summaryrefslogtreecommitdiff
path: root/src/core
diff options
context:
space:
mode:
Diffstat (limited to 'src/core')
-rw-r--r--src/core/ao_data.h6
-rw-r--r--src/core/ao_flight.c4
-rw-r--r--src/core/ao_kalman.c3
-rw-r--r--src/core/ao_pyro.c4
-rw-r--r--src/core/ao_quaternion.h116
-rw-r--r--src/core/ao_sample.c98
-rw-r--r--src/core/ao_sample.h3
-rw-r--r--src/core/ao_telemetry.c1
-rw-r--r--src/core/ao_telemetry.h2
9 files changed, 222 insertions, 15 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 339afe69..5a232885 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
#ifndef _AO_DATA_H_
#define _AO_DATA_H_
+#define GRAVITY 9.80665
+
#if HAS_ADC
#define AO_DATA_ADC (1 << 0)
#else
@@ -300,8 +302,8 @@ typedef int16_t accel_t;
#define HAS_GYRO 1
-typedef int16_t gyro_t;
-typedef int32_t angle_t;
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
/* Y axis is aligned with the direction of motion (along) */
/* X axis is aligned in the other board axis (across) */
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index 2495a44b..240b348a 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
#include <ao_log.h>
#endif
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
#ifndef HAS_ACCEL
#error Please define HAS_ACCEL
#endif
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c
index 762b2c0a..7fd4f889 100644
--- a/src/core/ao_kalman.c
+++ b/src/core/ao_kalman.c
@@ -292,7 +292,4 @@ ao_kalman(void)
else
#endif
ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-#ifdef AO_FLIGHT_TEST
- ao_sample_prev_tick = ao_sample_tick;
-#endif
}
diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 531e1f50..24c9fe99 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -113,7 +113,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
continue;
break;
-#if HAS_ORIENT
+#if HAS_GYRO
case ao_pyro_orient_less:
if (ao_orient <= pyro->orient_less)
continue;
@@ -310,7 +310,7 @@ const struct {
{ "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
{ "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
-#if HAS_ORIENT
+#if HAS_GYRO
{ "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
{ "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
#endif
diff --git a/src/core/ao_quaternion.h b/src/core/ao_quaternion.h
new file mode 100644
index 00000000..f4b8aaa4
--- /dev/null
+++ b/src/core/ao_quaternion.h
@@ -0,0 +1,116 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_QUATERNION_H_
+#define _AO_QUATERNION_H_
+
+#include <math.h>
+
+struct ao_quaternion {
+ float r; /* real bit */
+ float x, y, z; /* imaginary bits */
+};
+
+static inline void ao_quaternion_multiply(struct ao_quaternion *r,
+ struct ao_quaternion *a,
+ struct ao_quaternion *b)
+{
+ struct ao_quaternion t;
+#define T(_a,_b) (((a)->_a) * ((b)->_b))
+ t.r = T(r,r) - T(x,x) - T(y,y) - T(z,z);
+ t.x = T(r,x) + T(x,r) + T(y,z) - T(z,y);
+ t.y = T(r,y) - T(x,z) + T(y,r) + T(z,x);
+ t.z = T(r,z) + T(x,y) - T(y,x) + T(z,r);
+#undef T
+ *r = t;
+}
+
+static inline void ao_quaternion_conjugate(struct ao_quaternion *r,
+ struct ao_quaternion *a)
+{
+ r->r = a->r;
+ r->x = -a->x;
+ r->y = -a->y;
+ r->z = -a->z;
+}
+
+static inline float ao_quaternion_normal(struct ao_quaternion *a)
+{
+#define S(_a) (((a)->_a) * ((a)->_a))
+ return S(r) + S(x) + S(y) + S(z);
+#undef S
+}
+
+static inline void ao_quaternion_scale(struct ao_quaternion *r,
+ struct ao_quaternion *a,
+ float b)
+{
+ r->r = a->r * b;
+ r->x = a->x * b;
+ r->y = a->y * b;
+ r->z = a->z * b;
+}
+
+static inline void ao_quaternion_normalize(struct ao_quaternion *r,
+ struct ao_quaternion *a)
+{
+ float n = ao_quaternion_normal(a);
+
+ if (n > 0)
+ ao_quaternion_scale(r, a, 1/sqrtf(n));
+ else
+ *r = *a;
+}
+
+static inline void ao_quaternion_rotate(struct ao_quaternion *r,
+ struct ao_quaternion *a,
+ struct ao_quaternion *b)
+{
+ struct ao_quaternion c;
+ struct ao_quaternion t;
+
+ ao_quaternion_conjugate(&c, b);
+ ao_quaternion_multiply(&t, b, a);
+ ao_quaternion_multiply(r, &t, &c);
+}
+
+static inline void ao_quaternion_init_vector(struct ao_quaternion *r,
+ float x, float y, float z)
+{
+ r->r = 0;
+ r->x = x;
+ r->y = y;
+ r->z = z;
+}
+
+static inline void ao_quaternion_init_rotation(struct ao_quaternion *r,
+ float x, float y, float z,
+ float s, float c)
+{
+ r->r = c;
+ r->x = s * x;
+ r->y = s * y;
+ r->z = s * z;
+}
+
+static inline void ao_quaternion_init_zero_rotation(struct ao_quaternion *r)
+{
+ r->r = 1;
+ r->x = r->y = r->z = 0;
+}
+
+#endif /* _AO_QUATERNION_H_ */
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
index dec44f9f..676e0ffd 100644
--- a/src/core/ao_sample.c
+++ b/src/core/ao_sample.c
@@ -20,6 +20,10 @@
#include <ao_data.h>
#endif
+#if HAS_GYRO
+#include <ao_quaternion.h>
+#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_orient;
#endif
__data uint8_t ao_sample_data;
@@ -86,6 +89,8 @@ __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;
+static struct ao_quaternion ao_pad_orientation;
#endif
static void
@@ -129,11 +134,91 @@ ao_sample_preflight_set(void)
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
- ao_sample_angle = 0;
+ ao_orient = 0;
+
+ /* No rotation yet */
+ ao_quaternion_init_zero_rotation(&ao_rotation);
+
+ /* XXX Assume we're pointing straight up for now */
+ ao_quaternion_init_vector(&ao_pad_orientation,
+ ao_ground_accel_across,
+ ao_ground_accel_through,
+ -ao_ground_accel_along);
+ ao_quaternion_normalize(&ao_pad_orientation,
+ &ao_pad_orientation);
+
+ printf ("pad r%8.5f x%8.5f y%8.5f z%8.5f\n",
+ ao_pad_orientation.r,
+ ao_pad_orientation.x,
+ ao_pad_orientation.y,
+ ao_pad_orientation.z);
#endif
nsamples = 0;
}
+#if HAS_GYRO
+static void
+ao_sample_rotate(void)
+{
+#ifdef AO_FLIGHT_TEST
+ float dt = (ao_sample_tick - ao_sample_prev_tick) / 100.0;
+#else
+ static const float dt = 1/100.0;
+#endif
+ float x = ao_mpu6000_gyro(ao_sample_pitch - ao_ground_pitch) * dt;
+ float y = ao_mpu6000_gyro(ao_sample_yaw - ao_ground_yaw) * dt;
+ float z = ao_mpu6000_gyro(ao_sample_roll - ao_ground_roll) * dt;
+
+ float n_2, n;
+ float s, c;
+
+ struct ao_quaternion rot;
+ struct ao_quaternion point;
+
+ /* The amount of rotation is just the length of the vector. Now,
+ * here's the trick -- assume that the rotation amount is small. In this case,
+ * sin(x) ≃ x, so we can just make this the sin.
+ */
+
+ n_2 = x*x + y*y + z*z;
+ n = sqrtf(n_2);
+ s = n / 2;
+ if (s > 1)
+ s = 1;
+ c = sqrtf(1 - s*s);
+
+ /* Make unit vector */
+ if (n > 0) {
+ x /= n;
+ y /= n;
+ z /= n;
+ }
+
+ /* Now compute the unified rotation quaternion */
+
+ ao_quaternion_init_rotation(&rot,
+ x, y, z,
+ s, c);
+
+ /* Integrate with the previous rotation amount */
+ ao_quaternion_multiply(&ao_rotation, &ao_rotation, &rot);
+
+ /* 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
+ */
+
+ ao_quaternion_rotate(&point, &ao_pad_orientation, &ao_rotation);
+
+ ao_orient = acosf(point.z) * (float) (180.0/M_PI);
+}
+#endif
+
static void
ao_sample_preflight(void)
{
@@ -232,9 +317,12 @@ 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 +352,7 @@ ao_sample_init(void)
ao_sample_pitch = 0;
ao_sample_yaw = 0;
ao_sample_roll = 0;
- ao_sample_angle = 0;
+ ao_orient = 0;
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;
diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h
index 5bd29536..1d1bcc7c 100644
--- a/src/core/ao_sample.h
+++ b/src/core/ao_sample.h
@@ -64,8 +64,6 @@
* for all further flight computations
*/
-#define GRAVITY 9.80665
-
/*
* Above this height, the baro sensor doesn't work
*/
@@ -118,6 +116,7 @@ extern __pdata accel_t ao_ground_accel_through;
extern __pdata gyro_t ao_ground_pitch;
extern __pdata gyro_t ao_ground_yaw;
extern __pdata gyro_t ao_ground_roll;
+extern __pdata angle_t ao_orient;
#endif
void ao_sample_init(void);
diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 6b47a06a..a2726016 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -115,6 +115,7 @@ ao_send_mega_sensor(void)
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+ telemetry.mega_sensor.orient = ao_orient;
telemetry.mega_sensor.accel = ao_data_accel(packet);
telemetry.mega_sensor.pres = ao_data_pres(packet);
telemetry.mega_sensor.temp = ao_data_temp(packet);
diff --git a/src/core/ao_telemetry.h b/src/core/ao_telemetry.h
index fd6b76b3..237a35ab 100644
--- a/src/core/ao_telemetry.h
+++ b/src/core/ao_telemetry.h
@@ -162,7 +162,7 @@ struct ao_telemetry_mega_sensor {
uint16_t tick; /* 2 */
uint8_t type; /* 4 */
- uint8_t pad5; /* 5 */
+ uint8_t orient; /* 5 angle from vertical */
int16_t accel; /* 6 Z axis */
int32_t pres; /* 8 Pa * 10 */
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-17 04:20:51 +0000