src/main/flight/imu.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/axis.h"
  21 #include "common/maths.h"
  22 #include "common/vector.h"
  23 #include "common/quaternion.h"
  24 #include "common/time.h"
  25 #include "config/parameter_group.h"
  26
  27 extern fpVector3_t imuMeasuredAccelBF;         // cm/s/s
  28 extern fpVector3_t imuMeasuredRotationBF;       // rad/s
  29 extern fpVector3_t imuMeasuredRotationBFFiltered;       // rad/s
  30 extern fpVector3_t compansatedGravityBF;         // cm/s/s
  31 extern fpVector3_t HeadVecEFFiltered;
  32
  33 typedef union {
  34     int16_t raw[XYZ_AXIS_COUNT];
  35     struct {
  36         // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  37         int16_t roll;
  38         int16_t pitch;
  39         int16_t yaw;
  40     } values;
  41 } attitudeEulerAngles_t;
  42
  43 extern fpQuaternion_t orientation;
  44 extern attitudeEulerAngles_t attitude;
  45 extern float rMat[3][3];
  46
  47 typedef struct imuConfig_s {
  48     uint16_t dcm_kp_acc;                    // DCM filter proportional gain ( x 10000) for accelerometer
  49     uint16_t dcm_ki_acc;                    // DCM filter integral gain ( x 10000) for accelerometer
  50     uint16_t dcm_kp_mag;                    // DCM filter proportional gain ( x 10000) for magnetometer and GPS heading
  51     uint16_t dcm_ki_mag;                    // DCM filter integral gain ( x 10000) for magnetometer and GPS heading
  52     uint8_t small_angle;
  53     uint8_t acc_ignore_rate;
  54     uint8_t acc_ignore_slope;
  55     uint8_t gps_yaw_windcomp;
  56     uint8_t inertia_comp_method;
  57     uint16_t gps_yaw_weight;
  58 } imuConfig_t;
  59
  60 PG_DECLARE(imuConfig_t, imuConfig);
  61
  62 typedef struct imuRuntimeConfig_s {
  63     float dcm_kp_acc;
  64     float dcm_ki_acc;
  65     float dcm_kp_mag;
  66     float dcm_ki_mag;
  67     uint8_t small_angle;
  68 } imuRuntimeConfig_t;
  69
  70 typedef enum
  71 {
  72     COMPMETHOD_VELNED = 0,
  73     COMPMETHOD_TURNRATE,
  74     COMPMETHOD_ADAPTIVE
  75 } imu_inertia_comp_method_e;
  76
  77 void imuConfigure(void);
  78
  79 void imuSetMagneticDeclination(float declinationDeg);
  80 void imuUpdateAttitude(timeUs_t currentTimeUs);
  81 void imuUpdateAccelerometer(void);
  82 float calculateCosTiltAngle(void);
  83 bool isImuReady(void);
  84 bool isImuHeadingValid(void);
  85
  86 void imuTransformVectorBodyToEarth(fpVector3_t * v);
  87 void imuTransformVectorEarthToBody(fpVector3_t * v);
  88
  89 void imuInit(void);
  90
  91 #if defined(SITL_BUILD)
  92 void imuSetAttitudeRPY(int16_t roll, int16_t pitch, int16_t yaw);
  93 #endif