void estimatorComplementary(state_t *state, sensorData_t *sensorData, control_t *control, const uint32_t tick)
{
sensorsAcquire(sensorData, tick); // Read sensors at full rate (1000Hz)
if (RATE_DO_EXECUTE(ATTITUDE_UPDATE_RATE, tick)) { //250hz
sensfusion6UpdateQ(sensorData->gyro.x, sensorData->gyro.y, sensorData->gyro.z,
sensorData->acc.x, sensorData->acc.y, sensorData->acc.z,
ATTITUDE_UPDATE_DT);
#ifdef DEBUG
ESP_LOGD(TAG,"ax = %f, ay = %f, az = %f, gx = %f, gy = %f, gz = %f , hx = %f , hy = %f, hz =%f \n", sensorData->acc.x, sensorData->acc.y, sensorData->acc.z, sensorData->gyro.x, sensorData->gyro.y, sensorData->gyro.z, sensorData->mag.x, sensorData->mag.y, sensorData->mag.z);
#endif
// Save attitude, adjusted for the legacy CF2 body coordinate system
sensfusion6GetEulerRPY(&state->attitude.roll, &state->attitude.pitch, &state->attitude.yaw);
// Save quaternion, hopefully one day this could be used in a better controller.
// Note that this is not adjusted for the legacy coordinate system
sensfusion6GetQuaternion(
&state->attitudeQuaternion.x,
&state->attitudeQuaternion.y,
&state->attitudeQuaternion.z,
&state->attitudeQuaternion.w);
state->acc.z = sensfusion6GetAccZWithoutGravity(sensorData->acc.x,
sensorData->acc.y,
sensorData->acc.z);
positionUpdateVelocity(state->acc.z, ATTITUDE_UPDATE_DT);
}
if (RATE_DO_EXECUTE(POS_UPDATE_RATE, tick)) { //100hz
// If position sensor data is preset, pass it throught
// FIXME: The position sensor shall be used as an input of the estimator
if (sensorData->position.timestamp) {
state->position = sensorData->position;
} else {
positionEstimate(state, sensorData, POS_UPDATE_DT, tick);
}
}
}
