECT3_SMUL(filtered_gravity_measurement, filtered_gravity_measurement, 7);
VECT3_ADD(filtered_gravity_measurement, pseudo_gravity_measurement);
VECT3_SDIV(filtered_gravity_measurement, filtered_gravity_measurement, 8);
int32_t acc_norm;
INT32_VECT3_NORM(acc_norm, filtered_gravity_measurement);
const int32_t g_int = ACCEL_BFP_OF_REAL(9.81);
const int32_t acc_norm_d = ABS(g_int - acc_norm);
inv_weight = Chop(50 * acc_norm_d / g_int, 1, 50);
}
/* Correct the drift by adding a rate correction.
* residual FRAC : ACCEL_FRAC + TRIG_FRAC = 10 + 14 = 24
* rate_correction FRAC: RATE_FRAC = 12
* FRAC conversion: 2^12 / 2^24 = 1/(2^12) = 1/4096
*
* Scale residual with FRAC difference, update_accel freq and the gain.
* To allow convenient range for the correction gain, multiply by two again...
*/
uint32_t inv_rate_scale = 2 * 4096 * AHRS_CORRECT_FREQUENCY / ahrs_impl.rate_correction_gain;
Bound(inv_rate_scale, 8192, 1024000);
ahrs_impl.rate_correction.p += -residual.x / inv_rate_scale / inv_weight;
ahrs_impl.rate_correction.q += -residual.y / inv_rate_scale / inv_weight;
ahrs_impl.rate_correction.r += -residual.z / inv_rate_scale / inv_weight;
/* Correct the gyro bias.
* Also make mitigating effect of gravity heuristic weight
* twice as large on bias as on rate.
*
* residual FRAC = ACCEL_FRAC + TRIG_FRAC = 10 + 14 = 24
* high_rez_bias = RATE_FRAC+28 = 40
* FRAC conversion: 2^40 / 2^24 = 2^16
*
* Scale residual with FRAC difference, update_accel freq and the gain.
* Use bias_correction_gain scale of 1/(2^11) compared to rate_correction_gain.
* 2^16 / 2^11 = 32
* To allow a suitable range of the freq and bias gain, multily by 32 separately.
*/
/* scale gain with the update_accel freq */
uint32_t inv_bias_gain = 2 * AHRS_CORRECT_FREQUENCY / ahrs_impl.bias_correction_gain;
Bound(inv_bias_gain, 1, 1000)
ahrs_impl.high_rez_bias.p += (residual.x / inv_bias_gain) * 32 / (2*inv_weight);
ahrs_impl.high_rez_bias.q += (residual.y / inv_bias_gain) * 32 / (2*inv_weight);
ahrs_impl.high_rez_bias.r += (residual.z / inv_bias_gain) * 32 / (2*inv_weight);
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
void ahrs_update_mag(void) {
#if AHRS_MAG_UPDATE_ALL_AXES
ahrs_update_mag_full();
#else
ahrs_update_mag_2d();
#endif
}
static inline void ahrs_update_mag_full(void) {
struct Int32RMat ltp_to_imu_rmat;
INT32_RMAT_OF_QUAT(ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
struct Int32Vect3 expected_imu;
INT32_RMAT_VMULT(expected_imu, ltp_to_imu_rmat, ahrs_impl.mag_h);
struct Int32Vect3 residual;
INT32_VECT3_CROSS_PRODUCT(residual, imu.mag, expected_imu);
ahrs_impl.rate_correction.p += residual.x/32/16;
ahrs_impl.rate_correction.q += residual.y/32/16;
ahrs_impl.rate_correction.r += residual.z/32/16;
ahrs_impl.high_rez_bias.p -= residual.x/32*1024;
ahrs_impl.high_rez_bias.q -= residual.y/32*1024;
ahrs_impl.high_rez_bias.r -= residual.z/32*1024;
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
static inline void ahrs_update_mag_2d(void) {
struct Int32RMat ltp_to_imu_rmat;
INT32_RMAT_OF_QUAT(ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
struct Int32Vect3 measured_ltp;
INT32_RMAT_TRANSP_VMULT(measured_ltp, ltp_to_imu_rmat, imu.mag);
struct Int32Vect3 residual_ltp =
{ 0,
0,
(measured_ltp.x * ahrs_impl.mag_h.y - measured_ltp.y * ahrs_impl.mag_h.x)/(1<<5)};
struct Int32Vect3 residual_imu;
INT32_RMAT_VMULT(residual_imu, ltp_to_imu_rmat, residual_ltp);
// residual_ltp FRAC = 2 * MAG_FRAC = 22
// rate_correction FRAC = RATE_FRAC = 12
// 2^12 / 2^22 * 2.5 = 1/410
// ahrs_impl.rate_correction.p += residual_imu.x*(1<<5)/410;
// ahrs_impl.rate_correction.q += residual_imu.y*(1<<5)/410;
// ahrs_impl.rate_correction.r += residual_imu.z*(1<<5)/410;
ahrs_impl.rate_correction.p += residual_imu.x/16;
ahrs_impl.rate_correction.q += residual_imu.y/16;
ahrs_impl.rate_correction.r += residual_imu.z/16;
// residual_ltp FRAC = 2 * MAG_FRAC = 22
// high_rez_bias = RATE_FRAC+28 = 40
// 2^40 / 2^22 * 2.5e-3 = 655
// ahrs_impl.high_rez_bias.p -= residual_imu.x*(1<<5)*655;
// ahrs_impl.high_rez_bias.q -= residual_imu.y*(1<<5)*655;
// ahrs_impl.high_rez_bias.r -= residual_imu.z*(1<<5)*655;
ahrs_impl.high_rez_bias.p -= residual_imu.x*1024;
ahrs_impl.high_rez_bias.q -= residual_imu.y*1024;
ahrs_impl.high_rez_bias.r -= residual_imu.z*1024;
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
void ahrs_update_gps(void) {
#if AHRS_GRAVITY_UPDATE_COORDINATED_TURN && USE_GPS
if (gps.fix == GPS_FIX_3D) {
ahrs_impl.ltp_vel_norm = SPEED_BFP_OF_REAL(gps.speed_3d / 100.);
ahrs_impl.ltp_vel_norm_valid = TRUE;
} else {
ahrs_impl.ltp_vel_norm_valid = FALSE;
}
#endif
#if AHRS_USE_GPS_HEADING && USE_GPS
//got a 3d fix,ground speed > 0.5 m/s and course accuracy is better than 10deg
if(gps.fix == GPS_FIX_3D &&
gps.gspeed >= 500 &&
gps.cacc <= RadOfDeg(10*1e7)) {
// gps.course is in rad * 1e7, we need it in rad * 2^INT32_ANGLE_FRAC
int32_t course = gps.course * ((1<<INT32_ANGLE_FRAC) / 1e7);
/* the assumption here is that there is no side-slip, so heading=course */
if (ahrs_impl.heading_aligned) {
ahrs_update_heading(course);
}
else {
/* hard reset the heading if this is the first measurement */
ahrs_realign_heading(course);
}
}
#endif
}
void ahrs_update_heading(int32_t heading) {
INT32_ANGLE_NORMALIZE(heading);
// row 0 of ltp_to_body_rmat = body x-axis in ltp frame
// we only consider x and y
struct Int32RMat* ltp_to_body_rmat = stateGetNedToBodyRMat_i();
struct Int32Vect2 expected_ltp =
{ RMAT_ELMT((*ltp_to_body_rmat), 0, 0),
RMAT_ELMT((*ltp_to_body_rmat), 0, 1) };
int32_t heading_x, heading_y;
PPRZ_ITRIG_COS(heading_x, heading); // measured course in x-direction
PPRZ_ITRIG_SIN(heading_y, heading); // measured course in y-direction
// expected_heading cross measured_heading ??
struct Int32Vect3 residual_ltp =
{ 0,
0,
(expected_ltp.x * heading_y - expected_ltp.y * heading_x)/(1<<INT32_ANGLE_FRAC)};
struct Int32Vect3 residual_imu;
struct Int32RMat ltp_to_imu_rmat;
INT32_RMAT_OF_QUAT(ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_quat);
INT32_RMAT_VMULT(residual_imu, ltp_to_imu_rmat, residual_ltp);
// residual FRAC = TRIG_FRAC + TRIG_FRAC = 14 + 14 = 28
// rate_correction FRAC = RATE_FRAC = 12
// 2^12 / 2^28 * 4.0 = 1/2^14
// (1<<INT32_ANGLE_FRAC)/2^14 = 1/4
ahrs_impl.rate_correction.p += residual_imu.x/4;
ahrs_impl.rate_correction.q += residual_imu.y/4;
ahrs_impl.rate_correction.r += residual_imu.z/4;
/* crude attempt to only update bias if deviation is small
* e.g. needed when you only have gps providing heading
* and the inital heading is totally different from
* the gps course information you get once you have a gps fix.
* Otherwise the bias will be falsely "corrected".
*/
int32_t sin_max_angle_deviation;
PPRZ_ITRIG_SIN(sin_max_angle_deviation, TRIG_BFP_OF_REAL(RadOfDeg(5.)));
if (ABS(residual_ltp.z) < sin_max_angle_deviation)
{
// residual_ltp FRAC = 2 * TRIG_FRAC = 28
// high_rez_bias = RATE_FRAC+28 = 40
// 2^40 / 2^28 * 2.5e-4 = 1
ahrs_impl.high_rez_bias.p -= residual_imu.x*(1<<INT32_ANGLE_FRAC);
ahrs_impl.high_rez_bias.q -= residual_imu.y*(1<<INT32_ANGLE_FRAC);
ahrs_impl.high_rez_bias.r -= residual_imu.z*(1<<INT32_ANGLE_FRAC);
INT_RATES_RSHIFT(ahrs_impl.gyro_bias, ahrs_impl.high_rez_bias, 28);
}
}
void ahrs_realign_heading(int32_t heading) {
struct Int32Quat ltp_to_body_quat = *stateGetNedToBodyQuat_i();
/* quaternion representing only the heading rotation from ltp to body */
struct Int32Quat q_h_new;
q_h_new.qx = 0;
q_h_new.qy = 0;
PPRZ_ITRIG_SIN(q_h_new.qz, heading/2);
PPRZ_ITRIG_COS(q_h_new.qi, heading/2);
/* quaternion representing current heading only */
struct Int32Quat q_h;
QUAT_COPY(q_h, ltp_to_body_quat);
q_h.qx = 0;
q_h.qy = 0;
INT32_QUAT_NORMALIZE(q_h);
/* quaternion representing rotation from current to new heading */
struct Int32Quat q_c;
INT32_QUAT_INV_COMP_NORM_SHORTEST(q_c, q_h, q_h_new);
/* correct current heading in body frame */
struct Int32Quat q;
INT32_QUAT_COMP_NORM_SHORTEST(q, q_c, ltp_to_body_quat);
QUAT_COPY(ltp_to_body_quat, q);
/* compute ltp to imu rotations */
INT32_QUAT_COMP(ahrs_impl.ltp_to_imu_quat, ltp_to_body_quat, imu.body_to_imu_quat);
/* Set state */
stateSetNedToBodyQuat_i(<p_to_body_quat);
ahrs_impl.heading_aligned = TRUE;
}
/* Rotate angles and rates from imu to body frame and set state */
static inline void set_body_state_from_quat(void) {
/* Compute LTP to BODY quaternion */
struct Int32Quat ltp_to_body_quat;
INT32_QUAT_COMP_INV(ltp_to_body_quat, ahrs_impl.ltp_to_imu_quat, imu.body_to_imu_quat);
/* Set state */
#ifdef AHRS_UPDATE_FW_ESTIMATOR
struct Int32Eulers neutrals_to_body_eulers = {
ANGLE_BFP_OF_REAL(ins_roll_neutral),
ANGLE_BFP_OF_REAL(ins_pitch_neutral),
0 };
struct Int32Quat neutrals_to_body_quat, ltp_to_neutrals_quat;
INT32_QUAT_OF_EULERS(neutrals_to_body_quat, neutrals_to_body_eulers);
INT32_QUAT_NORMALIZE(neutrals_to_body_quat);
INT32_QUAT_COMP_INV(ltp_to_neutrals_quat, ltp_to_body_quat, neutrals_to_body_quat);
stateSetNedToBodyQuat_i(<p_to_neutrals_quat);
#else
stateSetNedToBodyQuat_i(<p_to_body_quat);
#endif
/* compute body rates */
struct Int32Rates body_rate;
INT32_RMAT_TRANSP_RATEMULT(body_rate, imu.body_to_imu_rmat, ahrs_impl.imu_rate);
/* Set state */
stateSetBodyRates_i(&body_rate);
}