mirror of https://github.com/ArduPilot/ardupilot
742 lines
25 KiB
C++
742 lines
25 KiB
C++
#pragma once
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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 (Attitude Heading Reference System) interface for ArduPilot
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*
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*/
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#include <AP_Math/AP_Math.h>
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#include <inttypes.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Common/Location.h>
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class AP_NMEA_Output;
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class OpticalFlow;
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#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
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#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
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#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter
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enum AHRS_VehicleClass : uint8_t {
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AHRS_VEHICLE_UNKNOWN,
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AHRS_VEHICLE_GROUND,
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AHRS_VEHICLE_COPTER,
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AHRS_VEHICLE_FIXED_WING,
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AHRS_VEHICLE_SUBMARINE,
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};
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// forward declare view class
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class AP_AHRS_View;
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class AP_AHRS
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{
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public:
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friend class AP_AHRS_View;
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// Constructor
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AP_AHRS() :
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_vehicle_class(AHRS_VEHICLE_UNKNOWN),
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_cos_roll(1.0f),
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_cos_pitch(1.0f),
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_cos_yaw(1.0f)
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{
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_singleton = this;
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// load default values from var_info table
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AP_Param::setup_object_defaults(this, var_info);
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// base the ki values by the sensors maximum drift
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// rate.
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_gyro_drift_limit = AP::ins().get_gyro_drift_rate();
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// enable centrifugal correction by default
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_flags.correct_centrifugal = true;
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_last_trim = _trim.get();
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_rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y, 0.0f);
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_rotation_vehicle_body_to_autopilot_body = _rotation_autopilot_body_to_vehicle_body.transposed();
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}
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// empty virtual destructor
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virtual ~AP_AHRS() {}
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// get singleton instance
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static AP_AHRS *get_singleton() {
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return _singleton;
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}
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// init sets up INS board orientation
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virtual void init();
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// Accessors
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void set_fly_forward(bool b) {
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_flags.fly_forward = b;
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}
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bool get_fly_forward(void) const {
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return _flags.fly_forward;
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}
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void set_takeoff_expected(bool b);
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bool get_takeoff_expected(void) const {
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return _flags.takeoff_expected;
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}
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void set_touchdown_expected(bool b);
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bool get_touchdown_expected(void) const {
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return _flags.touchdown_expected;
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}
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AHRS_VehicleClass get_vehicle_class(void) const {
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return _vehicle_class;
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}
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void set_vehicle_class(AHRS_VehicleClass vclass) {
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_vehicle_class = vclass;
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}
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void set_wind_estimation(bool b) {
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_flags.wind_estimation = b;
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}
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void set_compass(Compass *compass) {
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_compass = compass;
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update_orientation();
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}
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const Compass* get_compass() const {
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return _compass;
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}
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// allow for runtime change of orientation
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// this makes initial config easier
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void update_orientation();
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// return the index of the primary core or -1 if no primary core selected
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virtual int8_t get_primary_core_index() const { return -1; }
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// get the index of the current primary accelerometer sensor
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virtual uint8_t get_primary_accel_index(void) const {
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return AP::ins().get_primary_accel();
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}
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// get the index of the current primary gyro sensor
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virtual uint8_t get_primary_gyro_index(void) const {
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return AP::ins().get_primary_gyro();
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}
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// accelerometer values in the earth frame in m/s/s
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virtual const Vector3f &get_accel_ef(uint8_t i) const {
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return _accel_ef[i];
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}
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virtual const Vector3f &get_accel_ef(void) const {
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return get_accel_ef(AP::ins().get_primary_accel());
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}
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// blended accelerometer values in the earth frame in m/s/s
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virtual const Vector3f &get_accel_ef_blended(void) const {
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return _accel_ef_blended;
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}
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// get yaw rate in earth frame in radians/sec
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float get_yaw_rate_earth(void) const {
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return get_gyro() * get_rotation_body_to_ned().c;
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}
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// Methods
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virtual void update(bool skip_ins_update=false) = 0;
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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// requires_position should be true if horizontal position configuration should be checked
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virtual bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const = 0;
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// check all cores providing consistent attitudes for prearm checks
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virtual bool attitudes_consistent(char *failure_msg, const uint8_t failure_msg_len) const { return true; }
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// see if EKF lane switching is possible to avoid EKF failsafe
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virtual void check_lane_switch(void) {}
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// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed
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virtual bool is_ext_nav_used_for_yaw(void) const { return false; }
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// request EKF yaw reset to try and avoid the need for an EKF lane switch or failsafe
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virtual void request_yaw_reset(void) {}
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// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
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virtual void set_posvelyaw_source_set(uint8_t source_set_idx) {}
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// Euler angles (radians)
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float roll;
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float pitch;
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float yaw;
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float get_roll() const { return roll; }
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float get_pitch() const { return pitch; }
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float get_yaw() const { return yaw; }
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// integer Euler angles (Degrees * 100)
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int32_t roll_sensor;
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int32_t pitch_sensor;
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int32_t yaw_sensor;
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// return a smoothed and corrected gyro vector in radians/second
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virtual const Vector3f &get_gyro(void) const = 0;
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// return primary accels, for lua
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const Vector3f &get_accel(void) const {
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return AP::ins().get_accel();
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}
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// return a smoothed and corrected gyro vector in radians/second using the latest ins data (which may not have been consumed by the EKF yet)
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Vector3f get_gyro_latest(void) const;
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// return the current estimate of the gyro drift
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virtual const Vector3f &get_gyro_drift(void) const = 0;
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// reset the current gyro drift estimate
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// should be called if gyro offsets are recalculated
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virtual void reset_gyro_drift(void) = 0;
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// reset the current attitude, used on new IMU calibration
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virtual void reset(bool recover_eulers=false) = 0;
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// return the average size of the roll/pitch error estimate
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// since last call
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virtual float get_error_rp(void) const = 0;
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// return the average size of the yaw error estimate
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// since last call
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virtual float get_error_yaw(void) const = 0;
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// return a DCM rotation matrix representing our current attitude in NED frame
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virtual const Matrix3f &get_rotation_body_to_ned(void) const = 0;
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// return a Quaternion representing our current attitude in NED frame
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void get_quat_body_to_ned(Quaternion &quat) const {
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quat.from_rotation_matrix(get_rotation_body_to_ned());
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}
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const Matrix3f& get_rotation_autopilot_body_to_vehicle_body(void) const { return _rotation_autopilot_body_to_vehicle_body; }
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const Matrix3f& get_rotation_vehicle_body_to_autopilot_body(void) const { return _rotation_vehicle_body_to_autopilot_body; }
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// get rotation matrix specifically from DCM backend (used for compass calibrator)
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virtual const Matrix3f &get_DCM_rotation_body_to_ned(void) const = 0;
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// get our current position estimate. Return true if a position is available,
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// otherwise false. This call fills in lat, lng and alt
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virtual bool get_position(struct Location &loc) const WARN_IF_UNUSED = 0;
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// get latest altitude estimate above ground level in meters and validity flag
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virtual bool get_hagl(float &height) const WARN_IF_UNUSED { return false; }
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// return a wind estimation vector, in m/s
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virtual Vector3f wind_estimate(void) const = 0;
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// return an airspeed estimate if available. return true
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// if we have an estimate
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virtual bool airspeed_estimate(float &airspeed_ret) const WARN_IF_UNUSED = 0;
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// return a true airspeed estimate (navigation airspeed) if
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// available. return true if we have an estimate
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bool airspeed_estimate_true(float &airspeed_ret) const WARN_IF_UNUSED {
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if (!airspeed_estimate(airspeed_ret)) {
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return false;
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}
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airspeed_ret *= get_EAS2TAS();
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return true;
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}
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// return estimate of true airspeed vector in body frame in m/s
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// returns false if estimate is unavailable
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virtual bool airspeed_vector_true(Vector3f &vec) const WARN_IF_UNUSED {
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return false;
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}
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// return a synthetic airspeed estimate (one derived from sensors
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// other than an actual airspeed sensor), if available. return
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// true if we have a synthetic airspeed. ret will not be modified
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// on failure.
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virtual bool synthetic_airspeed(float &ret) const WARN_IF_UNUSED = 0;
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// get apparent to true airspeed ratio
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float get_EAS2TAS(void) const;
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// return true if airspeed comes from an airspeed sensor, as
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// opposed to an IMU estimate
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bool airspeed_sensor_enabled(void) const {
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const AP_Airspeed *_airspeed = AP::airspeed();
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return _airspeed != nullptr && _airspeed->use() && _airspeed->healthy();
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}
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// return true if airspeed comes from a specific airspeed sensor, as
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// opposed to an IMU estimate
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bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
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const AP_Airspeed *_airspeed = AP::airspeed();
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return _airspeed != nullptr && _airspeed->use(airspeed_index) && _airspeed->healthy(airspeed_index);
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}
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// return the parameter AHRS_WIND_MAX in metres per second
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uint8_t get_max_wind() const {
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return _wind_max;
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}
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// return a ground vector estimate in meters/second, in North/East order
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virtual Vector2f groundspeed_vector(void);
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// return a ground velocity in meters/second, North/East/Down
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// order. This will only be accurate if have_inertial_nav() is
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// true
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virtual bool get_velocity_NED(Vector3f &vec) const WARN_IF_UNUSED {
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return false;
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}
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// returns the expected NED magnetic field
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virtual bool get_expected_mag_field_NED(Vector3f &ret) const WARN_IF_UNUSED {
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return false;
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}
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// returns the estimated magnetic field offsets in body frame
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virtual bool get_mag_field_correction(Vector3f &ret) const WARN_IF_UNUSED {
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return false;
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}
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// return a position relative to home in meters, North/East/Down
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// order. This will only be accurate if have_inertial_nav() is
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// true
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virtual bool get_relative_position_NED_home(Vector3f &vec) const WARN_IF_UNUSED {
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return false;
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}
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// return a position relative to origin in meters, North/East/Down
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// order. This will only be accurate if have_inertial_nav() is
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// true
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virtual bool get_relative_position_NED_origin(Vector3f &vec) const WARN_IF_UNUSED {
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return false;
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}
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// return a position relative to home in meters, North/East
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// order. Return true if estimate is valid
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virtual bool get_relative_position_NE_home(Vector2f &vecNE) const WARN_IF_UNUSED {
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return false;
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}
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// return a position relative to origin in meters, North/East
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// order. Return true if estimate is valid
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virtual bool get_relative_position_NE_origin(Vector2f &vecNE) const WARN_IF_UNUSED {
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return false;
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}
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// return a Down position relative to home in meters
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// if EKF is unavailable will return the baro altitude
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virtual void get_relative_position_D_home(float &posD) const = 0;
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// return a Down position relative to origin in meters
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// Return true if estimate is valid
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virtual bool get_relative_position_D_origin(float &posD) const WARN_IF_UNUSED {
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return false;
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}
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// return ground speed estimate in meters/second. Used by ground vehicles.
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float groundspeed(void) {
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return groundspeed_vector().length();
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}
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// return true if we will use compass for yaw
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virtual bool use_compass(void) {
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return _compass && _compass->use_for_yaw();
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}
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// return true if yaw has been initialised
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bool yaw_initialised(void) const {
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return _flags.have_initial_yaw;
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}
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// set the correct centrifugal flag
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// allows arducopter to disable corrections when disarmed
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void set_correct_centrifugal(bool setting) {
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_flags.correct_centrifugal = setting;
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}
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// get the correct centrifugal flag
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bool get_correct_centrifugal(void) const {
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return _flags.correct_centrifugal;
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}
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// get trim
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const Vector3f &get_trim() const {
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return _trim.get();
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}
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// set trim
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void set_trim(const Vector3f &new_trim);
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// add_trim - adjust the roll and pitch trim up to a total of 10 degrees
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void add_trim(float roll_in_radians, float pitch_in_radians, bool save_to_eeprom = true);
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// helper trig value accessors
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float cos_roll() const {
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return _cos_roll;
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}
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float cos_pitch() const {
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return _cos_pitch;
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}
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float cos_yaw() const {
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return _cos_yaw;
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}
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float sin_roll() const {
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return _sin_roll;
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}
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float sin_pitch() const {
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return _sin_pitch;
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}
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float sin_yaw() const {
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return _sin_yaw;
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}
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// return the quaternion defining the rotation from NED to XYZ (body) axes
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virtual bool get_quaternion(Quaternion &quat) const WARN_IF_UNUSED = 0;
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// return secondary attitude solution if available, as eulers in radians
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virtual bool get_secondary_attitude(Vector3f &eulers) const WARN_IF_UNUSED {
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return false;
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}
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// return secondary attitude solution if available, as quaternion
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virtual bool get_secondary_quaternion(Quaternion &quat) const WARN_IF_UNUSED {
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return false;
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}
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// return secondary position solution if available
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virtual bool get_secondary_position(struct Location &loc) const WARN_IF_UNUSED {
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return false;
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}
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// get the home location. This is const to prevent any changes to
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// home without telling AHRS about the change
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const struct Location &get_home(void) const {
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return _home;
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}
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// functions to handle locking of home. Some vehicles use this to
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// allow GCS to lock in a home location.
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void lock_home() {
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_home_locked = true;
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}
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bool home_is_locked() const {
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return _home_locked;
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}
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// returns true if home is set
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bool home_is_set(void) const {
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return _home_is_set;
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}
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// set the home location in 10e7 degrees. This should be called
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// when the vehicle is at this position. It is assumed that the
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// current barometer and GPS altitudes correspond to this altitude
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virtual bool set_home(const Location &loc) WARN_IF_UNUSED = 0;
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// set the EKF's origin location in 10e7 degrees. This should only
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// be called when the EKF has no absolute position reference (i.e. GPS)
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// from which to decide the origin on its own
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virtual bool set_origin(const Location &loc) WARN_IF_UNUSED { return false; }
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// returns the inertial navigation origin in lat/lon/alt
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virtual bool get_origin(Location &ret) const WARN_IF_UNUSED { return false; }
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void Log_Write_Home_And_Origin();
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// return true if the AHRS object supports inertial navigation,
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// with very accurate position and velocity
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virtual bool have_inertial_nav(void) const {
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return false;
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}
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// is the AHRS subsystem healthy?
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virtual bool healthy(void) const = 0;
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// true if the AHRS has completed initialisation
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virtual bool initialised(void) const {
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return true;
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};
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// return the amount of yaw angle change due to the last yaw angle reset in radians
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// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
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virtual uint32_t getLastYawResetAngle(float &yawAng) {
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return 0;
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};
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// return the amount of NE position change in metres due to the last reset
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// returns the time of the last reset or 0 if no reset has ever occurred
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virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) WARN_IF_UNUSED {
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return 0;
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};
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// return the amount of NE velocity change in metres/sec due to the last reset
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// returns the time of the last reset or 0 if no reset has ever occurred
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virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) const WARN_IF_UNUSED {
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return 0;
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};
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// return the amount of vertical position change due to the last reset in meters
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// returns the time of the last reset or 0 if no reset has ever occurred
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virtual uint32_t getLastPosDownReset(float &posDelta) WARN_IF_UNUSED {
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return 0;
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};
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// Resets the baro so that it reads zero at the current height
|
|
// Resets the EKF height to zero
|
|
// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
|
|
// Returns true if the height datum reset has been performed
|
|
// If using a range finder for height no reset is performed and it returns false
|
|
virtual bool resetHeightDatum(void) WARN_IF_UNUSED {
|
|
return false;
|
|
}
|
|
|
|
// return the innovations for the specified instance
|
|
// An out of range instance (eg -1) returns data for the primary instance
|
|
virtual bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const {
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|
return false;
|
|
}
|
|
|
|
// get_variances - provides the innovations normalised using the innovation variance where a value of 0
|
|
// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
|
|
// inconsistency that will be accepted by the filter
|
|
// boolean false is returned if variances are not available
|
|
virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const {
|
|
return false;
|
|
}
|
|
|
|
// get a source's velocity innovations. source should be from 0 to 7 (see AP_NavEKF_Source::SourceXY)
|
|
// returns true on success and results are placed in innovations and variances arguments
|
|
virtual bool get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const WARN_IF_UNUSED {
|
|
return false;
|
|
}
|
|
|
|
// get the selected ekf type, for allocation decisions
|
|
int8_t get_ekf_type(void) const {
|
|
return _ekf_type;
|
|
}
|
|
|
|
// Retrieves the corrected NED delta velocity in use by the inertial navigation
|
|
virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const {
|
|
ret.zero();
|
|
AP::ins().get_delta_velocity(ret, dt);
|
|
}
|
|
|
|
// create a view
|
|
AP_AHRS_View *create_view(enum Rotation rotation, float pitch_trim_deg=0);
|
|
|
|
// return calculated AOA
|
|
float getAOA(void);
|
|
|
|
// return calculated SSA
|
|
float getSSA(void);
|
|
|
|
// rotate a 2D vector from earth frame to body frame
|
|
// in result, x is forward, y is right
|
|
Vector2f earth_to_body2D(const Vector2f &ef_vector) const;
|
|
|
|
// rotate a 2D vector from earth frame to body frame
|
|
// in input, x is forward, y is right
|
|
Vector2f body_to_earth2D(const Vector2f &bf) const;
|
|
|
|
// convert a vector from body to earth frame
|
|
Vector3f body_to_earth(const Vector3f &v) const {
|
|
return v * get_rotation_body_to_ned();
|
|
}
|
|
|
|
// convert a vector from earth to body frame
|
|
Vector3f earth_to_body(const Vector3f &v) const {
|
|
return get_rotation_body_to_ned().mul_transpose(v);
|
|
}
|
|
|
|
virtual void update_AOA_SSA(void);
|
|
|
|
// get_hgt_ctrl_limit - get maximum height to be observed by the
|
|
// control loops in meters and a validity flag. It will return
|
|
// false when no limiting is required
|
|
virtual bool get_hgt_ctrl_limit(float &limit) const WARN_IF_UNUSED { return false; };
|
|
|
|
// Set to true if the terrain underneath is stable enough to be used as a height reference
|
|
// this is not related to terrain following
|
|
virtual void set_terrain_hgt_stable(bool stable) {}
|
|
|
|
// Write position and quaternion data from an external navigation system
|
|
virtual void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) { }
|
|
|
|
// Write velocity data from an external navigation system
|
|
virtual void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms) { }
|
|
|
|
// return current vibration vector for primary IMU
|
|
Vector3f get_vibration(void) const;
|
|
|
|
// set and save the alt noise parameter value
|
|
virtual void set_alt_measurement_noise(float noise) {};
|
|
|
|
// allow threads to lock against AHRS update
|
|
HAL_Semaphore &get_semaphore(void) {
|
|
return _rsem;
|
|
}
|
|
|
|
// active AHRS type for logging
|
|
virtual uint8_t get_active_AHRS_type(void) const { return 0; }
|
|
|
|
// for holding parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
// Logging to disk functions
|
|
void Write_AHRS2(void) const;
|
|
void Write_AOA_SSA(void); // should be const? but it calls update functions
|
|
void Write_Attitude(const Vector3f &targets) const;
|
|
void Write_Origin(uint8_t origin_type, const Location &loc) const;
|
|
void Write_POS(void) const;
|
|
|
|
protected:
|
|
void update_nmea_out();
|
|
|
|
// multi-thread access support
|
|
HAL_Semaphore _rsem;
|
|
|
|
AHRS_VehicleClass _vehicle_class;
|
|
|
|
// settable parameters
|
|
// these are public for ArduCopter
|
|
AP_Float _kp_yaw;
|
|
AP_Float _kp;
|
|
AP_Float gps_gain;
|
|
|
|
AP_Float beta;
|
|
|
|
enum class GPSUse : uint8_t {
|
|
Disable = 0,
|
|
Enable = 1,
|
|
EnableWithHeight = 2,
|
|
};
|
|
|
|
AP_Enum<GPSUse> _gps_use;
|
|
AP_Int8 _wind_max;
|
|
AP_Int8 _board_orientation;
|
|
AP_Int8 _gps_minsats;
|
|
AP_Int8 _ekf_type;
|
|
AP_Float _custom_roll;
|
|
AP_Float _custom_pitch;
|
|
AP_Float _custom_yaw;
|
|
|
|
Matrix3f _custom_rotation;
|
|
|
|
// flags structure
|
|
struct ahrs_flags {
|
|
uint8_t have_initial_yaw : 1; // whether the yaw value has been intialised with a reference
|
|
uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis
|
|
uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
|
|
uint8_t wind_estimation : 1; // 1 if we should do wind estimation
|
|
uint8_t takeoff_expected : 1; // 1 if the vehicle is in a state that takeoff might be expected. Ground effect may be in play.
|
|
uint8_t touchdown_expected : 1; // 1 if the vehicle is in a state that touchdown might be expected. Ground effect may be in play.
|
|
} _flags;
|
|
|
|
// calculate sin/cos of roll/pitch/yaw from rotation
|
|
void calc_trig(const Matrix3f &rot,
|
|
float &cr, float &cp, float &cy,
|
|
float &sr, float &sp, float &sy) const;
|
|
|
|
// update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude
|
|
// should be called after _dcm_matrix is updated
|
|
void update_trig(void);
|
|
|
|
// update roll_sensor, pitch_sensor and yaw_sensor
|
|
void update_cd_values(void);
|
|
|
|
// update takeoff/touchdown flags
|
|
void update_flags();
|
|
|
|
// pointer to compass object, if available
|
|
Compass * _compass;
|
|
|
|
// pointer to airspeed object, if available
|
|
|
|
// time in microseconds of last compass update
|
|
uint32_t _compass_last_update;
|
|
|
|
// a vector to capture the difference between the controller and body frames
|
|
AP_Vector3f _trim;
|
|
|
|
// cached trim rotations
|
|
Vector3f _last_trim;
|
|
Matrix3f _rotation_autopilot_body_to_vehicle_body;
|
|
Matrix3f _rotation_vehicle_body_to_autopilot_body;
|
|
|
|
// the limit of the gyro drift claimed by the sensors, in
|
|
// radians/s/s
|
|
float _gyro_drift_limit;
|
|
|
|
// accelerometer values in the earth frame in m/s/s
|
|
Vector3f _accel_ef[INS_MAX_INSTANCES];
|
|
Vector3f _accel_ef_blended;
|
|
|
|
// Declare filter states for HPF and LPF used by complementary
|
|
// filter in AP_AHRS::groundspeed_vector
|
|
Vector2f _lp; // ground vector low-pass filter
|
|
Vector2f _hp; // ground vector high-pass filter
|
|
Vector2f _lastGndVelADS; // previous HPF input
|
|
|
|
// reference position for NED positions
|
|
struct Location _home;
|
|
bool _home_is_set :1;
|
|
bool _home_locked :1;
|
|
|
|
// helper trig variables
|
|
float _cos_roll, _cos_pitch, _cos_yaw;
|
|
float _sin_roll, _sin_pitch, _sin_yaw;
|
|
|
|
// which accelerometer instance is active
|
|
uint8_t _active_accel_instance;
|
|
|
|
// optional view class
|
|
AP_AHRS_View *_view;
|
|
|
|
// AOA and SSA
|
|
float _AOA, _SSA;
|
|
uint32_t _last_AOA_update_ms;
|
|
|
|
private:
|
|
static AP_AHRS *_singleton;
|
|
|
|
AP_NMEA_Output* _nmea_out;
|
|
|
|
uint32_t takeoff_expected_start_ms;
|
|
uint32_t touchdown_expected_start_ms;
|
|
};
|
|
|
|
#include "AP_AHRS_DCM.h"
|
|
#include "AP_AHRS_NavEKF.h"
|
|
|
|
namespace AP {
|
|
AP_AHRS &ahrs();
|
|
|
|
// use ahrs_navekf() only where the AHRS interface doesn't expose the
|
|
// functionality you require:
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
AP_AHRS_NavEKF &ahrs_navekf();
|
|
#endif
|
|
};
|