2017-02-11 04:14:23 -04:00
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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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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AHRS View class - for creating a 2nd view of the vehicle attitude
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*
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*/
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#include "AP_AHRS_View.h"
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2017-02-11 04:15:34 -04:00
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#include <stdio.h>
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2017-02-11 04:14:23 -04:00
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2018-11-12 00:58:54 -04:00
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AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation, float pitch_trim_deg) :
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2017-02-11 04:14:23 -04:00
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rotation(_rotation),
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ahrs(_ahrs)
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{
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2017-02-11 04:15:34 -04:00
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switch (rotation) {
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case ROTATION_NONE:
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2018-11-12 00:58:54 -04:00
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y_angle = 0;
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2017-02-11 04:15:34 -04:00
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break;
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case ROTATION_PITCH_90:
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2018-09-25 12:14:36 -03:00
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y_angle = 90;
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2017-02-11 04:15:34 -04:00
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break;
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case ROTATION_PITCH_270:
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2018-09-25 12:14:36 -03:00
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y_angle = 270;
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2017-02-11 04:15:34 -04:00
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break;
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default:
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AP_HAL::panic("Unsupported AHRS view %u\n", (unsigned)rotation);
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}
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2017-02-11 04:14:23 -04:00
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2018-09-25 12:14:36 -03:00
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// Add pitch trim
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2018-11-12 00:58:54 -04:00
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y_angle = wrap_360(y_angle + pitch_trim_deg);
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2018-09-25 12:14:36 -03:00
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2018-11-12 00:58:54 -04:00
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rot_view.from_euler(0, radians(y_angle), 0);
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2018-09-25 12:14:36 -03:00
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2017-02-11 04:15:34 -04:00
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// setup initial state
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update();
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2017-02-11 04:14:23 -04:00
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}
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// update state
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2017-04-02 22:03:45 -03:00
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void AP_AHRS_View::update(bool skip_ins_update)
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2017-02-11 04:14:23 -04:00
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{
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rot_body_to_ned = ahrs.get_rotation_body_to_ned();
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gyro = ahrs.get_gyro();
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2018-11-12 00:58:54 -04:00
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if (!is_zero(y_angle)) {
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Matrix3f &r = rot_body_to_ned;
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r.transpose();
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r = rot_view * r;
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r.transpose();
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gyro.rotate(rotation);
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}
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2017-02-11 04:14:23 -04:00
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rot_body_to_ned.to_euler(&roll, &pitch, &yaw);
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roll_sensor = degrees(roll) * 100;
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pitch_sensor = degrees(pitch) * 100;
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yaw_sensor = degrees(yaw) * 100;
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2017-04-16 23:14:57 -03:00
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if (yaw_sensor < 0) {
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yaw_sensor += 36000;
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}
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2017-02-11 04:14:23 -04:00
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ahrs.calc_trig(rot_body_to_ned,
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trig.cos_roll, trig.cos_pitch, trig.cos_yaw,
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trig.sin_roll, trig.sin_pitch, trig.sin_yaw);
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}
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2017-03-02 07:33:13 -04:00
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// return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
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Vector3f AP_AHRS_View::get_gyro_latest(void) const {
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Vector3f gyro_latest = ahrs.get_gyro_latest();
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gyro_latest.rotate(rotation);
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return gyro_latest;
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}
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2017-09-04 03:53:56 -03:00
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// rotate a 2D vector from earth frame to body frame
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Vector2f AP_AHRS_View::rotate_earth_to_body2D(const Vector2f &ef) const
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{
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return Vector2f(ef.x * trig.cos_yaw + ef.y * trig.sin_yaw,
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-ef.x * trig.sin_yaw + ef.y * trig.cos_yaw);
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}
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// rotate a 2D vector from earth frame to body frame
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Vector2f AP_AHRS_View::rotate_body_to_earth2D(const Vector2f &bf) const
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{
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return Vector2f(bf.x * trig.cos_yaw - bf.y * trig.sin_yaw,
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bf.x * trig.sin_yaw + bf.y * trig.cos_yaw);
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}
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