Merged

src/modules/attitude_estimator_so3_comp/README

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+Synopsis
+
+ nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
+
+Option -d is for debugging packet. See code for detailed packet structure.

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp

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+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_main.c
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <poll.h>
+#include <fcntl.h>
+#include <float.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <drivers/drv_hrt.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "attitude_estimator_so3_comp_params.h"
+#ifdef __cplusplus
+}
+#endif
+
+extern "C" __EXPORT int attitude_estimator_so3_comp_main(int argc, char *argv[]);
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int attitude_estimator_so3_comp_task;				/**< Handle of deamon task / thread */
+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 bool bFilterInit = false;
+
+//! Auxiliary variables to reduce number of repeated operations
+static float q0q0, q0q1, q0q2, q0q3;
+static float q1q1, q1q2, q1q3;
+static float q2q2, q2q3;
+static float q3q3;
+
+//! Serial packet related
+static int uart;
+static int baudrate;
+
+/**
+ * Mainloop of attitude_estimator_so3_comp.
+ */
+int attitude_estimator_so3_comp_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: attitude_estimator_so3_comp {start|stop|status} [-d <devicename>] [-b <baud rate>]\n"
+		"-d and -b options are for separate visualization with raw data (quaternion packet) transfer\n"
+		"ex) attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200\n");
+	exit(1);
+}
+
+/**
+ * The attitude_estimator_so3_comp app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int attitude_estimator_so3_comp_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("attitude_estimator_so3_comp already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		attitude_estimator_so3_comp_task = task_spawn("attitude_estimator_so3_comp",
+					      SCHED_DEFAULT,
+					      SCHED_PRIORITY_MAX - 5,
+					      12400,
+					      attitude_estimator_so3_comp_thread_main,
+					      (const char **)argv);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+
+		while(thread_running){
+			usleep(200000);
+			printf(".");
+		}
+		printf("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tattitude_estimator_so3_comp app is running\n");
+
+		} else {
+			printf("\tattitude_estimator_so3_comp app not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+//---------------------------------------------------------------------------------------------------
+// Fast inverse square-root
+// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
+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.
+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;
+}
+
+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 == false)
+	{
+		NonlinearSO3AHRSinit(ax,ay,az,mx,my,mz);
+		bFilterInit = true;
+	}
+        	
+	//! 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 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5 - 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);
+	}
+
+	// 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
+		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;
+			gx += gyro_bias[0];	// apply integral feedback
+			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;
+	}
+	
+	//! Integrate rate of change of quaternion
+#if 0
+	gx *= (0.5f * dt);		// pre-multiply common factors
+	gy *= (0.5f * dt);
+	gz *= (0.5f * dt);
+#endif 
+
+	// 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;   
+}
+
+void send_uart_byte(char c)
+{
+	write(uart,&c,1);
+}
+
+void send_uart_bytes(uint8_t *data, int length)
+{
+	write(uart,data,(size_t)(sizeof(uint8_t)*length));
+}
+
+void send_uart_float(float f) {
+  uint8_t * b = (uint8_t *) &f;
+
+  //! Assume float is 4-bytes
+  for(int i=0; i<4; i++) {
+    
+    uint8_t b1 = (b[i] >> 4) & 0x0f;
+    uint8_t b2 = (b[i] & 0x0f);
+    
+    uint8_t c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10;
+    uint8_t c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10;
+    
+    send_uart_bytes(&c1,1);
+    send_uart_bytes(&c2,1);
+  }
+}
+
+void send_uart_float_arr(float *arr, int length)
+{
+	for(int i=0;i<length;++i)
+	{
+		send_uart_float(arr[i]);
+		send_uart_byte(',');
+	}
+}
+
+int open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
+{
+	int speed;
+	
+	switch (baud) {
+        case 0:      speed = B0;      break;
+        case 50:     speed = B50;     break;
+        case 75:     speed = B75;     break;
+        case 110:    speed = B110;    break;
+        case 134:    speed = B134;    break;
+        case 150:    speed = B150;    break;
+        case 200:    speed = B200;    break;
+        case 300:    speed = B300;    break;
+        case 600:    speed = B600;    break;
+        case 1200:   speed = B1200;   break;
+        case 1800:   speed = B1800;   break;
+        case 2400:   speed = B2400;   break;
+        case 4800:   speed = B4800;   break;
+        case 9600:   speed = B9600;   break;
+        case 19200:  speed = B19200;  break;
+        case 38400:  speed = B38400;  break;
+        case 57600:  speed = B57600;  break;
+        case 115200: speed = B115200; break;
+        case 230400: speed = B230400; break;
+        case 460800: speed = B460800; break;
+        case 921600: speed = B921600; break;
+        default:
+                printf("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+                return -EINVAL;
+        }
+
+	printf("[so3_comp_filt] UART is %s, baudrate is %d\n", uart_name, baud);
+        uart = open(uart_name, O_RDWR | O_NOCTTY);
+
+	/* Try to set baud rate */
+        struct termios uart_config;
+        int termios_state;
+        *is_usb = false;
+
+	/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
+        if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
+                /* Back up the original uart configuration to restore it after exit */
+                if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+                        printf("ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+                        close(uart);
+                        return -1;
+                }
+
+                /* Fill the struct for the new configuration */
+                tcgetattr(uart, &uart_config);
+
+                /* Clear ONLCR flag (which appends a CR for every LF) */
+                uart_config.c_oflag &= ~ONLCR;
+
+                /* Set baud rate */
+                if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+                        printf("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+                        close(uart);
+                        return -1;
+                }
+
+
+                if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+                        printf("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+                        close(uart);
+                        return -1;
+                }
+
+        } else {
+                *is_usb = true;
+        }
+
+        return uart;
+}
+
+/*
+ * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
+ */
+
+/*
+ * EKF Attitude Estimator main function.
+ *
+ * Estimates the attitude recursively once started.
+ *
+ * @param argc number of commandline arguments (plus command name)
+ * @param argv strings containing the arguments
+ */
+int attitude_estimator_so3_comp_thread_main(int argc, char *argv[])
+{
+
+const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
+
+	//! Serial debug related
+	int ch;
+	struct termios uart_config_original;
+	bool usb_uart;
+	bool debug_mode = false;
+	char *device_name = "/dev/ttyS2";
+	baudrate = 115200;
+
+	//! Time constant
+	float dt = 0.005f;
+	
+	/* output euler angles */
+	float euler[3] = {0.0f, 0.0f, 0.0f};
+
+	float Rot_matrix[9] = {1.f,  0,  0,
+			      0,  1.f,  0,
+			      0,  0,  1.f
+			     };		/**< init: identity matrix */
+
+	float acc[3] = {0.0f, 0.0f, 0.0f};
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float mag[3] = {0.0f, 0.0f, 0.0f};
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	//! -d <device_name>, default : /dev/ttyS2
+	//! -b <baud_rate>,   default : 115200
+	while ((ch = getopt(argc,argv,"d:b:")) != EOF){
+		switch(ch){
+			case 'b':
+				baudrate = strtoul(optarg, NULL, 10);
+				if(baudrate == 0)
+					printf("invalid baud rate '%s'",optarg);
+				break;
+			case 'd':
+				device_name = optarg;
+				debug_mode = true;
+				break;
+			default:
+				usage("invalid argument");
+		}
+	}
+
+	if(debug_mode){
+		printf("Opening debugging port for 3D visualization\n");
+		uart = open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
+		if (uart < 0)
+                	printf("could not open %s", device_name);
+		else
+			printf("Open port success\n");
+	}
+
+	// print text
+	printf("Nonlinear SO3 Attitude Estimator initialized..\n\n");
+	fflush(stdout);
+
+	int overloadcounter = 19;
+
+	/* store start time to guard against too slow update rates */
+	uint64_t last_run = hrt_absolute_time();
+
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+
+	//! Initialize attitude vehicle uORB message.
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+
+	struct vehicle_status_s state;
+	memset(&state, 0, sizeof(state));
+
+	uint64_t last_data = 0;
+	uint64_t last_measurement = 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, 4);
+
+	/* subscribe to param changes */
+	int sub_params = orb_subscribe(ORB_ID(parameter_update));
+
+	/* subscribe to system state*/
+	int sub_state = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* advertise attitude */
+	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
+
+	int loopcounter = 0;
+	int printcounter = 0;
+
+	thread_running = true;
+
+	/* advertise debug value */
+	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
+	// orb_advert_t pub_dbg = -1;
+
+	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
+	// XXX write this out to perf regs
+
+	/* keep track of sensor updates */
+	uint32_t sensor_last_count[3] = {0, 0, 0};
+	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
+
+	struct attitude_estimator_so3_comp_params so3_comp_params;
+	struct attitude_estimator_so3_comp_param_handles so3_comp_param_handles;
+
+	/* initialize parameter handles */
+	parameters_init(&so3_comp_param_handles);
+
+	uint64_t start_time = hrt_absolute_time();
+	bool initialized = false;
+
+	float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
+	unsigned offset_count = 0;
+
+	/* register the perf counter */
+	perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3_comp");
+
+	/* Main loop*/
+	while (!thread_should_exit) {
+
+		struct pollfd fds[2];
+		fds[0].fd = sub_raw;
+		fds[0].events = POLLIN;
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
+		int ret = poll(fds, 2, 1000);
+
+		if (ret < 0) {
+			/* XXX this is seriously bad - should be an emergency */
+		} else if (ret == 0) {
+			/* check if we're in HIL - not getting sensor data is fine then */
+			orb_copy(ORB_ID(vehicle_status), sub_state, &state);
+
+			if (!state.flag_hil_enabled) {
+				fprintf(stderr,
+					"[att so3_comp] WARNING: Not getting sensors - sensor app running?\n");
+			}
+
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[1].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), sub_params, &update);
+
+				/* update parameters */
+				parameters_update(&so3_comp_param_handles, &so3_comp_params);
+			}
+
+			/* only run filter if sensor values changed */
+			if (fds[0].revents & POLLIN) {
+
+				/* get latest measurements */
+				orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
+
+				if (!initialized) {
+
+					gyro_offsets[0] += raw.gyro_rad_s[0];
+					gyro_offsets[1] += raw.gyro_rad_s[1];
+					gyro_offsets[2] += raw.gyro_rad_s[2];
+					offset_count++;
+
+					if (hrt_absolute_time() - start_time > 3000000LL) {
+						initialized = true;
+						gyro_offsets[0] /= offset_count;
+						gyro_offsets[1] /= offset_count;
+						gyro_offsets[2] /= offset_count;
+					}
+
+				} else {
+
+					perf_begin(so3_comp_loop_perf);
+
+					/* Calculate data time difference in seconds */
+					dt = (raw.timestamp - last_measurement) / 1000000.0f;
+					last_measurement = raw.timestamp;
+					uint8_t update_vect[3] = {0, 0, 0};
+
+					/* Fill in gyro measurements */
+					if (sensor_last_count[0] != raw.gyro_counter) {
+						update_vect[0] = 1;
+						sensor_last_count[0] = raw.gyro_counter;
+						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
+						sensor_last_timestamp[0] = raw.timestamp;
+					}
+
+					gyro[0] =  raw.gyro_rad_s[0] - gyro_offsets[0];
+					gyro[1] =  raw.gyro_rad_s[1] - gyro_offsets[1];
+					gyro[2] =  raw.gyro_rad_s[2] - gyro_offsets[2];
+
+					/* update accelerometer measurements */
+					if (sensor_last_count[1] != raw.accelerometer_counter) {
+						update_vect[1] = 1;
+						sensor_last_count[1] = raw.accelerometer_counter;
+						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
+						sensor_last_timestamp[1] = raw.timestamp;
+					}
+
+					acc[0] = raw.accelerometer_m_s2[0];
+					acc[1] = raw.accelerometer_m_s2[1];
+					acc[2] = raw.accelerometer_m_s2[2];
+
+					/* update magnetometer measurements */
+					if (sensor_last_count[2] != raw.magnetometer_counter) {
+						update_vect[2] = 1;
+						sensor_last_count[2] = raw.magnetometer_counter;
+						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
+						sensor_last_timestamp[2] = raw.timestamp;
+					}
+
+					mag[0] = raw.magnetometer_ga[0];
+					mag[1] = raw.magnetometer_ga[1];
+					mag[2] = raw.magnetometer_ga[2];
+
+					uint64_t now = hrt_absolute_time();
+					unsigned int time_elapsed = now - last_run;
+					last_run = now;
+
+					if (time_elapsed > loop_interval_alarm) {
+						//TODO: add warning, cpu overload here
+						// if (overloadcounter == 20) {
+						// 	printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
+						// 	overloadcounter = 0;
+						// }
+
+						overloadcounter++;
+					}
+
+					static bool const_initialized = false;
+
+					/* initialize with good values once we have a reasonable dt estimate */
+					if (!const_initialized && dt < 0.05f && dt > 0.005f) {
+						dt = 0.005f;
+						parameters_update(&so3_comp_param_handles, &so3_comp_params);
+						const_initialized = true;
+					}
+
+					/* do not execute the filter if not initialized */
+					if (!const_initialized) {
+						continue;
+					}
+
+					uint64_t timing_start = hrt_absolute_time();
+
+					// 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.
+					Rot_matrix[0] = q0q0 + q1q1 - q2q2 - q3q3;// 11
+        				Rot_matrix[1] = 2.0 * (q1*q2 + q0*q3);	// 12
+        				Rot_matrix[2] = 2.0 * (q1*q3 - q0*q2);	// 13
+        				Rot_matrix[3] = 2.0 * (q1*q2 - q0*q3);	// 21
+        				Rot_matrix[4] = q0q0 - q1q1 + q2q2 - q3q3;// 22
+        				Rot_matrix[5] = 2.0 * (q2*q3 + q0*q1);	// 23
+        				Rot_matrix[6] = 2.0 * (q1*q3 + q0*q2);	// 31
+        				Rot_matrix[7] = 2.0 * (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]);		//! Yaw
+					
+					/* swap values for next iteration, check for fatal inputs */
+					if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
+						/* Do something */
+					} else {
+						/* due to inputs or numerical failure the output is invalid, skip it */
+						continue;
+					}
+
+					if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator so3_comp] sensor data missed! (%llu)\n", raw.timestamp - last_data);
+
+					last_data = raw.timestamp;
+
+					/* send out */
+					att.timestamp = raw.timestamp;
+
+					// XXX Apply the same transformation to the rotation matrix
+					att.roll = euler[0] - so3_comp_params.roll_off;
+					att.pitch = euler[1] - so3_comp_params.pitch_off;
+					att.yaw = euler[2] - so3_comp_params.yaw_off;
+
+					//! Euler angle rate. But it needs to be investigated again.
+					/*
+					att.rollspeed = 2.0f*(-q1*dq0 + q0*dq1 - q3*dq2 + q2*dq3);
+					att.pitchspeed = 2.0f*(-q2*dq0 + q3*dq1 + q0*dq2 - q1*dq3);
+					att.yawspeed = 2.0f*(-q3*dq0 -q2*dq1 + q1*dq2 + q0*dq3);
+					*/
+					att.rollspeed = gyro[0];
+					att.pitchspeed = gyro[1];
+					att.yawspeed = gyro[2];
+
+					att.rollacc = 0;
+					att.pitchacc = 0;
+					att.yawacc = 0;
+
+					//! Quaternion
+					att.q[0] = q0;
+					att.q[1] = q1;
+					att.q[2] = q2;
+					att.q[3] = q3;
+					att.q_valid = true;
+
+					/* TODO: Bias estimation required */
+					memcpy(&att.rate_offsets, &(gyro_bias), sizeof(att.rate_offsets));
+
+					/* copy rotation matrix */
+					memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
+					att.R_valid = true;
+
+					if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
+						// Broadcast
+						orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
+
+					} else {
+						warnx("NaN in roll/pitch/yaw estimate!");
+					}
+
+					perf_end(so3_comp_loop_perf);
+
+					//! This will print out debug packet to visualization software
+					if(debug_mode)
+					{
+						float quat[4];
+						quat[0] = q0;
+						quat[1] = q1;
+						quat[2] = q2;
+						quat[3] = q3;
+						send_uart_float_arr(quat,4);
+						send_uart_byte('\n');
+					}
+				}
+			}
+		}
+
+		loopcounter++;
+	}// while
+
+	thread_running = false;
+
+	/* Reset the UART flags to original state */
+        if (!usb_uart)
+                tcsetattr(uart, TCSANOW, &uart_config_original);
+
+	return 0;
+}

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c

@@ -0,0 +1,63 @@
+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_params.c
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include "attitude_estimator_so3_comp_params.h"
+
+/* This is filter gain for nonlinear SO3 complementary filter */
+/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
+   Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
+   If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
+   will compensate gyro bias which depends on temperature and vibration of your vehicle */
+PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
+                                       //! You can set this gain higher if you want more fast response.
+                                       //! But note that higher gain will give you also higher overshoot.
+PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
+					//! This gain is depend on your vehicle status.
+
+/* offsets in roll, pitch and yaw of sensor plane and body */
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
+
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
+{
+	/* Filter gain parameters */
+	h->Kp = 	param_find("SO3_COMP_KP");
+	h->Ki = 	param_find("SO3_COMP_KI");
+
+	/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
+	h->roll_off  =	param_find("ATT_ROLL_OFFS");
+	h->pitch_off =	param_find("ATT_PITCH_OFFS");
+	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
+{
+	/* Update filter gain */
+	param_get(h->Kp, &(p->Kp));
+	param_get(h->Ki, &(p->Ki));
+
+	/* Update attitude offset */
+	param_get(h->roll_off, &(p->roll_off));
+	param_get(h->pitch_off, &(p->pitch_off));
+	param_get(h->yaw_off, &(p->yaw_off));
+
+	return OK;
+}

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h

@@ -0,0 +1,44 @@
+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_params.h
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_so3_comp_params {
+	float Kp;
+	float Ki;
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
+};
+
+struct attitude_estimator_so3_comp_param_handles {
+	param_t Kp, Ki;
+	param_t roll_off, pitch_off, yaw_off;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);

src/modules/attitude_estimator_so3_comp/module.mk

@@ -0,0 +1,8 @@
+#
+# Attitude estimator (Nonlinear SO3 complementary Filter)
+#
+
+MODULE_COMMAND	 = attitude_estimator_so3_comp
+
+SRCS		 = attitude_estimator_so3_comp_main.cpp \
+		   attitude_estimator_so3_comp_params.c

src/modules/sdlog2/logbuffer.c

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 logbuffer.c
+ *
+ * Ring FIFO buffer for binary log data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "logbuffer.h"
+
+void logbuffer_init(struct logbuffer_s *lb, int size)
+{
+	lb->size  = size;
+	lb->write_ptr = 0;
+	lb->read_ptr = 0;
+	lb->data = malloc(lb->size);
+}
+
+int logbuffer_count(struct logbuffer_s *lb)
+{
+	int n = lb->write_ptr - lb->read_ptr;
+
+	if (n < 0) {
+		n += lb->size;
+	}
+
+	return n;
+}
+
+int logbuffer_is_empty(struct logbuffer_s *lb)
+{
+	return lb->read_ptr == lb->write_ptr;
+}
+
+bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
+{
+	// bytes available to write
+	int available = lb->read_ptr - lb->write_ptr - 1;
+
+	if (available < 0)
+		available += lb->size;
+
+	if (size > available) {
+		// buffer overflow
+		return false;
+	}
+
+	char *c = (char *) ptr;
+	int n = lb->size - lb->write_ptr;	// bytes to end of the buffer
+
+	if (n < size) {
+		// message goes over end of the buffer
+		memcpy(&(lb->data[lb->write_ptr]), c, n);
+		lb->write_ptr = 0;
+
+	} else {
+		n = 0;
+	}
+
+	// now: n = bytes already written
+	int p = size - n;	// number of bytes to write
+	memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
+	lb->write_ptr = (lb->write_ptr + p) % lb->size;
+	return true;
+}
+
+int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
+{
+	// bytes available to read
+	int available = lb->write_ptr - lb->read_ptr;
+
+	if (available == 0) {
+		return 0;	// buffer is empty
+	}
+
+	int n = 0;
+
+	if (available > 0) {
+		// read pointer is before write pointer, all available bytes can be read
+		n = available;
+		*is_part = false;
+
+	} else {
+		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
+		n = lb->size - lb->read_ptr;
+		*is_part = true;
+	}
+
+	*ptr = &(lb->data[lb->read_ptr]);
+	return n;
+}
+
+void logbuffer_mark_read(struct logbuffer_s *lb, int n)
+{
+	lb->read_ptr = (lb->read_ptr + n) % lb->size;
+}

src/modules/sdlog2/logbuffer.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 logbuffer.h
+ *
+ * Ring FIFO buffer for binary log data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_RINGBUFFER_H_
+#define SDLOG2_RINGBUFFER_H_
+
+#include <stdbool.h>
+
+struct logbuffer_s {
+	// all pointers are in bytes
+	int write_ptr;
+	int read_ptr;
+	int size;
+	char *data;
+};
+
+void logbuffer_init(struct logbuffer_s *lb, int size);
+
+int logbuffer_count(struct logbuffer_s *lb);
+
+int logbuffer_is_empty(struct logbuffer_s *lb);
+
+bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size);
+
+int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part);
+
+void logbuffer_mark_read(struct logbuffer_s *lb, int n);
+
+#endif

src/modules/sdlog2/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#
+# 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.
+#
+############################################################################
+
+#
+# sdlog2 Application
+#
+
+MODULE_COMMAND  = sdlog2
+# The main thread only buffers to RAM, needs a high priority
+MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
+
+SRCS = sdlog2.c \
+       logbuffer.c

src/modules/sdlog2/sdlog2_format.h

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_format.h
+ *
+ * General log format structures and macro.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+/*
+Format characters in the format string for binary log messages
+  b   : int8_t
+  B   : uint8_t
+  h   : int16_t
+  H   : uint16_t
+  i   : int32_t
+  I   : uint32_t
+  f   : float
+  n   : char[4]
+  N   : char[16]
+  Z   : char[64]
+  c   : int16_t * 100
+  C   : uint16_t * 100
+  e   : int32_t * 100
+  E   : uint32_t * 100
+  L   : int32_t latitude/longitude
+  M   : uint8_t flight mode
+
+  q   : int64_t
+  Q   : uint64_t
+ */
+
+#ifndef SDLOG2_FORMAT_H_
+#define SDLOG2_FORMAT_H_
+
+#define LOG_PACKET_HEADER_LEN	   3
+#define LOG_PACKET_HEADER	       uint8_t head1, head2, msg_type;
+#define LOG_PACKET_HEADER_INIT(id) .head1 = HEAD_BYTE1, .head2 = HEAD_BYTE2, .msg_type = id
+
+// once the logging code is all converted we will remove these from
+// this header
+#define HEAD_BYTE1  0xA3    // Decimal 163
+#define HEAD_BYTE2  0x95    // Decimal 149
+
+struct log_format_s {
+	uint8_t type;
+	uint8_t length;		// full packet length including header
+	char name[4];
+	char format[16];
+	char labels[64];
+};
+
+#define LOG_FORMAT(_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+		.length = sizeof(struct log_##_name##_s) + LOG_PACKET_HEADER_LEN, \
+		.name = #_name, \
+		.format = _format, \
+		.labels = _labels \
+	}
+
+#define LOG_FORMAT_MSG	  0x80
+
+#define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
+
+#endif /* SDLOG2_FORMAT_H_ */

src/modules/sdlog2/sdlog2_messages.h

@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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 sdlog2_messages.h
+ *
+ * Log messages and structures definition.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_MESSAGES_H_
+#define SDLOG2_MESSAGES_H_
+
+#include "sdlog2_format.h"
+
+/* define message formats */
+
+#pragma pack(push, 1)
+/* --- TIME - TIME STAMP --- */
+#define LOG_TIME_MSG 1
+struct log_TIME_s {
+	uint64_t t;
+};
+
+/* --- ATT - ATTITUDE --- */
+#define LOG_ATT_MSG 2
+struct log_ATT_s {
+	float roll;
+	float pitch;
+	float yaw;
+};
+
+/* --- ATSP - ATTITUDE SET POINT --- */
+#define LOG_ATSP_MSG 3
+struct log_ATSP_s {
+	float roll_sp;
+	float pitch_sp;
+	float yaw_sp;
+};
+
+/* --- IMU - IMU SENSORS --- */
+#define LOG_IMU_MSG 4
+struct log_IMU_s {
+	float acc_x;
+	float acc_y;
+	float acc_z;
+	float gyro_x;
+	float gyro_y;
+	float gyro_z;
+	float mag_x;
+	float mag_y;
+	float mag_z;
+};
+
+/* --- SENS - OTHER SENSORS --- */
+#define LOG_SENS_MSG 5
+struct log_SENS_s {
+	float baro_pres;
+	float baro_alt;
+	float baro_temp;
+	float diff_pres;
+};
+
+/* --- LPOS - LOCAL POSITION --- */
+#define LOG_LPOS_MSG 6
+struct log_LPOS_s {
+	float x;
+	float y;
+	float z;
+	float vx;
+	float vy;
+	float vz;
+	float hdg;
+	int32_t home_lat;
+	int32_t home_lon;
+	float home_alt;
+};
+
+/* --- LPSP - LOCAL POSITION SETPOINT --- */
+#define LOG_LPSP_MSG 7
+struct log_LPSP_s {
+	float x;
+	float y;
+	float z;
+	float yaw;
+};
+
+/* --- GPS - GPS POSITION --- */
+#define LOG_GPS_MSG 8
+struct log_GPS_s {
+	uint64_t gps_time;
+	uint8_t fix_type;
+	float eph;
+	float epv;
+	int32_t lat;
+	int32_t lon;
+	float alt;
+	float vel_n;
+	float vel_e;
+	float vel_d;
+	float cog;
+};
+#pragma pack(pop)
+
+/* construct list of all message formats */
+
+static const struct log_format_s log_formats[] = {
+	LOG_FORMAT(TIME, "Q", "StartTime"),
+	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
+	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
+	LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
+	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
+	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
+};
+
+static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
+
+#endif /* SDLOG2_MESSAGES_H_ */