forked from Archive/PX4-Autopilot
315 lines
8.3 KiB
C
315 lines
8.3 KiB
C
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/*
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* attitude_bm.c
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*
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* Created on: 21.12.2010
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* Author: Laurens Mackay, Tobias Naegeli
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*/
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#include <math.h>
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#include "attitude_bm.h"
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#include "kalman.h"
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#define TIME_STEP (1.0f / 500.0f)
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static kalman_t attitude_blackmagic_kal;
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void vect_norm(float_vect3 *vect)
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{
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float length = sqrtf(
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vect->x * vect->x + vect->y * vect->y + vect->z * vect->z);
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if (length != 0) {
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vect->x /= length;
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vect->y /= length;
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vect->z /= length;
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}
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}
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void vect_cross_product(const float_vect3 *a, const float_vect3 *b,
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float_vect3 *c)
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{
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c->x = a->y * b->z - a->z * b->y;
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c->y = a->z * b->x - a->x * b->z;
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c->z = a->x * b->y - a->y * b->x;
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}
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void attitude_blackmagic_update_a(void)
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{
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// for acc
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// Idendity matrix already in A.
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M(attitude_blackmagic_kal.a, 0, 1) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 11);
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M(attitude_blackmagic_kal.a, 0, 2) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 10);
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M(attitude_blackmagic_kal.a, 1, 0) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 11);
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M(attitude_blackmagic_kal.a, 1, 2) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 9);
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M(attitude_blackmagic_kal.a, 2, 0) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 10);
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M(attitude_blackmagic_kal.a, 2, 1) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 9);
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// for mag
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// Idendity matrix already in A.
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M(attitude_blackmagic_kal.a, 3, 4) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 11);
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M(attitude_blackmagic_kal.a, 3, 5) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 10);
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M(attitude_blackmagic_kal.a, 4, 3) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 11);
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M(attitude_blackmagic_kal.a, 4, 5) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 9);
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M(attitude_blackmagic_kal.a, 5, 3) = TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 10);
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M(attitude_blackmagic_kal.a, 5, 4) = -TIME_STEP * kalman_get_state(
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&attitude_blackmagic_kal, 9);
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}
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void attitude_blackmagic_init(void)
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{
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//X Kalmanfilter
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//initalize matrices
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static m_elem kal_a[12 * 12] = {
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1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0f
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};
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static m_elem kal_c[9 * 12] = {
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1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 1.0f, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 1.0f, 0, 0, 1.0f
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};
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#define FACTOR 0.5
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#define FACTORstart 1
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// static m_elem kal_gain[12 * 9] =
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// { 0.004 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
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// 0 , 0.004 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
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// 0 , 0 , 0.004 , 0 , 0 , 0 , 0 , 0 , 0,
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// 0 , 0 , 0 , 0.015, 0 , 0 , 0 , 0 , 0,
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// 0 , 0 , 0 , 0 , 0.015, 0 , 0 , 0 , 0,
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// 0 , 0 , 0 , 0 , 0 , 0.015, 0 , 0 , 0,
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// 0.0000 , +0.00002,0 , 0 , 0, 0, 0, 0 , 0,
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// -0.00002,0 , 0 , 0 , 0, 0, 0, 0, 0,
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// 0, 0 , 0 , 0, 0, 0, 0, 0, 0,
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// 0 , 0 , 0 , 0 , 0 , 0 , 0.4 , 0 , 0,
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// 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4 , 0,
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// 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4
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// };
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static m_elem kal_gain[12 * 9] = {
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0.0006f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
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0 , 0.0006f , 0 , 0 , 0 , 0 , 0 , 0 , 0,
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0 , 0 , 0.0006f , 0 , 0 , 0 , 0 , 0 , 0,
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0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0,
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0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0,
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0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0,
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0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0,
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-0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0,
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0, 0 , 0 , 0, 0, 0, 0, 0, 0,
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0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0 , 0,
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0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0,
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0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f
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};
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//offset update only correct if not upside down.
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#define K (10.0f*TIME_STEP)
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static m_elem kal_gain_start[12 * 9] = {
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K, 0, 0, 0, 0, 0, 0, 0, 0,
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0, K, 0, 0, 0, 0, 0, 0, 0,
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0, 0, K, 0, 0, 0, 0, 0, 0,
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0, 0, 0, K, 0, 0, 0, 0, 0,
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0, 0, 0, 0, K, 0, 0, 0, 0,
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0, 0, 0, 0, 0, K, 0, 0, 0,
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0, 0, 0, 0, 0, 0, K, 0, 0,
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0, 0, 0, 0, 0, 0, 0, K, 0,
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0, 0, 0, 0, 0, 0, 0, 0, K,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0
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};
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static m_elem kal_x_apriori[12 * 1] =
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{ };
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//---> initial states sind aposteriori!? ---> fehler
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static m_elem kal_x_aposteriori[12 * 1] =
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{ 0.0f, 0.0f, -1.0f, 0.6f, 0.0f, 0.8f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
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kalman_init(&attitude_blackmagic_kal, 12, 9, kal_a, kal_c,
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kal_gain_start, kal_gain, kal_x_apriori, kal_x_aposteriori, 1000);
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}
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void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const float_vect3 *gyro)
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{
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//Transform accelerometer used in all directions
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// float_vect3 acc_nav;
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//body2navi(&global_data.accel_si, &global_data.attitude, &acc_nav);
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// Kalman Filter
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//Calculate new linearized A matrix
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attitude_blackmagic_update_a();
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kalman_predict(&attitude_blackmagic_kal);
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//correction update
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m_elem measurement[9] =
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{ };
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m_elem mask[9] =
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{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f };
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measurement[0] = accel->x;
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measurement[1] = accel->y;
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measurement[2] = accel->z;
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measurement[3] = mag->x;
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measurement[4] = mag->y;
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measurement[5] = mag->z;
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measurement[6] = gyro->x;
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measurement[7] = gyro->y;
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measurement[8] = gyro->z;
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//Put measurements into filter
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// static int j = 0;
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// if (j >= 3)
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// {
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// j = 0;
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//
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// mask[3]=1;
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// mask[4]=1;
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// mask[5]=1;
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// j=0;
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//
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// }else{
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// j++;}
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kalman_correct(&attitude_blackmagic_kal, measurement, mask);
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}
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void attitude_blackmagic_get_all(float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b)
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{
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//debug
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// save outputs
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float_vect3 kal_acc;
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float_vect3 kal_mag;
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// float_vect3 kal_w0, kal_w;
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kal_acc.x = kalman_get_state(&attitude_blackmagic_kal, 0);
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kal_acc.y = kalman_get_state(&attitude_blackmagic_kal, 1);
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kal_acc.z = kalman_get_state(&attitude_blackmagic_kal, 2);
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kal_mag.x = kalman_get_state(&attitude_blackmagic_kal, 3);
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kal_mag.y = kalman_get_state(&attitude_blackmagic_kal, 4);
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kal_mag.z = kalman_get_state(&attitude_blackmagic_kal, 5);
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// kal_w0.x = kalman_get_state(&attitude_blackmagic_kal, 6);
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// kal_w0.y = kalman_get_state(&attitude_blackmagic_kal, 7);
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// kal_w0.z = kalman_get_state(&attitude_blackmagic_kal, 8);
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//
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// kal_w.x = kalman_get_state(&attitude_blackmagic_kal, 9);
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// kal_w.y = kalman_get_state(&attitude_blackmagic_kal, 10);
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// kal_w.z = kalman_get_state(&attitude_blackmagic_kal, 11);
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rates->x = kalman_get_state(&attitude_blackmagic_kal, 9);
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rates->y = kalman_get_state(&attitude_blackmagic_kal, 10);
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rates->z = kalman_get_state(&attitude_blackmagic_kal, 11);
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// kal_w = kal_w; // XXX hack to silence compiler warning
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// kal_w0 = kal_w0; // XXX hack to silence compiler warning
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//debug_vect("magn", mag);
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//float_vect3 x_n_b, y_n_b, z_n_b;
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z_n_b->x = -kal_acc.x;
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z_n_b->y = -kal_acc.y;
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z_n_b->z = -kal_acc.z;
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vect_norm(z_n_b);
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vect_cross_product(z_n_b, &kal_mag, y_n_b);
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vect_norm(y_n_b);
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vect_cross_product(y_n_b, z_n_b, x_n_b);
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//save euler angles
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euler->x = atan2f(z_n_b->y, z_n_b->z);
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euler->y = -asinf(z_n_b->x);
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euler->z = atan2f(y_n_b->x, x_n_b->x);
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}
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