mirror of https://github.com/ArduPilot/ardupilot
452 lines
17 KiB
C++
452 lines
17 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 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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class AP_AHRS_Backend
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{
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public:
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// Constructor
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AP_AHRS_Backend() {}
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// empty virtual destructor
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virtual ~AP_AHRS_Backend() {}
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// init sets up INS board orientation
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virtual void init();
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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() = 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 if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
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virtual bool using_noncompass_for_yaw(void) const { return false; }
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// check if external nav is providing yaw
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virtual bool using_extnav_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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// 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 a ground vector estimate in meters/second, in North/East order
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virtual Vector2f groundspeed_vector(void) = 0;
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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 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 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 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 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) = 0;
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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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// 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
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Returns true if the height datum reset has been performed
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// If using a range finder for height no reset is performed and it returns false
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virtual bool resetHeightDatum(void) WARN_IF_UNUSED {
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return false;
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}
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// return the innovations for the specified instance
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// An out of range instance (eg -1) returns data for the primary instance
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virtual bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const {
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return false;
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}
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// get_variances - provides the innovations normalised using the innovation variance where a value of 0
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// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
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// inconsistency that will be accepted by the filter
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// boolean false is returned if variances are not available
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virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const {
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return false;
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}
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// get a source's velocity innovations. source should be from 0 to 7 (see AP_NavEKF_Source::SourceXY)
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// returns true on success and results are placed in innovations and variances arguments
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virtual bool get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const WARN_IF_UNUSED {
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return false;
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}
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// Retrieves the corrected NED delta velocity in use by the inertial navigation
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virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const {
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ret.zero();
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AP::ins().get_delta_velocity(ret, dt);
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}
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// rotate a 2D vector from earth frame to body frame
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// in result, x is forward, y is right
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Vector2f earth_to_body2D(const Vector2f &ef_vector) const;
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// rotate a 2D vector from earth frame to body frame
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// in input, x is forward, y is right
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Vector2f body_to_earth2D(const Vector2f &bf) const;
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// convert a vector from body to earth frame
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Vector3f body_to_earth(const Vector3f &v) const {
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return v * get_rotation_body_to_ned();
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}
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// convert a vector from earth to body frame
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Vector3f earth_to_body(const Vector3f &v) const {
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return get_rotation_body_to_ned().mul_transpose(v);
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}
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// get_hgt_ctrl_limit - get maximum height to be observed by the
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// control loops in meters and a validity flag. It will return
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// false when no limiting is required
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virtual bool get_hgt_ctrl_limit(float &limit) const WARN_IF_UNUSED { return false; };
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// Set to true if the terrain underneath is stable enough to be used as a height reference
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// this is not related to terrain following
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virtual void set_terrain_hgt_stable(bool stable) {}
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// Write position and quaternion data from an external navigation system
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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) { }
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// Write velocity data from an external navigation system
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virtual void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms) { }
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// return current vibration vector for primary IMU
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Vector3f get_vibration(void) const;
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// set and save the alt noise parameter value
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virtual void set_alt_measurement_noise(float noise) {};
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// allow threads to lock against AHRS update
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HAL_Semaphore &get_semaphore(void) {
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return _rsem;
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}
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// Logging to disk functions
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void Write_AHRS2(void) const;
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void Write_Attitude(const Vector3f &targets) const;
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void Write_Origin(uint8_t origin_type, const Location &loc) const;
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void Write_POS(void) const;
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protected:
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enum class GPSUse : uint8_t {
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Disable = 0,
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Enable = 1,
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EnableWithHeight = 2,
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};
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AP_Enum<GPSUse> _gps_use;
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// multi-thread access support
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HAL_Semaphore _rsem;
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// calculate sin/cos of roll/pitch/yaw from rotation
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void calc_trig(const Matrix3f &rot,
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float &cr, float &cp, float &cy,
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float &sr, float &sp, float &sy) const;
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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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// update roll_sensor, pitch_sensor and yaw_sensor
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void update_cd_values(void);
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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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Vector3f _accel_ef_blended;
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// helper trig variables
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float _cos_roll{1.0f};
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float _cos_pitch{1.0f};
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float _cos_yaw{1.0f};
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float _sin_roll;
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float _sin_pitch;
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float _sin_yaw;
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};
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