mirror of https://github.com/ArduPilot/ardupilot
402 lines
12 KiB
C++
402 lines
12 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_AHRS_H__
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#define __AP_AHRS_H__
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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.h>
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#include <inttypes.h>
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#include <AP_Compass.h>
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#include <AP_Airspeed.h>
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#include <AP_GPS.h>
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#include <AP_InertialSensor.h>
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#include <AP_Baro.h>
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#include <AP_Param.h>
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#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
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enum AHRS_VehicleClass {
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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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};
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class AP_AHRS
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{
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public:
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// Constructor
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AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
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_vehicle_class(AHRS_VEHICLE_UNKNOWN),
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_compass(NULL),
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_ins(ins),
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_baro(baro),
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_gps(gps),
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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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_sin_roll(0.0f),
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_sin_pitch(0.0f),
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_sin_yaw(0.0f),
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_active_accel_instance(0)
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{
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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. The APM2 has gyros which are much less drift
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// prone than the APM1, so we should have a lower ki,
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// which will make us less prone to increasing omegaI
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// incorrectly due to sensor noise
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_gyro_drift_limit = 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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// start off with armed flag true
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_flags.armed = true;
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// initialise _home
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_home.options = 0;
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_home.alt = 0;
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_home.lng = 0;
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_home.lat = 0;
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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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set_orientation();
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};
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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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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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set_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 set_orientation() {
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_ins.set_board_orientation((enum Rotation)_board_orientation.get());
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if (_compass != NULL) {
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_compass->set_board_orientation((enum Rotation)_board_orientation.get());
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}
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}
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void set_airspeed(AP_Airspeed *airspeed) {
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_airspeed = airspeed;
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}
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const AP_Airspeed *get_airspeed(void) const {
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return _airspeed;
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}
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const AP_GPS &get_gps() const {
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return _gps;
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}
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const AP_InertialSensor &get_ins() const {
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return _ins;
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}
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const AP_Baro &get_baro() const {
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return _baro;
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}
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// accelerometer values in the earth frame in m/s/s
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const Vector3f &get_accel_ef(void) const { return _accel_ef[_ins.get_primary_accel()]; }
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// Methods
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virtual void update(void) = 0;
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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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// 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
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virtual const Vector3f &get_gyro(void) const = 0;
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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 attitude, used on new IMU calibration
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virtual void reset(bool recover_eulers=false) = 0;
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// reset the current attitude, used on new IMU calibration
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virtual void reset_attitude(const float &roll, const float &pitch, const float &yaw) = 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) = 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) = 0;
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// return a DCM rotation matrix representing our current
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// attitude
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virtual const Matrix3f &get_dcm_matrix(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) = 0;
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// return a wind estimation vector, in m/s
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virtual Vector3f wind_estimate(void) = 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;
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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 {
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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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// get apparent to true airspeed ratio
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float get_EAS2TAS(void) const {
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if (_airspeed) {
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return _airspeed->get_EAS2TAS();
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}
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return 1.0f;
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}
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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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return _airspeed != NULL && _airspeed->use();
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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 { return false; }
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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(Vector3f &vec) const { return false; }
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// return ground speed estimate in meters/second. Used by ground vehicles.
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float groundspeed(void) const {
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if (_gps.status() <= AP_GPS::NO_FIX) {
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return 0.0f;
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}
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return _gps.ground_speed();
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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) { return _compass && _compass->use_for_yaw(); }
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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 fast gains flag
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void set_fast_gains(bool setting) {
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_flags.fast_ground_gains = setting;
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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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// set the armed flag
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// allows EKF enter static mode when disarmed
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void set_armed(bool setting) {
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_flags.armed = setting;
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}
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// get the armed flag
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bool get_armed(void) const {
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return _flags.armed;
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}
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// get trim
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const Vector3f &get_trim() const { return _trim.get(); }
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// set trim
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virtual void set_trim(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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virtual 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 { return _cos_roll; }
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float cos_pitch() const { return _cos_pitch; }
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float cos_yaw() const { return _cos_yaw; }
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float sin_roll() const { return _sin_roll; }
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float sin_pitch() const { return _sin_pitch; }
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float sin_yaw() const { return _sin_yaw; }
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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// these are public for ArduCopter
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AP_Float _kp_yaw;
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AP_Float _kp;
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AP_Float gps_gain;
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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) { return false; }
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// return secondary position solution if available
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virtual bool get_secondary_position(struct Location &loc) { return false; }
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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 { return _home; }
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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 void set_home(const Location &loc) = 0;
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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 { return false; }
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// return the active accelerometer instance
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uint8_t get_active_accel_instance(void) const { return _active_accel_instance; }
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// is the AHRS subsystem healthy?
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virtual bool healthy(void) = 0;
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protected:
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AHRS_VehicleClass _vehicle_class;
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// settable parameters
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AP_Float beta;
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AP_Int8 _gps_use;
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AP_Int8 _wind_max;
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AP_Int8 _board_orientation;
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AP_Int8 _gps_minsats;
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AP_Int8 _gps_delay;
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AP_Int8 _ekf_use;
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// flags structure
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struct ahrs_flags {
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uint8_t have_initial_yaw : 1; // whether the yaw value has been intialised with a reference
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uint8_t fast_ground_gains : 1; // should we raise the gain on the accelerometers for faster convergence, used when disarmed for ArduCopter
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uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis
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uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
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uint8_t wind_estimation : 1; // 1 if we should do wind estimation
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uint8_t armed : 1; // 1 if we are armed for flight
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} _flags;
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// update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude
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// should be called after _dcm_matrix is updated
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void update_trig(void);
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// pointer to compass object, if available
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Compass * _compass;
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// pointer to airspeed object, if available
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AP_Airspeed * _airspeed;
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// time in microseconds of last compass update
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uint32_t _compass_last_update;
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// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
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// IMU under us without our noticing.
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AP_InertialSensor &_ins;
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AP_Baro &_baro;
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const AP_GPS &_gps;
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// a vector to capture the difference between the controller and body frames
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AP_Vector3f _trim;
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// the limit of the gyro drift claimed by the sensors, in
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// radians/s/s
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float _gyro_drift_limit;
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// accelerometer values in the earth frame in m/s/s
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Vector3f _accel_ef[INS_MAX_INSTANCES];
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// Declare filter states for HPF and LPF used by complementary
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// filter in AP_AHRS::groundspeed_vector
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Vector2f _lp; // ground vector low-pass filter
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Vector2f _hp; // ground vector high-pass filter
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Vector2f _lastGndVelADS; // previous HPF input
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// reference position for NED positions
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struct Location _home;
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// helper trig variables
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float _cos_roll, _cos_pitch, _cos_yaw;
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float _sin_roll, _sin_pitch, _sin_yaw;
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// which accelerometer instance is active
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uint8_t _active_accel_instance;
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};
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#include <AP_AHRS_DCM.h>
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#include <AP_AHRS_NavEKF.h>
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#endif // __AP_AHRS_H__
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