mirror of https://github.com/ArduPilot/ardupilot
218 lines
6.8 KiB
C++
218 lines
6.8 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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* DCM based AHRS (Attitude Heading Reference System) interface for
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* ArduPilot
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*
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*/
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class AP_AHRS_DCM : public AP_AHRS {
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public:
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AP_AHRS_DCM()
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: AP_AHRS()
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, _error_rp(1.0f)
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, _error_yaw(1.0f)
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, _mag_earth(1, 0)
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, _imu1_weight(0.5f)
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{
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_dcm_matrix.identity();
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// these are experimentally derived from the simulator
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// with large drift levels
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_ki = 0.0087f;
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_ki_yaw = 0.01f;
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}
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/* Do not allow copies */
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AP_AHRS_DCM(const AP_AHRS_DCM &other) = delete;
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AP_AHRS_DCM &operator=(const AP_AHRS_DCM&) = delete;
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// return the smoothed gyro vector corrected for drift
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const Vector3f &get_gyro() const override {
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return _omega;
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}
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// return rotation matrix representing rotaton from body to earth axes
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const Matrix3f &get_rotation_body_to_ned() const override {
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return _body_dcm_matrix;
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}
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// get rotation matrix specifically from DCM backend (used for compass calibrator)
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const Matrix3f &get_DCM_rotation_body_to_ned(void) const override { return _body_dcm_matrix; }
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// return the current drift correction integrator value
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const Vector3f &get_gyro_drift() const override {
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return _omega_I;
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}
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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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void reset_gyro_drift() override;
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// Methods
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void update(bool skip_ins_update=false) override;
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void reset(bool recover_eulers = false) override;
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// reset the current attitude, used on new IMU calibration
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void reset_attitude(const float &roll, const float &pitch, const float &yaw) override;
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// dead-reckoning support
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virtual bool get_position(struct Location &loc) const override;
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// status reporting
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float get_error_rp() const override {
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return _error_rp;
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}
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float get_error_yaw() const override {
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return _error_yaw;
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}
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate() const override {
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return _wind;
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}
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void get_relative_position_D_home(float &posD) const override;
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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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bool airspeed_estimate(float &airspeed_ret) const override;
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// return an airspeed estimate if available. return true
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// if we have an estimate from a specific sensor index
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bool airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const;
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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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bool synthetic_airspeed(float &ret) const override WARN_IF_UNUSED {
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ret = _last_airspeed;
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return true;
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}
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bool use_compass() override;
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// return the quaternion defining the rotation from NED to XYZ (body) axes
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bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED;
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bool set_home(const Location &loc) override WARN_IF_UNUSED;
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void estimate_wind(void);
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// is the AHRS subsystem healthy?
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bool healthy() const override;
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bool get_velocity_NED(Vector3f &vec) const override;
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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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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
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private:
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float _ki;
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float _ki_yaw;
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// Methods
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void matrix_update(float _G_Dt);
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void normalize(void);
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void check_matrix(void);
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bool renorm(Vector3f const &a, Vector3f &result);
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void drift_correction(float deltat);
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void drift_correction_yaw(void);
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float yaw_error_compass();
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void euler_angles(void);
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bool have_gps(void) const;
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bool use_fast_gains(void) const;
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void load_watchdog_home();
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void backup_attitude(void);
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// primary representation of attitude of board used for all inertial calculations
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Matrix3f _dcm_matrix;
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// primary representation of attitude of flight vehicle body
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Matrix3f _body_dcm_matrix;
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Vector3f _omega_P; // accel Omega proportional correction
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Vector3f _omega_yaw_P; // proportional yaw correction
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Vector3f _omega_I; // Omega Integrator correction
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Vector3f _omega_I_sum;
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float _omega_I_sum_time;
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Vector3f _omega; // Corrected Gyro_Vector data
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// variables to cope with delaying the GA sum to match GPS lag
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Vector3f ra_delayed(uint8_t instance, const Vector3f &ra);
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Vector3f _ra_delay_buffer[INS_MAX_INSTANCES];
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// P term gain based on spin rate
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float _P_gain(float spin_rate);
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// P term yaw gain based on rate of change of horiz velocity
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float _yaw_gain(void) const;
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// state to support status reporting
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float _renorm_val_sum;
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uint16_t _renorm_val_count;
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float _error_rp;
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float _error_yaw;
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// time in millis when we last got a GPS heading
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uint32_t _gps_last_update;
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// state of accel drift correction
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Vector3f _ra_sum[INS_MAX_INSTANCES];
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Vector3f _last_velocity;
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float _ra_deltat;
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uint32_t _ra_sum_start;
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// the earths magnetic field
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float _last_declination;
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Vector2f _mag_earth;
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// whether we have GPS lock
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bool _have_gps_lock;
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// the lat/lng where we last had GPS lock
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int32_t _last_lat;
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int32_t _last_lng;
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// position offset from last GPS lock
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float _position_offset_north;
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float _position_offset_east;
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// whether we have a position estimate
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bool _have_position;
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// support for wind estimation
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Vector3f _last_fuse;
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Vector3f _last_vel;
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uint32_t _last_wind_time;
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float _last_airspeed;
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uint32_t _last_consistent_heading;
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// estimated wind in m/s
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Vector3f _wind;
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float _imu1_weight;
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// last time AHRS failed in milliseconds
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uint32_t _last_failure_ms;
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// time when DCM was last reset
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uint32_t _last_startup_ms;
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};
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