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https://github.com/ArduPilot/ardupilot
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0e9b2a26c5
use regulated time for frequency noise to avoid spurious harmonics SITL sensors must be true separate instances don't compile in FFT structures if DSP disabled
602 lines
21 KiB
C++
602 lines
21 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#include <AP_Logger/AP_Logger.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#if AP_MODULE_SUPPORTED
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#include <AP_Module/AP_Module.h>
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#include <stdio.h>
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#endif
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#define SENSOR_RATE_DEBUG 0
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
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_imu(imu)
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{
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}
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/*
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notify of a FIFO reset so we don't use bad data to update observed sensor rate
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*/
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void AP_InertialSensor_Backend::notify_accel_fifo_reset(uint8_t instance)
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{
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_imu._sample_accel_count[instance] = 0;
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_imu._sample_accel_start_us[instance] = 0;
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}
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/*
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notify of a FIFO reset so we don't use bad data to update observed sensor rate
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*/
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void AP_InertialSensor_Backend::notify_gyro_fifo_reset(uint8_t instance)
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{
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_imu._sample_gyro_count[instance] = 0;
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_imu._sample_gyro_start_us[instance] = 0;
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}
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// set the amount of oversamping a accel is doing
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void AP_InertialSensor_Backend::_set_accel_oversampling(uint8_t instance, uint8_t n)
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{
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_imu._accel_over_sampling[instance] = n;
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}
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// set the amount of oversamping a gyro is doing
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void AP_InertialSensor_Backend::_set_gyro_oversampling(uint8_t instance, uint8_t n)
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{
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_imu._gyro_over_sampling[instance] = n;
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}
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/*
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update the sensor rate for FIFO sensors
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FIFO sensors produce samples at a fixed rate, but the clock in the
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sensor may vary slightly from the system clock. This slowly adjusts
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the rate to the observed rate
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*/
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void AP_InertialSensor_Backend::_update_sensor_rate(uint16_t &count, uint32_t &start_us, float &rate_hz) const
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{
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uint32_t now = AP_HAL::micros();
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if (start_us == 0) {
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count = 0;
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start_us = now;
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} else {
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count++;
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if (now - start_us > 1000000UL) {
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float observed_rate_hz = count * 1.0e6f / (now - start_us);
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#if SENSOR_RATE_DEBUG
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printf("RATE: %.1f should be %.1f\n", observed_rate_hz, rate_hz);
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#endif
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float filter_constant = 0.98f;
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float upper_limit = 1.05f;
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float lower_limit = 0.95f;
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if (sensors_converging()) {
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// converge quickly for first 30s, then more slowly
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filter_constant = 0.8f;
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upper_limit = 2.0f;
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lower_limit = 0.5f;
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}
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observed_rate_hz = constrain_float(observed_rate_hz, rate_hz*lower_limit, rate_hz*upper_limit);
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rate_hz = filter_constant * rate_hz + (1-filter_constant) * observed_rate_hz;
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count = 0;
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start_us = now;
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}
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}
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}
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void AP_InertialSensor_Backend::_rotate_and_correct_accel(uint8_t instance, Vector3f &accel)
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{
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/*
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accel calibration is always done in sensor frame with this
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version of the code. That means we apply the rotation after the
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offsets and scaling.
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*/
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// rotate for sensor orientation
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accel.rotate(_imu._accel_orientation[instance]);
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// apply offsets
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accel -= _imu._accel_offset[instance];
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// apply scaling
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const Vector3f &accel_scale = _imu._accel_scale[instance].get();
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accel.x *= accel_scale.x;
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accel.y *= accel_scale.y;
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accel.z *= accel_scale.z;
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// rotate to body frame
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if (_imu._board_orientation == ROTATION_CUSTOM && _imu._custom_rotation) {
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accel = *_imu._custom_rotation * accel;
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} else {
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accel.rotate(_imu._board_orientation);
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}
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}
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void AP_InertialSensor_Backend::_rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro)
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{
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// rotate for sensor orientation
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gyro.rotate(_imu._gyro_orientation[instance]);
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// gyro calibration is always assumed to have been done in sensor frame
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gyro -= _imu._gyro_offset[instance];
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if (_imu._board_orientation == ROTATION_CUSTOM && _imu._custom_rotation) {
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gyro = *_imu._custom_rotation * gyro;
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} else {
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gyro.rotate(_imu._board_orientation);
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}
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}
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/*
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rotate gyro vector and add the gyro offset
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*/
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void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro)
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{
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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_imu._gyro[instance] = gyro;
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_imu._gyro_healthy[instance] = true;
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// publish delta angle
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_imu._delta_angle[instance] = _imu._delta_angle_acc[instance];
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_imu._delta_angle_dt[instance] = _imu._delta_angle_acc_dt[instance];
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_imu._delta_angle_valid[instance] = true;
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}
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void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
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const Vector3f &gyro,
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uint64_t sample_us)
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{
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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float dt;
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_update_sensor_rate(_imu._sample_gyro_count[instance], _imu._sample_gyro_start_us[instance],
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_imu._gyro_raw_sample_rates[instance]);
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uint64_t last_sample_us = _imu._gyro_last_sample_us[instance];
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/*
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we have two classes of sensors. FIFO based sensors produce data
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at a very predictable overall rate, but the data comes in
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bunches, so we use the provided sample rate for deltaT. Non-FIFO
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sensors don't bunch up samples, but also tend to vary in actual
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rate, so we use the provided sample_us to get the deltaT. The
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difference between the two is whether sample_us is provided.
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*/
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if (sample_us != 0 && _imu._gyro_last_sample_us[instance] != 0) {
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dt = (sample_us - _imu._gyro_last_sample_us[instance]) * 1.0e-6f;
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_imu._gyro_last_sample_us[instance] = sample_us;
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} else {
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// don't accept below 100Hz
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if (_imu._gyro_raw_sample_rates[instance] < 100) {
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return;
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}
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dt = 1.0f / _imu._gyro_raw_sample_rates[instance];
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_imu._gyro_last_sample_us[instance] = AP_HAL::micros64();
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sample_us = _imu._gyro_last_sample_us[instance];
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}
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#if AP_MODULE_SUPPORTED
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// call gyro_sample hook if any
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AP_Module::call_hook_gyro_sample(instance, dt, gyro);
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#endif
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// push gyros if optical flow present
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if (hal.opticalflow) {
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hal.opticalflow->push_gyro(gyro.x, gyro.y, dt);
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}
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// compute delta angle
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Vector3f delta_angle = (gyro + _imu._last_raw_gyro[instance]) * 0.5f * dt;
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// compute coning correction
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// see page 26 of:
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// Tian et al (2010) Three-loop Integration of GPS and Strapdown INS with Coning and Sculling Compensation
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// Available: http://www.sage.unsw.edu.au/snap/publications/tian_etal2010b.pdf
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// see also examples/coning.py
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Vector3f delta_coning = (_imu._delta_angle_acc[instance] +
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_imu._last_delta_angle[instance] * (1.0f / 6.0f));
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delta_coning = delta_coning % delta_angle;
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delta_coning *= 0.5f;
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{
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WITH_SEMAPHORE(_sem);
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uint64_t now = AP_HAL::micros64();
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if (now - last_sample_us > 100000U) {
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// zero accumulator if sensor was unhealthy for 0.1s
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_imu._delta_angle_acc[instance].zero();
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_imu._delta_angle_acc_dt[instance] = 0;
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dt = 0;
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delta_angle.zero();
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}
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// integrate delta angle accumulator
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// the angles and coning corrections are accumulated separately in the
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// referenced paper, but in simulation little difference was found between
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// integrating together and integrating separately (see examples/coning.py)
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_imu._delta_angle_acc[instance] += delta_angle + delta_coning;
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_imu._delta_angle_acc_dt[instance] += dt;
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// save previous delta angle for coning correction
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_imu._last_delta_angle[instance] = delta_angle;
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_imu._last_raw_gyro[instance] = gyro;
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#if HAL_WITH_DSP
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// capture gyro window for FFT analysis
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_last_gyro_window[_num_gyro_samples++] = gyro * _imu._gyro_raw_sampling_multiplier[instance];
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_num_gyro_samples = _num_gyro_samples % INS_MAX_GYRO_WINDOW_SAMPLES; // protect against overrun
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#endif
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// apply the low pass filter
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Vector3f gyro_filtered = _imu._gyro_filter[instance].apply(gyro);
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// apply the notch filter
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if (_gyro_notch_enabled()) {
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gyro_filtered = _imu._gyro_notch_filter[instance].apply(gyro_filtered);
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}
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// apply the harmonic notch filter
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if (gyro_harmonic_notch_enabled()) {
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gyro_filtered = _imu._gyro_harmonic_notch_filter[instance].apply(gyro_filtered);
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}
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// if the filtering failed in any way then reset the filters and keep the old value
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if (gyro_filtered.is_nan() || gyro_filtered.is_inf()) {
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_imu._gyro_filter[instance].reset();
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_imu._gyro_notch_filter[instance].reset();
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_imu._gyro_harmonic_notch_filter[instance].reset();
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} else {
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_imu._gyro_filtered[instance] = gyro_filtered;
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}
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_imu._new_gyro_data[instance] = true;
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}
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if (!_imu.batchsampler.doing_post_filter_logging()) {
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log_gyro_raw(instance, sample_us, gyro);
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}
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else {
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log_gyro_raw(instance, sample_us, _imu._gyro_filtered[instance]);
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}
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}
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void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
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{
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AP_Logger *logger = AP_Logger::get_singleton();
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if (logger == nullptr) {
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// should not have been called
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return;
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}
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if (should_log_imu_raw()) {
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uint64_t now = AP_HAL::micros64();
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struct log_GYRO pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+instance)),
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time_us : now,
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sample_us : sample_us?sample_us:now,
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GyrX : gyro.x,
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GyrY : gyro.y,
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GyrZ : gyro.z
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};
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logger->WriteBlock(&pkt, sizeof(pkt));
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} else {
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if (!_imu.batchsampler.doing_sensor_rate_logging()) {
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_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us, gyro);
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}
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}
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}
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/*
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rotate accel vector, scale and add the accel offset
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*/
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void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel)
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{
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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_imu._accel[instance] = accel;
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_imu._accel_healthy[instance] = true;
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// publish delta velocity
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_imu._delta_velocity[instance] = _imu._delta_velocity_acc[instance];
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_imu._delta_velocity_dt[instance] = _imu._delta_velocity_acc_dt[instance];
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_imu._delta_velocity_valid[instance] = true;
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if (_imu._accel_calibrator != nullptr && _imu._accel_calibrator[instance].get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
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Vector3f cal_sample = _imu._delta_velocity[instance];
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//remove rotation
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cal_sample.rotate_inverse(_imu._board_orientation);
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// remove scale factors
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const Vector3f &accel_scale = _imu._accel_scale[instance].get();
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cal_sample.x /= accel_scale.x;
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cal_sample.y /= accel_scale.y;
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cal_sample.z /= accel_scale.z;
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//remove offsets
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cal_sample += _imu._accel_offset[instance].get() * _imu._delta_velocity_dt[instance] ;
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_imu._accel_calibrator[instance].new_sample(cal_sample, _imu._delta_velocity_dt[instance]);
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}
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}
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void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
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const Vector3f &accel,
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uint64_t sample_us,
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bool fsync_set)
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{
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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float dt;
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_update_sensor_rate(_imu._sample_accel_count[instance], _imu._sample_accel_start_us[instance],
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_imu._accel_raw_sample_rates[instance]);
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uint64_t last_sample_us = _imu._accel_last_sample_us[instance];
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/*
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we have two classes of sensors. FIFO based sensors produce data
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at a very predictable overall rate, but the data comes in
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bunches, so we use the provided sample rate for deltaT. Non-FIFO
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sensors don't bunch up samples, but also tend to vary in actual
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rate, so we use the provided sample_us to get the deltaT. The
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difference between the two is whether sample_us is provided.
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*/
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if (sample_us != 0 && _imu._accel_last_sample_us[instance] != 0) {
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dt = (sample_us - _imu._accel_last_sample_us[instance]) * 1.0e-6f;
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_imu._accel_last_sample_us[instance] = sample_us;
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} else {
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// don't accept below 100Hz
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if (_imu._accel_raw_sample_rates[instance] < 100) {
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return;
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}
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dt = 1.0f / _imu._accel_raw_sample_rates[instance];
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_imu._accel_last_sample_us[instance] = AP_HAL::micros64();
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sample_us = _imu._accel_last_sample_us[instance];
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}
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#if AP_MODULE_SUPPORTED
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// call accel_sample hook if any
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AP_Module::call_hook_accel_sample(instance, dt, accel, fsync_set);
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#endif
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_imu.calc_vibration_and_clipping(instance, accel, dt);
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{
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WITH_SEMAPHORE(_sem);
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uint64_t now = AP_HAL::micros64();
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if (now - last_sample_us > 100000U) {
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// zero accumulator if sensor was unhealthy for 0.1s
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_imu._delta_velocity_acc[instance].zero();
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_imu._delta_velocity_acc_dt[instance] = 0;
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dt = 0;
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}
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// delta velocity
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_imu._delta_velocity_acc[instance] += accel * dt;
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_imu._delta_velocity_acc_dt[instance] += dt;
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_imu._accel_filtered[instance] = _imu._accel_filter[instance].apply(accel);
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if (_imu._accel_filtered[instance].is_nan() || _imu._accel_filtered[instance].is_inf()) {
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_imu._accel_filter[instance].reset();
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}
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_imu.set_accel_peak_hold(instance, _imu._accel_filtered[instance]);
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_imu._new_accel_data[instance] = true;
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}
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if (!_imu.batchsampler.doing_post_filter_logging()) {
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log_accel_raw(instance, sample_us, accel);
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} else {
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log_accel_raw(instance, sample_us, _imu._accel_filtered[instance]);
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}
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}
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void AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample(uint8_t instance, const Vector3f &accel)
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{
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if (!_imu.batchsampler.doing_sensor_rate_logging()) {
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return;
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}
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_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, AP_HAL::micros64(), accel);
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}
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void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t instance, const Vector3f &gyro)
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{
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if (!_imu.batchsampler.doing_sensor_rate_logging()) {
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return;
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}
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_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, AP_HAL::micros64(), gyro);
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}
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void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
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{
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AP_Logger *logger = AP_Logger::get_singleton();
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if (logger == nullptr) {
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// should not have been called
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return;
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}
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if (should_log_imu_raw()) {
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uint64_t now = AP_HAL::micros64();
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struct log_ACCEL pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACC1_MSG+instance)),
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time_us : now,
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sample_us : sample_us?sample_us:now,
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AccX : accel.x,
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AccY : accel.y,
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AccZ : accel.z
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};
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logger->WriteBlock(&pkt, sizeof(pkt));
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} else {
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if (!_imu.batchsampler.doing_sensor_rate_logging()) {
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_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, sample_us, accel);
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}
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}
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}
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void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
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float max_offset)
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{
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_imu._accel_max_abs_offsets[instance] = max_offset;
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}
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// set accelerometer error_count
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void AP_InertialSensor_Backend::_set_accel_error_count(uint8_t instance, uint32_t error_count)
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{
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_imu._accel_error_count[instance] = error_count;
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}
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// set gyro error_count
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void AP_InertialSensor_Backend::_set_gyro_error_count(uint8_t instance, uint32_t error_count)
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{
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_imu._gyro_error_count[instance] = error_count;
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}
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// increment accelerometer error_count
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void AP_InertialSensor_Backend::_inc_accel_error_count(uint8_t instance)
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{
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_imu._accel_error_count[instance]++;
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}
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// increment gyro error_count
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void AP_InertialSensor_Backend::_inc_gyro_error_count(uint8_t instance)
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{
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_imu._gyro_error_count[instance]++;
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}
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// return the requested sample rate in Hz
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uint16_t AP_InertialSensor_Backend::get_sample_rate_hz(void) const
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{
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// enum can be directly cast to Hz
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return (uint16_t)_imu._sample_rate;
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}
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/*
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publish a temperature value for an instance
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*/
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void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float temperature)
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{
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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_imu._temperature[instance] = temperature;
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|
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#if HAL_HAVE_IMU_HEATER
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/* give the temperature to the control loop in order to keep it constant*/
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if (instance == 0) {
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AP_BoardConfig *bc = AP::boardConfig();
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if (bc) {
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bc->set_imu_temp(temperature);
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}
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}
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#endif
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}
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/*
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common gyro update function for all backends
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*/
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void AP_InertialSensor_Backend::update_gyro(uint8_t instance)
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{
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WITH_SEMAPHORE(_sem);
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|
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if ((1U<<instance) & _imu.imu_kill_mask) {
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return;
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}
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if (_imu._new_gyro_data[instance]) {
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_publish_gyro(instance, _imu._gyro_filtered[instance]);
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// copy the gyro samples from the backend to the frontend window
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#if HAL_WITH_DSP
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if (_imu._gyro_window_size > 0) {
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uint8_t idx = _imu._circular_buffer_idx[instance];
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for (uint8_t i = 0; i < _num_gyro_samples; i++) {
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_imu._gyro_window[instance][0][idx] = _last_gyro_window[i].x;
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_imu._gyro_window[instance][1][idx] = _last_gyro_window[i].y;
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_imu._gyro_window[instance][2][idx] = _last_gyro_window[i].z;
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idx = (idx + 1) % _imu._gyro_window_size;
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}
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_num_gyro_samples = 0;
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_imu._circular_buffer_idx[instance] = idx;
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}
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|
_imu._gyro_raw[instance] = _imu._last_raw_gyro[instance] * _imu._gyro_raw_sampling_multiplier[instance];
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|
#endif
|
|
_imu._new_gyro_data[instance] = false;
|
|
}
|
|
|
|
// possibly update filter frequency
|
|
if (_last_gyro_filter_hz != _gyro_filter_cutoff() || sensors_converging()) {
|
|
_imu._gyro_filter[instance].set_cutoff_frequency(_gyro_raw_sample_rate(instance), _gyro_filter_cutoff());
|
|
_last_gyro_filter_hz = _gyro_filter_cutoff();
|
|
}
|
|
|
|
// possily update the harmonic notch filter parameters
|
|
if (!is_equal(_last_harmonic_notch_bandwidth_hz, gyro_harmonic_notch_bandwidth_hz()) ||
|
|
!is_equal(_last_harmonic_notch_attenuation_dB, gyro_harmonic_notch_attenuation_dB()) ||
|
|
sensors_converging()) {
|
|
_imu._gyro_harmonic_notch_filter[instance].init(_gyro_raw_sample_rate(instance), gyro_harmonic_notch_center_freq_hz(), gyro_harmonic_notch_bandwidth_hz(), gyro_harmonic_notch_attenuation_dB());
|
|
_last_harmonic_notch_center_freq_hz = gyro_harmonic_notch_center_freq_hz();
|
|
_last_harmonic_notch_bandwidth_hz = gyro_harmonic_notch_bandwidth_hz();
|
|
_last_harmonic_notch_attenuation_dB = gyro_harmonic_notch_attenuation_dB();
|
|
} else if (!is_equal(_last_harmonic_notch_center_freq_hz, gyro_harmonic_notch_center_freq_hz())) {
|
|
_imu._gyro_harmonic_notch_filter[instance].update(gyro_harmonic_notch_center_freq_hz());
|
|
_last_harmonic_notch_center_freq_hz = gyro_harmonic_notch_center_freq_hz();
|
|
}
|
|
// possily update the notch filter parameters
|
|
if (!is_equal(_last_notch_center_freq_hz, _gyro_notch_center_freq_hz()) ||
|
|
!is_equal(_last_notch_bandwidth_hz, _gyro_notch_bandwidth_hz()) ||
|
|
!is_equal(_last_notch_attenuation_dB, _gyro_notch_attenuation_dB()) ||
|
|
sensors_converging()) {
|
|
_imu._gyro_notch_filter[instance].init(_gyro_raw_sample_rate(instance), _gyro_notch_center_freq_hz(), _gyro_notch_bandwidth_hz(), _gyro_notch_attenuation_dB());
|
|
_last_notch_center_freq_hz = _gyro_notch_center_freq_hz();
|
|
_last_notch_bandwidth_hz = _gyro_notch_bandwidth_hz();
|
|
_last_notch_attenuation_dB = _gyro_notch_attenuation_dB();
|
|
}
|
|
}
|
|
|
|
/*
|
|
common accel update function for all backends
|
|
*/
|
|
void AP_InertialSensor_Backend::update_accel(uint8_t instance)
|
|
{
|
|
WITH_SEMAPHORE(_sem);
|
|
|
|
if ((1U<<instance) & _imu.imu_kill_mask) {
|
|
return;
|
|
}
|
|
if (_imu._new_accel_data[instance]) {
|
|
_publish_accel(instance, _imu._accel_filtered[instance]);
|
|
_imu._new_accel_data[instance] = false;
|
|
}
|
|
|
|
// possibly update filter frequency
|
|
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
|
|
_imu._accel_filter[instance].set_cutoff_frequency(_accel_raw_sample_rate(instance), _accel_filter_cutoff());
|
|
_last_accel_filter_hz = _accel_filter_cutoff();
|
|
}
|
|
}
|
|
|
|
bool AP_InertialSensor_Backend::should_log_imu_raw() const
|
|
{
|
|
if (_imu._log_raw_bit == (uint32_t)-1) {
|
|
// tracker does not set a bit
|
|
return false;
|
|
}
|
|
const AP_Logger *logger = AP_Logger::get_singleton();
|
|
if (logger == nullptr) {
|
|
return false;
|
|
}
|
|
if (!logger->should_log(_imu._log_raw_bit)) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|