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Roll pitch yaw should be verified again

This commit is contained in:
Hyon Lim (Retina) 2013-05-22 00:09:25 +10:00
parent 32bace0824
commit f547044203
2 changed files with 91 additions and 91 deletions
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178
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
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@ -139,48 +139,48 @@ void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement // Normalise accelerometer measurement
recipNorm = invSqrt(ax * ax + ay * ay + az * az); recipNorm = invSqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm; ax *= recipNorm;
ay *= recipNorm; ay *= recipNorm;
az *= recipNorm; az *= recipNorm;
// Estimated direction of gravity and vector perpendicular to magnetic flux // Estimated direction of gravity and vector perpendicular to magnetic flux
halfvx = q1 * q3 - q0 * q2; halfvx = q1 * q3 - q0 * q2;
halfvy = q0 * q1 + q2 * q3; halfvy = q0 * q1 + q2 * q3;
halfvz = q0 * q0 - 0.5f + q3 * q3; halfvz = q0 * q0 - 0.5f + q3 * q3;
// Error is sum of cross product between estimated and measured direction of gravity // Error is sum of cross product between estimated and measured direction of gravity
halfex = (ay * halfvz - az * halfvy); halfex = (ay * halfvz - az * halfvy);
halfey = (az * halfvx - ax * halfvz); halfey = (az * halfvx - ax * halfvz);
halfez = (ax * halfvy - ay * halfvx); halfez = (ax * halfvy - ay * halfvx);
// Compute and apply integral feedback if enabled // Compute and apply integral feedback if enabled
if(twoKi > 0.0f) { if(twoKi > 0.0f) {
integralFBx += twoKi * halfex * dt; // integral error scaled by Ki integralFBx += twoKi * halfex * dt; // integral error scaled by Ki
integralFBy += twoKi * halfey * dt; integralFBy += twoKi * halfey * dt;
integralFBz += twoKi * halfez * dt; integralFBz += twoKi * halfez * dt;
gx += integralFBx; // apply integral feedback gx += integralFBx; // apply integral feedback
gy += integralFBy; gy += integralFBy;
gz += integralFBz; gz += integralFBz;
} }
else { else {
integralFBx = 0.0f; // prevent integral windup integralFBx = 0.0f; // prevent integral windup
integralFBy = 0.0f; integralFBy = 0.0f;
integralFBz = 0.0f; integralFBz = 0.0f;
} }
// Apply proportional feedback // Apply proportional feedback
gx += twoKp * halfex; gx += twoKp * halfex;
gy += twoKp * halfey; gy += twoKp * halfey;
gz += twoKp * halfez; gz += twoKp * halfez;
} }
// Integrate rate of change of quaternion // Integrate rate of change of quaternion
gx *= (0.5f * dt); // pre-multiply common factors gx *= (0.5f * dt); // pre-multiply common factors
gy *= (0.5f * dt); gy *= (0.5f * dt);
gz *= (0.5f * dt); gz *= (0.5f * dt);
q0 += (-q1 * gx - q2 * gy - q3 * gz); q0 +=(-q1 * gx - q2 * gy - q3 * gz);
q1 += (q0 * gx + q2 * gz - q3 * gy); q1 += (q0 * gx + q2 * gz - q3 * gy);
q2 += (q0 * gy - q1 * gz + q3 * gx); q2 += (q0 * gy - q1 * gz + q3 * gx);
q3 += (q0 * gz + q1 * gy - q2 * gx); q3 += (q0 * gz + q1 * gy - q2 * gx);
@ -209,17 +209,17 @@ void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement // Normalise accelerometer measurement
recipNorm = invSqrt(ax * ax + ay * ay + az * az); recipNorm = invSqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm; ax *= recipNorm;
ay *= recipNorm; ay *= recipNorm;
az *= recipNorm; az *= recipNorm;
// Normalise magnetometer measurement // Normalise magnetometer measurement
recipNorm = invSqrt(mx * mx + my * my + mz * mz); recipNorm = invSqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm; mx *= recipNorm;
my *= recipNorm; my *= recipNorm;
mz *= recipNorm; mz *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic // Auxiliary variables to avoid repeated arithmetic
q0q0 = q0 * q0; q0q0 = q0 * q0;
@ -239,45 +239,45 @@ void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az
bx = sqrt(hx * hx + hy * hy); bx = sqrt(hx * hx + hy * hy);
bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2)); bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
// Estimated direction of gravity and magnetic field // Estimated direction of gravity and magnetic field
halfvx = q1q3 - q0q2; halfvx = q1q3 - q0q2;
halfvy = q0q1 + q2q3; halfvy = q0q1 + q2q3;
halfvz = q0q0 - 0.5f + q3q3; halfvz = q0q0 - 0.5f + q3q3;
halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2); halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3); halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2); halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);
// Error is sum of cross product between estimated direction and measured direction of field vectors // Error is sum of cross product between estimated direction and measured direction of field vectors
halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy); halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz); halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx); halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
// Compute and apply integral feedback if enabled // Compute and apply integral feedback if enabled
if(twoKi > 0.0f) { if(twoKi > 0.0f) {
integralFBx += twoKi * halfex * dt; // integral error scaled by Ki integralFBx += twoKi * halfex * dt; // integral error scaled by Ki
integralFBy += twoKi * halfey * dt; integralFBy += twoKi * halfey * dt;
integralFBz += twoKi * halfez * dt; integralFBz += twoKi * halfez * dt;
gx += integralFBx; // apply integral feedback gx += integralFBx; // apply integral feedback
gy += integralFBy; gy += integralFBy;
gz += integralFBz; gz += integralFBz;
} }
else { else {
integralFBx = 0.0f; // prevent integral windup integralFBx = 0.0f; // prevent integral windup
integralFBy = 0.0f; integralFBy = 0.0f;
integralFBz = 0.0f; integralFBz = 0.0f;
} }
// Apply proportional feedback // Apply proportional feedback
gx += twoKp * halfex; gx += twoKp * halfex;
gy += twoKp * halfey; gy += twoKp * halfey;
gz += twoKp * halfez; gz += twoKp * halfez;
} }
// Integrate rate of change of quaternion // Integrate rate of change of quaternion
gx *= (0.5f * dt); // pre-multiply common factors gx *= (0.5f * dt); // pre-multiply common factors
gy *= (0.5f * dt); gy *= (0.5f * dt);
gz *= (0.5f * dt); gz *= (0.5f * dt);
q0 += (-q1 * gx - q2 * gy - q3 * gz); q0 +=(-q1 * gx - q2 * gy - q3 * gz);
q1 += (q0 * gx + q2 * gz - q3 * gy); q1 += (q0 * gx + q2 * gz - q3 * gy);
q2 += (q0 * gy - q1 * gz + q3 * gx); q2 += (q0 * gy - q1 * gz + q3 * gx);
q3 += (q0 * gz + q1 * gy - q2 * gx); q3 += (q0 * gz + q1 * gy - q2 * gx);
@ -515,24 +515,28 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
MahonyAHRSupdate(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt); MahonyAHRSupdate(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt);
float aSq = q0*q0; float aSq = q0*q0; // 1
float bSq = q1*q1; float bSq = q1*q1; // 2
float cSq = q2*q2; float cSq = q2*q2; // 3
float dSq = q3*q3; float dSq = q3*q3; // 4
float a = q0; float a = q0;
float b = q1; float b = q1;
float c = q2; float c = q2;
float d = q3; float d = q3;
Rot_matrix[0] = aSq + bSq - cSq - dSq; // 11 Rot_matrix[0] = 2*aSq - 1 + 2*bSq; // 11
Rot_matrix[1] = 2.0 * (b * c - a * d); // 12 //Rot_matrix[1] = 2.0 * (b * c - a * d); // 12
Rot_matrix[2] = 2.0 * (a * c + b * d); // 13 //Rot_matrix[2] = 2.0 * (a * c + b * d); // 13
Rot_matrix[3] = 2.0 * (b * c + a * d); // 21 Rot_matrix[3] = 2.0 * (b * c - a * d); // 21
Rot_matrix[4] = aSq - bSq + cSq - dSq; // 22 //Rot_matrix[4] = aSq - bSq + cSq - dSq; // 22
Rot_matrix[5] = 2.0 * (c * d - a * b); // 23 //Rot_matrix[5] = 2.0 * (c * d - a * b); // 23
Rot_matrix[6] = 2.0 * (b * d - a * c); // 31 Rot_matrix[6] = 2.0 * (b * d + a * c); // 31
Rot_matrix[7] = 2.0 * (a * b + c * d); // 32 Rot_matrix[7] = 2.0 * (c * d - a * b); // 32
Rot_matrix[8] = aSq - bSq - cSq + dSq; // 33 Rot_matrix[8] = 2*aSq - 1 + 2*dSq; // 33
//euler[0] = atan2f(Rot_matrix[7], Rot_matrix[8]);
//euler[1] = asinf(-Rot_matrix[6]);
//euler[2] = atan2f(Rot_matrix[3],Rot_matrix[0]);
/* FIXME : Work around this later... /* FIXME : Work around this later...
float theta = asinf(-Rot_matrix[6]); // -r_{31} float theta = asinf(-Rot_matrix[6]); // -r_{31}
@ -550,13 +554,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
} }
*/ */
float q1q1 = q1*q1; euler[0] = atan2f(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2));
float q2q2 = q2*q2; euler[1] = asinf(2*(q0*q2-q3*q1));
float q3q3 = q3*q3; euler[2] = atan2f(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3));
euler[0] = atan2f(2*(q0*q1 + q2*q3),1-2*(q1q1+q2q2)); // roll
euler[1] = asinf(2*(q0*q2 - q3*q1)); // pitch
euler[2] = atan2f(2*(q0*q3 + q1*q2),1-2*(q2q2 + q3q3)); // yaw
/* swap values for next iteration, check for fatal inputs */ /* swap values for next iteration, check for fatal inputs */

2
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
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@ -7,7 +7,7 @@
#include "attitude_estimator_so3_comp_params.h" #include "attitude_estimator_so3_comp_params.h"
/* This is filter gain for nonlinear SO3 complementary filter */ /* This is filter gain for nonlinear SO3 complementary filter */
PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); PARAM_DEFINE_FLOAT(SO3_COMP_KP, 0.5f);
PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.0f); PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */ /* offsets in roll, pitch and yaw of sensor plane and body */