AttitudeAlgorithm.c

/*
      ____                      _____                  +---+
     / ___\                     / __ \                 | R |
    / /                        / /_/ /                 +---+
   / /   ________  ____  ___  / ____/___  ____  __   __
  / /  / ___/ __ `/_  / / _ \/ /   / __ \/ _  \/ /  / /
 / /__/ /  / /_/ / / /_/  __/ /   / /_/ / / / / /__/ /
 \___/_/   \__,_/ /___/\___/_/    \___ /_/ /_/____  /
                                                 / /
                                            ____/ /
                                           /_____/
Filename:	IMUSO3.c
Author:		祥 、nieyong
说明：这是Crazepony软件姿态解算融合文件，Crazepony已经不再使用DMP硬件解算
Part of this algrithom is referred from pixhawk.
------------------------------------
*/

#include "stm32f10x.h"
#include "stm32f10x_it.h"
#include <math.h>
#include "IMU.h"
#include "IMUSO3.h"

//! Auxiliary variables to reduce number of repeated operations
static float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f;	/** quaternion of sensor frame relative to auxiliary frame */
static float dq0 = 0.0f, dq1 = 0.0f, dq2 = 0.0f, dq3 = 0.0f;	/** quaternion of sensor frame relative to auxiliary frame */
static float gyro_bias[3] = {0.0f, 0.0f, 0.0f}; /** bias estimation */
static float q0q0, q0q1, q0q2, q0q3;
static float q1q1, q1q2, q1q3;
static float q2q2, q2q3;
static float q3q3;
static uint8_t bFilterInit = 0;

//函数名：invSqrt(void)
//描述：求平方根的倒数
//该函数是经典的Carmack求平方根算法，效率极高，使用魔数0x5f375a86
static float invSqrt(float number) 
{
    volatile long i;
    volatile float x, y;
    volatile const float f = 1.5F;

    x = number * 0.5F;
    y = number;
    i = * (( long * ) &y);
    i = 0x5f375a86 - ( i >> 1 );
    y = * (( float * ) &i);
    y = y * ( f - ( x * y * y ) );
    return y;
}

//! Using accelerometer, sense the gravity vector.
//! Using magnetometer, sense yaw.
static void NonlinearSO3AHRSinit(float ax, float ay, float az, float mx, float my, float mz)
{
    float initialRoll, initialPitch;
    float cosRoll, sinRoll, cosPitch, sinPitch;
    float magX, magY;
    float initialHdg, cosHeading, sinHeading;

    initialRoll = atan2(-ay, -az);
    initialPitch = atan2(ax, -az);

    cosRoll = cosf(initialRoll);
    sinRoll = sinf(initialRoll);
    cosPitch = cosf(initialPitch);
    sinPitch = sinf(initialPitch);

    magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;

    magY = my * cosRoll - mz * sinRoll;

    initialHdg = atan2f(-magY, magX);

    cosRoll = cosf(initialRoll * 0.5f);
    sinRoll = sinf(initialRoll * 0.5f);

    cosPitch = cosf(initialPitch * 0.5f);
    sinPitch = sinf(initialPitch * 0.5f);

    cosHeading = cosf(initialHdg * 0.5f);
    sinHeading = sinf(initialHdg * 0.5f);

    q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
    q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
    q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
    q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;

    // auxillary variables to reduce number of repeated operations, for 1st pass
    q0q0 = q0 * q0;
    q0q1 = q0 * q1;
    q0q2 = q0 * q2;
    q0q3 = q0 * q3;
    q1q1 = q1 * q1;
    q1q2 = q1 * q2;
    q1q3 = q1 * q3;
    q2q2 = q2 * q2;
    q2q3 = q2 * q3;
    q3q3 = q3 * q3;
}

//函数名：NonlinearSO3AHRSupdate()
//描述：姿态解算融合，是Crazepony和核心算法
//使用的是Mahony互补滤波算法，没有使用Kalman滤波算法
//改算法是直接参考pixhawk飞控的算法，可以在Github上看到出处
//https://github.com/hsteinhaus/PX4Firmware/blob/master/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
static void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt) 
{
	float recipNorm;
	float halfex = 0.0f, halfey = 0.0f, halfez = 0.0f;

	// Make filter converge to initial solution faster
	// This function assumes you are in static position.
	// WARNING : in case air reboot, this can cause problem. But this is very unlikely happen.
	if(bFilterInit == 0) {
		NonlinearSO3AHRSinit(ax,ay,az,mx,my,mz);
		bFilterInit = 1;
	}
        	
	//! If magnetometer measurement is available, use it.
	if(!((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f))) {
		float hx, hy, hz, bx, bz;
		float halfwx, halfwy, halfwz;
	
		// Normalise magnetometer measurement
		// Will sqrt work better? PX4 system is powerful enough?
    	recipNorm = invSqrt(mx * mx + my * my + mz * mz);
    	mx *= recipNorm;
    	my *= recipNorm;
    	mz *= recipNorm;
    
    	// Reference direction of Earth's magnetic field
    	hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
    	hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
		hz = 2.0f * mx * (q1q3 - q0q2) + 2.0f * my * (q2q3 + q0q1) + 2.0f * mz * (0.5f - q1q1 - q2q2);
    	bx = sqrt(hx * hx + hy * hy);
    	bz = hz;
    
    	// Estimated direction of magnetic field
    	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 += (my * halfwz - mz * halfwy);
    	halfey += (mz * halfwx - mx * halfwz);
    	halfez += (mx * halfwy - my * halfwx);
		
	}

	// 增加一个条件：  加速度的模量与G相差不远时。 0.75*G < normAcc < 1.25*G
	// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) 	
	{
		float halfvx, halfvy, halfvz;
	
		// Normalise accelerometer measurement
		//归一化，得到单位加速度
		recipNorm = invSqrt(ax * ax + ay * ay + az * az);

		ax *= recipNorm;
		ay *= recipNorm;
		az *= recipNorm;

		// Estimated direction of gravity and magnetic field
		halfvx = q1q3 - q0q2;
		halfvy = q0q1 + q2q3;
		halfvz = q0q0 - 0.5f + q3q3;
	
		// Error is sum of cross product between estimated direction and measured direction of field vectors
		halfex += ay * halfvz - az * halfvy;
		halfey += az * halfvx - ax * halfvz;
		halfez += ax * halfvy - ay * halfvx;
		
	}

	
	// Apply feedback only when valid data has been gathered from the accelerometer or magnetometer
	if(halfex != 0.0f && halfey != 0.0f && halfez != 0.0f) {
		// Compute and apply integral feedback if enabled
		if(twoKi > 0.0f) {
			gyro_bias[0] += twoKi * halfex * dt;	// integral error scaled by Ki
			gyro_bias[1] += twoKi * halfey * dt;
			gyro_bias[2] += twoKi * halfez * dt;
			
			// apply integral feedback
			gx += gyro_bias[0];
			gy += gyro_bias[1];
			gz += gyro_bias[2];
		}
		else {
			gyro_bias[0] = 0.0f;	// prevent integral windup
			gyro_bias[1] = 0.0f;
			gyro_bias[2] = 0.0f;
		}

		// Apply proportional feedback
		gx += twoKp * halfex;
		gy += twoKp * halfey;
		gz += twoKp * halfez;
	}
	
	// Time derivative of quaternion. q_dot = 0.5*q\otimes omega.
	//! q_k = q_{k-1} + dt*\dot{q}
	//! \dot{q} = 0.5*q \otimes P(\omega)
	dq0 = 0.5f*(-q1 * gx - q2 * gy - q3 * gz);
	dq1 = 0.5f*(q0 * gx + q2 * gz - q3 * gy);
	dq2 = 0.5f*(q0 * gy - q1 * gz + q3 * gx);
	dq3 = 0.5f*(q0 * gz + q1 * gy - q2 * gx); 

	q0 += dt*dq0;
	q1 += dt*dq1;
	q2 += dt*dq2;
	q3 += dt*dq3;
	
	// Normalise quaternion
	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
	q0 *= recipNorm;
	q1 *= recipNorm;
	q2 *= recipNorm;
	q3 *= recipNorm;

	// Auxiliary variables to avoid repeated arithmetic
	q0q0 = q0 * q0;
	q0q1 = q0 * q1;
	q0q2 = q0 * q2;
	q0q3 = q0 * q3;
	q1q1 = q1 * q1;
	q1q2 = q1 * q2;
	q1q3 = q1 * q3;
	q2q2 = q2 * q2;
	q2q3 = q2 * q3;
	q3q3 = q3 * q3;   
}

#define so3_comp_params_Kp 1.0f
#define so3_comp_params_Ki  0.05f

 
//函数名：IMUSO3Thread(void)
//描述：姿态软件解算融合函数
//该函数对姿态的融合是软件解算，Crazepony现在不使用DMP硬件解算
//对应的硬件解算函数为IMU_Process()
void IMUSO3Thread(void)
{
	//! Time constant
	float dt = 0.01f;		// s
	static uint32_t tPrev=0,startTime=0;	//us
	uint32_t now;
	uint8_t i;
	
	/* output euler angles */
	float euler[3] = {0.0f, 0.0f, 0.0f};	// rad
	
	/* Initialization */
	float Rot_matrix[9] = {1.f,  0.0f,  0.0f, 0.0f,  1.f,  0.0f, 0.0f,  0.0f,  1.f };		/**< init: identity matrix */
	float acc[3] = {0.0f, 0.0f, 0.0f};		 // m/s^2
	float gyro[3] = {0.0f, 0.0f, 0.0f};		 // rad/s
	float mag[3] = {0.0f, 0.0f, 0.0f};		
	//need to calc gyro offset before imu start working
	static float gyro_offsets_sum[3]={ 0.0f, 0.0f, 0.0f };// gyro_offsets[3] = { 0.0f, 0.0f, 0.0f },
	static uint16_t offset_count = 0;

	now=micros();
	dt=(tPrev>0)?(now-tPrev)/1000000.0f:0;
	tPrev=now;
	
	ReadIMUSensorHandle();
	
	if(!imu.ready)
	{
		 if(startTime==0)
				startTime=now;
				
			gyro_offsets_sum[0] += imu.gyroRaw[0];
			gyro_offsets_sum[1] += imu.gyroRaw[1];
			gyro_offsets_sum[2] += imu.gyroRaw[2];
			offset_count++;
			
			if(now > startTime + GYRO_CALC_TIME)
			{
					imu.gyroOffset[0] = gyro_offsets_sum[0]/offset_count;
					imu.gyroOffset[1] = gyro_offsets_sum[1]/offset_count;
					imu.gyroOffset[2] = gyro_offsets_sum[2]/offset_count;
					
					offset_count=0;
					gyro_offsets_sum[0]=0;gyro_offsets_sum[1]=0;gyro_offsets_sum[2]=0;
					
					imu.ready = 1;
					startTime=0;
					
			}
			return;
	}
	

	gyro[0] = imu.gyro[0] - imu.gyroOffset[0];
	gyro[1] = imu.gyro[1] - imu.gyroOffset[1];
	gyro[2] = imu.gyro[2] - imu.gyroOffset[2];

	acc[0] = -imu.accb[0];
	acc[1] = -imu.accb[1];
	acc[2] = -imu.accb[2];

		// NOTE : Accelerometer is reversed.
		// Because proper mount of PX4 will give you a reversed accelerometer readings.
		NonlinearSO3AHRSupdate(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);

		// Convert q->R, This R converts inertial frame to body frame.
		Rot_matrix[0] = q0q0 + q1q1 - q2q2 - q3q3;// 11
		Rot_matrix[1] = 2.f * (q1*q2 + q0*q3);	// 12
		Rot_matrix[2] = 2.f * (q1*q3 - q0*q2);	// 13
		Rot_matrix[3] = 2.f * (q1*q2 - q0*q3);	// 21
		Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22
		Rot_matrix[5] = 2.f * (q2*q3 + q0*q1);	// 23
		Rot_matrix[6] = 2.f * (q1*q3 + q0*q2);	// 31
		Rot_matrix[7] = 2.f * (q2*q3 - q0*q1);	// 32
		Rot_matrix[8] = q0q0 - q1q1 - q2q2 + q3q3;// 33

		//1-2-3 Representation.
		//Equation (290) 

		//Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors, James Diebel.
		// Existing PX4 EKF code was generated by MATLAB which uses coloum major order matrix.
		euler[0] = atan2f(Rot_matrix[5], Rot_matrix[8]);	//! Roll
		euler[1] = -asinf(Rot_matrix[2]);									//! Pitch
		euler[2] = atan2f(Rot_matrix[1], Rot_matrix[0]);	 
		
		//DCM . ground to body
		for(i=0;i<9;i++)
		{
		  *(&(imu.DCMgb[0][0]) + i)=Rot_matrix[i];
		}
		
		imu.rollRad=euler[0];
		imu.pitchRad=euler[1];
		imu.yawRad=euler[2];
		
		#define M_PI_F 3.1415926535897932
		imu.roll=euler[0] * 180.0f / M_PI_F;
		imu.pitch=euler[1] * 180.0f / M_PI_F;
		imu.yaw=euler[2] * 180.0f / M_PI_F;
		
}