Roll pitch yaw should be verified again

2 files changed, 94 insertions, 94 deletions

diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
index a8561a078..ff63640ef 100755
--- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
@@ -139,52 +139,52 @@ 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)
 	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
 
-		// Normalise accelerometer measurement
-		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
-		ax *= recipNorm;
-		ay *= recipNorm;
-		az *= recipNorm;        
-
-		// Estimated direction of gravity and vector perpendicular to magnetic flux
-		halfvx = q1 * q3 - q0 * q2;
-		halfvy = q0 * q1 + q2 * q3;
-		halfvz = q0 * q0 - 0.5f + q3 * q3;
+	// Normalise accelerometer measurement
+	recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+	ax *= recipNorm;
+	ay *= recipNorm;
+	az *= recipNorm;        
+
+	// Estimated direction of gravity and vector perpendicular to magnetic flux
+	halfvx = q1 * q3 - q0 * q2;
+	halfvy = q0 * q1 + q2 * q3;
+	halfvz = q0 * q0 - 0.5f + q3 * q3;
 	
-		// Error is sum of cross product between estimated and measured direction of gravity
-		halfex = (ay * halfvz - az * halfvy);
-		halfey = (az * halfvx - ax * halfvz);
-		halfez = (ax * halfvy - ay * halfvx);
-
-		// Compute and apply integral feedback if enabled
-		if(twoKi > 0.0f) {
-			integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
-			integralFBy += twoKi * halfey * dt;
-			integralFBz += twoKi * halfez * dt;
-			gx += integralFBx;	// apply integral feedback
-			gy += integralFBy;
-			gz += integralFBz;
-		}
-		else {
-			integralFBx = 0.0f;	// prevent integral windup
-			integralFBy = 0.0f;
-			integralFBz = 0.0f;
-		}
+	// Error is sum of cross product between estimated and measured direction of gravity
+	halfex = (ay * halfvz - az * halfvy);
+	halfey = (az * halfvx - ax * halfvz);
+	halfez = (ax * halfvy - ay * halfvx);
+
+	// Compute and apply integral feedback if enabled
+	if(twoKi > 0.0f) {
+		integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
+		integralFBy += twoKi * halfey * dt;
+		integralFBz += twoKi * halfez * dt;
+		gx += integralFBx;	// apply integral feedback
+		gy += integralFBy;
+		gz += integralFBz;
+	}
+	else {
+		integralFBx = 0.0f;	// prevent integral windup
+		integralFBy = 0.0f;
+		integralFBz = 0.0f;
+	}
 
-		// Apply proportional feedback
-		gx += twoKp * halfex;
-		gy += twoKp * halfey;
-		gz += twoKp * halfez;
+	// Apply proportional feedback
+	gx += twoKp * halfex;
+	gy += twoKp * halfey;
+	gz += twoKp * halfez;
 	}
 	
 	// Integrate rate of change of quaternion
 	gx *= (0.5f * dt);		// pre-multiply common factors
 	gy *= (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);
 	q2 += (q0 * gy - q1 * gz + q3 * gx);
 	q3 += (q0 * gz + q1 * gy - q2 * gx); 
-	
+
 	// Normalise quaternion
 	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
 	q0 *= recipNorm;
@@ -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)
 	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
 
-		// Normalise accelerometer measurement
-		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
-		ax *= recipNorm;
-		ay *= recipNorm;
-		az *= recipNorm;     
+	// Normalise accelerometer measurement
+	recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+	ax *= recipNorm;
+	ay *= recipNorm;
+	az *= recipNorm;     
 
-		// Normalise magnetometer measurement
-		recipNorm = invSqrt(mx * mx + my * my + mz * mz);
-		mx *= recipNorm;
-		my *= recipNorm;
-		mz *= recipNorm;   
+	// Normalise magnetometer measurement
+	recipNorm = invSqrt(mx * mx + my * my + mz * mz);
+	mx *= recipNorm;
+	my *= recipNorm;
+	mz *= recipNorm;   
 
         // Auxiliary variables to avoid repeated arithmetic
         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);
         bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
 
-		// Estimated direction of gravity and magnetic field
-		halfvx = q1q3 - q0q2;
-		halfvy = q0q1 + q2q3;
-		halfvz = q0q0 - 0.5f + q3q3;
+	// Estimated direction of gravity and magnetic field
+	halfvx = q1q3 - q0q2;
+	halfvy = q0q1 + q2q3;
+	halfvz = q0q0 - 0.5f + q3q3;
         halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
         halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
         halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);  
 	
-		// Error is sum of cross product between estimated direction and measured direction of field vectors
-		halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
-		halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
-		halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
-
-		// Compute and apply integral feedback if enabled
-		if(twoKi > 0.0f) {
-			integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
-			integralFBy += twoKi * halfey * dt;
-			integralFBz += twoKi * halfez * dt;
-			gx += integralFBx;	// apply integral feedback
-			gy += integralFBy;
-			gz += integralFBz;
-		}
-		else {
-			integralFBx = 0.0f;	// prevent integral windup
-			integralFBy = 0.0f;
-			integralFBz = 0.0f;
-		}
+	// Error is sum of cross product between estimated direction and measured direction of field vectors
+	halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
+	halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
+	halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
+
+	// Compute and apply integral feedback if enabled
+	if(twoKi > 0.0f) {
+		integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
+		integralFBy += twoKi * halfey * dt;
+		integralFBz += twoKi * halfez * dt;
+		gx += integralFBx;	// apply integral feedback
+		gy += integralFBy;
+		gz += integralFBz;
+	}
+	else {
+		integralFBx = 0.0f;	// prevent integral windup
+		integralFBy = 0.0f;
+		integralFBz = 0.0f;
+	}
 
-		// Apply proportional feedback
-		gx += twoKp * halfex;
-		gy += twoKp * halfey;
-		gz += twoKp * halfez;
+	// Apply proportional feedback
+	gx += twoKp * halfex;
+	gy += twoKp * halfey;
+	gz += twoKp * halfez;
 	}
 	
 	// Integrate rate of change of quaternion
 	gx *= (0.5f * dt);		// pre-multiply common factors
 	gy *= (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);
 	q2 += (q0 * gy - q1 * gz + q3 * 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);
 
-					float aSq = q0*q0;
-					float bSq = q1*q1;
-					float cSq = q2*q2;
-					float dSq = q3*q3;
+					float aSq = q0*q0; // 1
+					float bSq = q1*q1; // 2
+					float cSq = q2*q2; // 3
+					float dSq = q3*q3; // 4
 					float a = q0;
 					float b = q1;
 					float c = q2;
 					float d = q3;
 
-					Rot_matrix[0] = aSq + bSq - cSq - dSq;	// 11
-        				Rot_matrix[1] = 2.0 * (b * c - a * d);	// 12
-        				Rot_matrix[2] = 2.0 * (a * c + b * d);	// 13
-        				Rot_matrix[3] = 2.0 * (b * c + a * d);	// 21
-        				Rot_matrix[4] = aSq - bSq + cSq - dSq;	// 22
-        				Rot_matrix[5] = 2.0 * (c * d - a * b);	// 23
-        				Rot_matrix[6] = 2.0 * (b * d - a * c);	// 31
-        				Rot_matrix[7] = 2.0 * (a * b + c * d);	// 32
-        				Rot_matrix[8] = aSq - bSq - cSq + dSq;	// 33
+					Rot_matrix[0] = 2*aSq - 1 + 2*bSq;	// 11
+        				//Rot_matrix[1] = 2.0 * (b * c - a * d);	// 12
+        				//Rot_matrix[2] = 2.0 * (a * c + b * d);	// 13
+        				Rot_matrix[3] = 2.0 * (b * c - a * d);	// 21
+        				//Rot_matrix[4] = aSq - bSq + cSq - dSq;	// 22
+        				//Rot_matrix[5] = 2.0 * (c * d - a * b);	// 23
+        				Rot_matrix[6] = 2.0 * (b * d + a * c);	// 31
+        				Rot_matrix[7] = 2.0 * (c * d - a * b);	// 32
+        				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...
 					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;
-					float q2q2 = q2*q2;
-					float q3q3 = 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
+					euler[0] = atan2f(2*(q0*q1+q2*q3),1-2*(q1*q1+q2*q2));
+					euler[1] = asinf(2*(q0*q2-q3*q1));
+					euler[2] = atan2f(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3));
 					
 
 					/* swap values for next iteration, check for fatal inputs */
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
index 158eb1972..068e4340a 100755
--- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
@@ -7,7 +7,7 @@
 #include "attitude_estimator_so3_comp_params.h"
 
 /* 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);
 
 /* offsets in roll, pitch and yaw of sensor plane and body */