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Blackbox - IMU quaternion - fix case when w is negative (#14275)

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quaternion w can ce negative, causing problem with unit quaternion
reconstruction. Send inverted quaternion in negative-w case (q and -q
are identical rotations)
This commit is contained in:
Petr Ledvina 2025-02-22 18:02:57 +01:00 • committed by GitHub
parent 1359b40ee7
commit 6948fb75e9
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GPG key ID: B5690EEEBB952194
1 changed files with 14 additions and 6 deletions
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20
src/main/blackbox/blackbox.c
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@ -365,7 +365,7 @@ typedef struct blackboxMainState_s {
int16_t gyroUnfilt[XYZ_AXIS_COUNT]; int16_t gyroUnfilt[XYZ_AXIS_COUNT];
#ifdef USE_ACC #ifdef USE_ACC
int16_t accADC[XYZ_AXIS_COUNT]; int16_t accADC[XYZ_AXIS_COUNT];
int16_t imuAttitudeQuaternion[XYZ_AXIS_COUNT]; int16_t imuAttitudeQuaternion3[XYZ_AXIS_COUNT]; // only x,y,z is stored; w is always positive
#endif #endif
int16_t debug[DEBUG16_VALUE_COUNT]; int16_t debug[DEBUG16_VALUE_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS]; int16_t motor[MAX_SUPPORTED_MOTORS];
@ -747,7 +747,7 @@ static void writeIntraframe(void)
} }
if (testBlackboxCondition(CONDITION(ATTITUDE))) { if (testBlackboxCondition(CONDITION(ATTITUDE))) {
blackboxWriteSigned16VBArray(blackboxCurrent->imuAttitudeQuaternion, XYZ_AXIS_COUNT); blackboxWriteSigned16VBArray(blackboxCurrent->imuAttitudeQuaternion3, XYZ_AXIS_COUNT);
} }
#endif #endif
@ -932,7 +932,7 @@ static void writeInterframe(void)
} }
if (testBlackboxCondition(CONDITION(ATTITUDE))) { if (testBlackboxCondition(CONDITION(ATTITUDE))) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, imuAttitudeQuaternion), XYZ_AXIS_COUNT); blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, imuAttitudeQuaternion3), XYZ_AXIS_COUNT);
} }
#endif #endif
@ -1250,14 +1250,22 @@ static void loadMainState(timeUs_t currentTimeUs)
#if defined(USE_ACC) #if defined(USE_ACC)
blackboxCurrent->accADC[i] = lrintf(acc.accADC.v[i]); blackboxCurrent->accADC[i] = lrintf(acc.accADC.v[i]);
STATIC_ASSERT(offsetof(quaternion_t, w) == 0, "Code expects quaternion in w, x, y, z order");
blackboxCurrent->imuAttitudeQuaternion[i] = lrintf(imuAttitudeQuaternion.v[i + 1] * 0x7FFF); //Scale to int16 by value 0x7FFF = 2^15 - 1; Use i+1 index for x,y,z components access, [0] - w
#endif #endif
#ifdef USE_MAG #ifdef USE_MAG
blackboxCurrent->magADC[i] = lrintf(mag.magADC.v[i]); blackboxCurrent->magADC[i] = lrintf(mag.magADC.v[i]);
#endif #endif
} }
#if defined(USE_ACC) // IMU quaternion
{
// write x,y,z of IMU quaternion. Make sure that w is always positive
STATIC_ASSERT(offsetof(quaternion_t, w) == 0, "Code expects quaternion in w, x, y, z order");
const float q_sign = imuAttitudeQuaternion.w < 0 ? -1 : 1; // invert quaternion if w is negative
const float q_scale = q_sign * 0x7FFF; // Scale to int16 by value 0x7FFF = 2^15 - 1 (-1 <= x,y,z <= 1)
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->imuAttitudeQuaternion3[i] = lrintf(imuAttitudeQuaternion.v[i + 1] * q_scale); // Use i+1 index for x,y,z components access, [0] - w
}
}
#endif
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
blackboxCurrent->rcCommand[i] = lrintf(rcCommand[i] * blackboxHighResolutionScale); blackboxCurrent->rcCommand[i] = lrintf(rcCommand[i] * blackboxHighResolutionScale);
} }