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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Laurens Mackay <mackayl@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file attitude_estimator_bm.c
* Black Magic Attitude Estimator
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/time.h>
#include <stdbool.h>
#include <fcntl.h>
#include <arch/board/up_hrt.h>
#include <string.h>
#include <poll.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <math.h>
#include <errno.h>
#include "attitude_bm.h"
static unsigned int loop_interval_alarm = 4500; // loop interval in microseconds
__EXPORT int attitude_estimator_bm_main(int argc, char *argv[]);
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* user_start
****************************************************************************/
int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b);
int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *euler, float_vect3 *rates, float_vect3 *x_n_b, float_vect3 *y_n_b, float_vect3 *z_n_b)
{
float_vect3 gyro_values;
gyro_values.x = raw->gyro_rad_s[0];
gyro_values.y = raw->gyro_rad_s[1];
gyro_values.z = raw->gyro_rad_s[2];
float_vect3 accel_values;
accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100;
accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100;
accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100;
float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*1500.0f;
mag_values.y = raw->magnetometer_ga[1]*1500.0f;
mag_values.z = raw->magnetometer_ga[2]*1500.0f;
// static int i = 0;
// if (i == 500) {
// printf("[att estim bm] gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
// gyro_values.x, gyro_values.y, gyro_values.z,
// accel_values.x, accel_values.y, accel_values.z,
// mag_values.x, mag_values.y, mag_values.z);
// i = 0;
// }
// i++;
attitude_blackmagic(&accel_values, &mag_values, &gyro_values);
/* read out values */
attitude_blackmagic_get_all(euler, rates, x_n_b, y_n_b, z_n_b);
return OK;
}
int attitude_estimator_bm_main(int argc, char *argv[])
{
// print text
printf("Black Magic Attitude Estimator initialized..\n\n");
fflush(stdout);
/* data structures to read euler angles and rotation matrix back */
float_vect3 euler = {.x = 0, .y = 0, .z = 0};
float_vect3 rates;
float_vect3 x_n_b;
float_vect3 y_n_b;
float_vect3 z_n_b;
int overloadcounter = 19;
/* initialize */
attitude_blackmagic_init();
/* store start time to guard against too slow update rates */
uint64_t last_run = hrt_absolute_time();
struct sensor_combined_s sensor_combined_s_local = { .gyro_raw = {0}};
struct vehicle_attitude_s att = {.roll = 0.0f, .pitch = 0.0f, .yaw = 0.0f,
.rollspeed = 0.0f, .pitchspeed = 0.0f, .yawspeed = 0.0f,
.R = {0}, .timestamp = 0};
uint64_t last_data = 0;
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 200Hz */
//orb_set_interval(sub_raw, 5);
bool hil_enabled = false;
bool publishing = false;
/* advertise attitude */
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
publishing = true;
struct pollfd fds[] = {
{ .fd = sub_raw, .events = POLLIN },
};
/* subscribe to system status */
struct vehicle_status_s vstatus = {0};
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
unsigned int loopcounter = 0;
uint64_t last_checkstate_stamp = 0;
/* Main loop*/
while (true) {
/* wait for sensor update */
int ret = poll(fds, 1, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* XXX this means no sensor data - should be critical or emergency */
printf("[attitude estimator bm] WARNING: Not getting sensor data - sensor app running?\n");
} else {
orb_copy(ORB_ID(sensor_combined), sub_raw, &sensor_combined_s_local);
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
last_run = now;
//#if 0
if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here
if (overloadcounter == 20) {
printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR BLACK MAGIC (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
overloadcounter = 0;
}
overloadcounter++;
}
//#endif
// now = hrt_absolute_time();
/* filter values */
attitude_estimator_bm_update(&sensor_combined_s_local, &euler, &rates, &x_n_b, &y_n_b, &z_n_b);
// time_elapsed = hrt_absolute_time() - now;
// if (blubb == 20)
// {
// printf("Estimator: %lu\n", time_elapsed);
// blubb = 0;
// }
// blubb++;
// if (last_data > 0 && sensor_combined_s_local.timestamp - last_data > 8000) printf("sensor data missed! (%llu)\n", sensor_combined_s_local.timestamp - last_data);
// printf("%llu -> %llu = %llu\n", last_data, sensor_combined_s_local.timestamp, sensor_combined_s_local.timestamp - last_data);
// last_data = sensor_combined_s_local.timestamp;
/*correct yaw */
// euler.z = euler.z + M_PI;
/* send out */
att.timestamp = sensor_combined_s_local.timestamp;
att.roll = euler.x;
att.pitch = euler.y;
att.yaw = euler.z;
if (att.yaw > M_PI_F) {
att.yaw -= 2.0f * M_PI_F;
}
if (att.yaw < -M_PI_F) {
att.yaw += 2.0f * M_PI_F;
}
att.rollspeed = rates.x;
att.pitchspeed = rates.y;
att.yawspeed = rates.z;
att.R[0][0] = x_n_b.x;
att.R[0][1] = x_n_b.y;
att.R[0][2] = x_n_b.z;
// Broadcast
if (publishing) orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
}
// XXX add remaining entries
if (hrt_absolute_time() - last_checkstate_stamp > 500000) {
/* Check HIL state */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* switching from non-HIL to HIL mode */
//printf("[attitude_estimator_bm] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
int ret = close(pub_att);
printf("Closing attitude: %i \n", ret);
/* switching from HIL to non-HIL mode */
} else if (!publishing && !hil_enabled) {
/* advertise the topic and make the initial publication */
pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
hil_enabled = false;
publishing = true;
}
last_checkstate_stamp = hrt_absolute_time();
}
loopcounter++;
}
/* Should never reach here */
return 0;
}
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