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 uint32_t accTimeSum;
  30 extern int accSumCount;
  31 extern float accVelScale;
  32 extern int32_t accSum[XYZ_AXIS_COUNT];
  33 extern bool canUseGPSHeading;
  34 extern float accAverage[XYZ_AXIS_COUNT];
  35
  36 typedef struct {
  37     float w,x,y,z;
  38 } quaternion;
  39 #define QUATERNION_INITIALIZE  {.w=1, .x=0, .y=0,.z=0}
  40
  41 typedef struct {
  42     float ww,wx,wy,wz,xx,xy,xz,yy,yz,zz;
  43 } quaternionProducts;
  44 #define QUATERNION_PRODUCTS_INITIALIZE  {.ww=1, .wx=0, .wy=0, .wz=0, .xx=0, .xy=0, .xz=0, .yy=0, .yz=0, .zz=0}
  45
  46 typedef union {
  47     int16_t raw[XYZ_AXIS_COUNT];
  48     struct {
  49         // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
  50         int16_t roll;
  51         int16_t pitch;
  52         int16_t yaw;
  53     } values;
  54 } attitudeEulerAngles_t;
  55 #define EULER_INITIALIZE  { { 0, 0, 0 } }
  56
  57 extern attitudeEulerAngles_t attitude;
  58
  59 typedef struct imuConfig_s {
  60     uint16_t dcm_kp;                        // DCM filter proportional gain ( x 10000)
  61     uint16_t dcm_ki;                        // DCM filter integral gain ( x 10000)
  62     uint8_t small_angle;
  63 } imuConfig_t;
  64
  65 PG_DECLARE(imuConfig_t, imuConfig);
  66
  67 typedef struct imuRuntimeConfig_s {
  68     float dcm_ki;
  69     float dcm_kp;
  70 } imuRuntimeConfig_t;
  71
  72 void imuConfigure(uint16_t throttle_correction_angle, uint8_t throttle_correction_value);
  73
  74 float getCosTiltAngle(void);
  75 void getQuaternion(quaternion * q);
  76 void imuUpdateAttitude(timeUs_t currentTimeUs);
  77
  78 void imuResetAccelerationSum(void);
  79 void imuInit(void);
  80
  81 #ifdef SIMULATOR_BUILD
  82 void imuSetAttitudeRPY(float roll, float pitch, float yaw);  // in deg
  83 void imuSetAttitudeQuat(float w, float x, float y, float z);
  84 #if defined(SIMULATOR_IMU_SYNC)
  85 void imuSetHasNewData(uint32_t dt);
  86 #endif
  87 #endif
  88
  89 void imuQuaternionComputeProducts(quaternion *quat, quaternionProducts *quatProd);
  90 bool imuQuaternionHeadfreeOffsetSet(void);
  91 void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def * v);
  92 void imuComputeQuaternionFromRPY(quaternionProducts *qP, int16_t initialRoll, int16_t initialPitch, int16_t initialYaw);
  93 bool shouldInitializeGPSHeading(void);