X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_sample.c;h=adf8399dd702535d960804791669cde9f204a812;hp=dec44f9fa0910aa422ce8e7771c75001aba3fb94;hb=4bebade9e9004bad81df1a423687f3e3f356f1c2;hpb=57487e78b90465a21c87cf30deb0aeaba0887332 diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c index dec44f9f..adf8399d 100644 --- a/src/core/ao_sample.c +++ b/src/core/ao_sample.c @@ -20,6 +20,10 @@ #include #endif +#if HAS_GYRO +#include +#endif + /* * Current sensor values */ @@ -44,8 +48,7 @@ __pdata accel_t ao_sample_accel_through; __pdata gyro_t ao_sample_roll; __pdata gyro_t ao_sample_pitch; __pdata gyro_t ao_sample_yaw; -__pdata angle_t ao_sample_angle; -__pdata angle_t ao_sample_roll_angle; +__pdata angle_t ao_sample_orient; #endif __data uint8_t ao_sample_data; @@ -67,9 +70,9 @@ __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ __pdata accel_t ao_ground_accel_along; __pdata accel_t ao_ground_accel_across; __pdata accel_t ao_ground_accel_through; -__pdata gyro_t ao_ground_pitch; -__pdata gyro_t ao_ground_yaw; -__pdata gyro_t ao_ground_roll; +__pdata int32_t ao_ground_pitch; +__pdata int32_t ao_ground_yaw; +__pdata int32_t ao_ground_roll; #endif static __pdata uint8_t ao_preflight; /* in preflight mode */ @@ -86,6 +89,7 @@ __pdata int32_t ao_sample_accel_through_sum; __pdata int32_t ao_sample_pitch_sum; __pdata int32_t ao_sample_yaw_sum; __pdata int32_t ao_sample_roll_sum; +static struct ao_quaternion ao_rotation; #endif static void @@ -120,20 +124,95 @@ ao_sample_preflight_set(void) ao_ground_accel_along = ao_sample_accel_along_sum >> 9; ao_ground_accel_across = ao_sample_accel_across_sum >> 9; ao_ground_accel_through = ao_sample_accel_through_sum >> 9; - ao_ground_pitch = ao_sample_pitch_sum >> 9; - ao_ground_yaw = ao_sample_yaw_sum >> 9; - ao_ground_roll = ao_sample_roll_sum >> 9; + ao_ground_pitch = ao_sample_pitch_sum; + ao_ground_yaw = ao_sample_yaw_sum; + ao_ground_roll = ao_sample_roll_sum; ao_sample_accel_along_sum = 0; ao_sample_accel_across_sum = 0; ao_sample_accel_through_sum = 0; ao_sample_pitch_sum = 0; ao_sample_yaw_sum = 0; ao_sample_roll_sum = 0; - ao_sample_angle = 0; + ao_sample_orient = 0; + + struct ao_quaternion orient; + + /* Take the pad IMU acceleration values and compute our current direction + */ + + ao_quaternion_init_vector(&orient, + (ao_ground_accel_across - ao_config.accel_zero_across), + (ao_ground_accel_through - ao_config.accel_zero_through), + (ao_ground_accel_along - ao_config.accel_zero_along)); + + ao_quaternion_normalize(&orient, + &orient); + + /* Here's up */ + + struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 }; + + if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) + up.z = -1; + + /* Compute rotation to get from up to our current orientation, set + * that as the current rotation vector + */ + ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient); #endif nsamples = 0; } +#if HAS_GYRO + +#define TIME_DIV 200.0f + +static void +ao_sample_rotate(void) +{ +#ifdef AO_FLIGHT_TEST + float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV; +#else + static const float dt = 1/TIME_DIV; +#endif + float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt; + float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt; + float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt; + struct ao_quaternion rot; + + ao_quaternion_init_half_euler(&rot, x, y, z); + ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation); + + /* And normalize to make sure it remains a unit vector */ + ao_quaternion_normalize(&ao_rotation, &ao_rotation); + + /* Compute pitch angle from vertical by taking the pad + * orientation vector and rotating it by the current total + * rotation value. That will be a unit vector pointing along + * the airframe axis. The Z value will be the cosine of the + * change in the angle from vertical since boost. + * + * rot = ao_rotation * vertical * ao_rotation° + * rot = ao_rotation * (0,0,0,1) * ao_rotation° + * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z + * + * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r) + * = a.z² - a.y² - a.x² + a.r² + * + * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation° + * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z + * + * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r) + * = -a.z² + a.y² + a.x² - a.r² + */ + + float rotz; + rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r; + + ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI); +} +#endif + static void ao_sample_preflight(void) { @@ -232,9 +311,12 @@ ao_sample(void) ao_sample_preflight_update(); ao_kalman(); #if HAS_GYRO - /* do quaternion stuff here... */ + ao_sample_rotate(); #endif } +#ifdef AO_FLIGHT_TEST + ao_sample_prev_tick = ao_sample_tick; +#endif ao_sample_data = ao_data_ring_next(ao_sample_data); } return !ao_preflight; @@ -264,7 +346,7 @@ ao_sample_init(void) ao_sample_pitch = 0; ao_sample_yaw = 0; ao_sample_roll = 0; - ao_sample_angle = 0; + ao_sample_orient = 0; #endif ao_sample_data = ao_data_head; ao_preflight = TRUE;