src/main/flight/imu.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/axis.h"
  24 #include "common/time.h"
  25 #include "common/maths.h"
  26 #include "pg/pg.h"
  27
  28 // Exported symbols
  29 extern bool canUseGPSHeading;
  30 extern float accAverage[XYZ_AXIS_COUNT];
  31
  32 typedef struct {
  33     float w,x,y,z;
  34 } quaternion;
  35 #define QUATERNION_INITIALIZE  {.w=1, .x=0, .y=0,.z=0}
  36
  37 typedef struct {
  38     float ww,wx,wy,wz,xx,xy,xz,yy,yz,zz;
  39 } quaternionProducts;
  40 #define QUATERNION_PRODUCTS_INITIALIZE  {.ww=1, .wx=0, .wy=0, .wz=0, .xx=0, .xy=0, .xz=0, .yy=0, .yz=0, .zz=0}
  41
  42 typedef union {
  43     int16_t raw[XYZ_AXIS_COUNT];
  44     struct {
  45         // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  46         int16_t roll;
  47         int16_t pitch;
  48         int16_t yaw;
  49     } values;
  50 } attitudeEulerAngles_t;
  51 #define EULER_INITIALIZE  { { 0, 0, 0 } }
  52
  53 extern attitudeEulerAngles_t attitude;
  54 extern float rMat[3][3];
  55
  56 typedef struct imuConfig_s {
  57     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
  58     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
  59     uint8_t small_angle;
  60 } imuConfig_t;
  61
  62 PG_DECLARE(imuConfig_t, imuConfig);
  63
  64 typedef struct imuRuntimeConfig_s {
  65     float dcm_ki;
  66     float dcm_kp;
  67 } imuRuntimeConfig_t;
  68
  69 void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correction_value);
  70
  71 float getCosTiltAngle(void);
  72 void getQuaternion(quaternion * q);
  73 void imuUpdateAttitude(timeUs_t currentTimeUs);
  74
  75 void imuInit(void);
  76
  77 #ifdef SIMULATOR_BUILD
  78 void imuSetAttitudeRPY(float roll, float pitch, float yaw);  // in deg
  79 void imuSetAttitudeQuat(float w, float x, float y, float z);
  80 #if defined(SIMULATOR_IMU_SYNC)
  81 void imuSetHasNewData(uint32_t dt);
  82 #endif
  83 #endif
  84
  85 bool imuQuaternionHeadfreeOffsetSet(void);
  86 void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def * v);
  87 bool shouldInitializeGPSHeading(void);
  88 bool isUpright(void);