forked from Archive/PX4-Autopilot
Merge branch 'export-build' into fmuv2_bringup
Sync with master via export-build.
This commit is contained in:
px4dev
commit
187f7603b9
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@ -1,224 +1,586 @@
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% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%
|
||||
% SYSTEM VECTOR
|
||||
%
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
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||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
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||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
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||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
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logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
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logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
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logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
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logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
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||||
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||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
end
|
||||
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
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||||
fileSize = fileInfo.bytes;
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||||
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||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
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||||
offset = 0;
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for i=1:columns
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% using fread with a skip speeds up the import drastically, do not
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||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
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||||
fid, ...
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[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
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||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
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end
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% shot the flight time
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time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
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time_m = time_s/60;
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||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
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||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
end
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|
||||
%% Plot GPS RAW measurements
|
||||
|
||||
% Only plot GPS data if available
|
||||
if cumsum(double(sysvector.gps_raw_position(200:end,1))) > 0
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||||
figure('units','normalized','outerposition',[0 0 1 1])
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||||
plot3(sysvector.gps_raw_position(200:end,1), sysvector.gps_raw_position(200:end,2), sysvector.gps_raw_position(200:end,3));
|
||||
end
|
||||
|
||||
|
||||
%% Plot optical flow trajectory
|
||||
|
||||
flow_sz = size(sysvector.timestamp);
|
||||
flow_elements = flow_sz(1);
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||||
|
||||
xt(1:flow_elements,1) = sysvector.timestamp(:,1); % time column [ms]
|
||||
|
||||
|
||||
%calc dt
|
||||
dt = zeros(flow_elements,1);
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||||
for i = 1:flow_elements-1
|
||||
dt(i+1,1) = double(xt(i+1,1)-xt(i,1)) * 10^(-6); % timestep [s]
|
||||
end
|
||||
dt(1,1) = mean(dt);
|
||||
|
||||
|
||||
global_speed = zeros(flow_elements,3);
|
||||
|
||||
%calc global speed (with rot matrix)
|
||||
for i = 1:flow_elements
|
||||
rotM = [sysvector.rot_matrix(i,1:3);sysvector.rot_matrix(i,4:6);sysvector.rot_matrix(i,7:9)]';
|
||||
speedX = sysvector.optical_flow(i,3);
|
||||
speedY = sysvector.optical_flow(i,4);
|
||||
|
||||
relSpeed = [-speedY,speedX,0];
|
||||
global_speed(i,:) = relSpeed * rotM;
|
||||
end
|
||||
|
||||
|
||||
|
||||
px = zeros(flow_elements,1);
|
||||
py = zeros(flow_elements,1);
|
||||
distance = 0;
|
||||
|
||||
last_vx = 0;
|
||||
last_vy = 0;
|
||||
elem_cnt = 0;
|
||||
|
||||
% Very basic accumulation, stops on bad flow quality
|
||||
for i = 1:flow_elements
|
||||
if sysvector.optical_flow(i,6) > 5
|
||||
px(i,1) = global_speed(i,1)*dt(i,1);
|
||||
py(i,1) = global_speed(i,2)*dt(i,1);
|
||||
distance = distance + norm([px(i,1) py(i,1)]);
|
||||
last_vx = px(i,1);
|
||||
last_vy = py(i,1);
|
||||
else
|
||||
px(i,1) = last_vx;
|
||||
py(i,1) = last_vy;
|
||||
last_vx = last_vx*0.95;
|
||||
last_vy = last_vy*0.95;
|
||||
end
|
||||
end
|
||||
|
||||
px_sum = cumsum(px);
|
||||
py_sum = cumsum(py);
|
||||
time = cumsum(dt);
|
||||
|
||||
figure()
|
||||
set(gca, 'Units','normal');
|
||||
|
||||
plot(py_sum, px_sum, '-blue', 'LineWidth',2);
|
||||
axis equal;
|
||||
% set title and axis captions
|
||||
xlabel('X position (meters)','fontsize',14)
|
||||
ylabel('Y position (meters)','fontsize',14)
|
||||
% mark begin and end
|
||||
hold on
|
||||
plot(py_sum(1,1),px_sum(1,1),'ks','LineWidth',2,...
|
||||
'MarkerEdgeColor','k',...
|
||||
'MarkerFaceColor','g',...
|
||||
'MarkerSize',10)
|
||||
hold on
|
||||
plot(py_sum(end,1),px_sum(end,1),'kv','LineWidth',2,...
|
||||
'MarkerEdgeColor','k',...
|
||||
'MarkerFaceColor','b',...
|
||||
'MarkerSize',10)
|
||||
% add total length as annotation
|
||||
set(gca,'fontsize',13);
|
||||
legend('Trajectory', 'START', sprintf('END\n(%.2f m, %.0f:%.0f s)', distance, time_m, time_s - time_m*60));
|
||||
title('Optical Flow Position Integration', 'fontsize', 15);
|
||||
|
||||
figure()
|
||||
plot(time, sysvector.optical_flow(:,5), 'blue');
|
||||
axis([time(1,1) time(end,1) 0 (max(sysvector.optical_flow(i,5))+0.2)]);
|
||||
xlabel('seconds','fontsize',14);
|
||||
ylabel('m','fontsize',14);
|
||||
set(gca,'fontsize',13);
|
||||
title('Ultrasound Altitude', 'fontsize', 15);
|
||||
|
||||
|
||||
figure()
|
||||
plot(time, global_speed(:,2), 'red');
|
||||
hold on;
|
||||
plot(time, global_speed(:,1), 'blue');
|
||||
legend('y velocity (m/s)', 'x velocity (m/s)');
|
||||
xlabel('seconds','fontsize',14);
|
||||
ylabel('m/s','fontsize',14);
|
||||
set(gca,'fontsize',13);
|
||||
title('Optical Flow Velocity', 'fontsize', 15);
|
||||
% This Matlab Script can be used to import the binary logged values of the
|
||||
% PX4FMU into data that can be plotted and analyzed.
|
||||
|
||||
%% ************************************************************************
|
||||
% PX4LOG_PLOTSCRIPT: Main function
|
||||
% ************************************************************************
|
||||
function PX4Log_Plotscript
|
||||
|
||||
% Clear everything
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% ************************************************************************
|
||||
% SETTINGS
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end]
|
||||
|
||||
%Determine which data to plot. Not completely implemented yet.
|
||||
bDisplayGPS=true;
|
||||
|
||||
%conversion factors
|
||||
fconv_gpsalt=1E-3; %[mm] to [m]
|
||||
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
|
||||
fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
|
||||
% ************************************************************************
|
||||
% Import the PX4 logs
|
||||
% ************************************************************************
|
||||
ImportPX4LogData();
|
||||
|
||||
%Translate min and max plot times to indices
|
||||
time=double(sysvector.timestamp) .*fconv_timestamp;
|
||||
mintime_log=time(1); %The minimum time/timestamp found in the log
|
||||
maxtime_log=time(end); %The maximum time/timestamp found in the log
|
||||
CurTime=mintime_log; %The current time at which to draw the aircraft position
|
||||
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT & GUI SETUP
|
||||
% ************************************************************************
|
||||
NrFigures=5;
|
||||
NrAxes=10;
|
||||
h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively
|
||||
h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively
|
||||
h.pathpoints=[]; % Temporary initiliazation of path points
|
||||
|
||||
% Setup the GUI to control the plots
|
||||
InitControlGUI();
|
||||
% Setup the plotting-GUI (figures, axes) itself.
|
||||
InitPlotGUI();
|
||||
|
||||
% ************************************************************************
|
||||
% DRAW EVERYTHING
|
||||
% ************************************************************************
|
||||
DrawRawData();
|
||||
DrawCurrentAircraftState();
|
||||
|
||||
%% ************************************************************************
|
||||
% *** END OF MAIN SCRIPT ***
|
||||
% NESTED FUNCTION DEFINTIONS FROM HERE ON
|
||||
% ************************************************************************
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
% Attention: This is the import routine for firmware from ca. 03/2013.
|
||||
% Other firmware versions might require different import
|
||||
% routines.
|
||||
|
||||
function ImportPX4LogData()
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% RETRIEVE SYSTEM VECTOR
|
||||
% *************************************************************************
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //remaining auxiliary ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
|
||||
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
|
||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
end
|
||||
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
|
||||
fileSize = fileInfo.bytes;
|
||||
|
||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
|
||||
offset = 0;
|
||||
for i=1:columns
|
||||
% using fread with a skip speeds up the import drastically, do not
|
||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
|
||||
fid, ...
|
||||
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
|
||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
|
||||
end
|
||||
|
||||
% shot the flight time
|
||||
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
|
||||
time_m = time_s/60;
|
||||
|
||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
|
||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
end
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITCONTROLGUI (nested function)
|
||||
% ************************************************************************
|
||||
%Setup central control GUI components to control current time where data is shown
|
||||
function InitControlGUI()
|
||||
%**********************************************************************
|
||||
% GUI size definitions
|
||||
%**********************************************************************
|
||||
dxy=5; %margins
|
||||
%Panel: Plotctrl
|
||||
dlabels=120;
|
||||
dsliders=200;
|
||||
dedits=80;
|
||||
hslider=20;
|
||||
|
||||
hpanel1=40; %panel1
|
||||
hpanel2=220;%panel2
|
||||
hpanel3=3*hslider+4*dxy+3*dxy;%panel3.
|
||||
|
||||
width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width
|
||||
height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height
|
||||
|
||||
%**********************************************************************
|
||||
% Create GUI
|
||||
%**********************************************************************
|
||||
h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI');
|
||||
h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1));
|
||||
h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1));
|
||||
h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1));
|
||||
|
||||
%%Control GUI-elements
|
||||
%Slider: Current time
|
||||
h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],...
|
||||
'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]);
|
||||
h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),...
|
||||
'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MaxTime
|
||||
h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%Slider: MinTime
|
||||
h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left');
|
||||
h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],...
|
||||
'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),...
|
||||
'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel);
|
||||
|
||||
%%Current data/state GUI-elements (Multiline-edit-box)
|
||||
h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',...
|
||||
'HorizontalAlignment','left','parent',h.aircraftstatepanel);
|
||||
|
||||
h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',...
|
||||
'HorizontalAlignment','left','parent',h.guistatepanel);
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% INITPLOTGUI (nested function)
|
||||
% ************************************************************************
|
||||
function InitPlotGUI()
|
||||
|
||||
% Setup handles to lines and text
|
||||
h.markertext=[];
|
||||
templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array
|
||||
h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively
|
||||
h.markerline(1:NrAxes)=0.0;
|
||||
|
||||
% Setup all other figures and axes for plotting
|
||||
% PLOT WINDOW 1: GPS POSITION
|
||||
h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position');
|
||||
h.axes(1)=axes();
|
||||
set(h.axes(1),'Parent',h.figures(2));
|
||||
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
h.figures(3)=figure('Name', 'IMU / Baro Altitude');
|
||||
h.axes(2)=subplot(4,1,1);
|
||||
h.axes(3)=subplot(4,1,2);
|
||||
h.axes(4)=subplot(4,1,3);
|
||||
h.axes(5)=subplot(4,1,4);
|
||||
set(h.axes(2:5),'Parent',h.figures(3));
|
||||
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds');
|
||||
h.axes(6)=subplot(4,1,1);
|
||||
h.axes(7)=subplot(4,1,2);
|
||||
h.axes(8)=subplot(4,1,3);
|
||||
h.axes(9)=subplot(4,1,4);
|
||||
set(h.axes(6:9),'Parent',h.figures(4));
|
||||
|
||||
% PLOT WINDOW 4: LOG STATS
|
||||
h.figures(5) = figure('Name', 'Log Statistics');
|
||||
h.axes(10)=subplot(1,1,1);
|
||||
set(h.axes(10:10),'Parent',h.figures(5));
|
||||
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWRAWDATA (nested function)
|
||||
% ************************************************************************
|
||||
%Draws the raw data from the sysvector, but does not add any
|
||||
%marker-lines or so
|
||||
function DrawRawData()
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 1: GPS POSITION & GUI
|
||||
% ************************************************************************
|
||||
figure(h.figures(2));
|
||||
% Only plot GPS data if available
|
||||
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
|
||||
%Draw data
|
||||
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
|
||||
title(h.axes(1),'GPS Position Data(if available)');
|
||||
xlabel(h.axes(1),'Latitude [deg]');
|
||||
ylabel(h.axes(1),'Longitude [deg]');
|
||||
zlabel(h.axes(1),'Altitude above MSL [m]');
|
||||
grid on
|
||||
|
||||
%Reset path
|
||||
h.pathpoints=0;
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
% ************************************************************************
|
||||
figure(h.figures(3));
|
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
|
||||
title(h.axes(2),'Magnetometers [Gauss]');
|
||||
legend(h.axes(2),'x','y','z');
|
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
|
||||
title(h.axes(3),'Accelerometers [m/s²]');
|
||||
legend(h.axes(3),'x','y','z');
|
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
|
||||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||||
legend(h.axes(4),'x','y','z');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
|
||||
if(bDisplayGPS)
|
||||
hold on;
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
|
||||
hold off
|
||||
legend('Barometric Altitude [m]','GPS Altitude [m]');
|
||||
else
|
||||
legend('Barometric Altitude [m]');
|
||||
end
|
||||
title(h.axes(5),'Altitude above MSL [m]');
|
||||
|
||||
% ************************************************************************
|
||||
% PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,...
|
||||
% ************************************************************************
|
||||
figure(h.figures(4));
|
||||
%Attitude Estimate
|
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
|
||||
title(h.axes(6),'Estimated attitude [deg]');
|
||||
legend(h.axes(6),'roll','pitch','yaw');
|
||||
%Actuator Controls
|
||||
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
|
||||
title(h.axes(7),'Actuator control [-]');
|
||||
legend(h.axes(7),'0','1','2','3');
|
||||
%Actuator Controls
|
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
|
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
|
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
|
||||
set(h.axes(8), 'YLim',[800 2200]);
|
||||
%Airspeeds
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
|
||||
hold on
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
|
||||
hold off
|
||||
%add GPS total airspeed here
|
||||
title(h.axes(9),'Airspeed [m/s]');
|
||||
legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed');
|
||||
%calculate time differences and plot them
|
||||
intervals = zeros(0,imaxtime - imintime);
|
||||
for k = imintime+1:imaxtime
|
||||
intervals(k) = time(k) - time(k-1);
|
||||
end
|
||||
plot(h.axes(10), time(imintime:imaxtime), intervals);
|
||||
|
||||
%Set same timescale for all plots
|
||||
for i=2:NrAxes
|
||||
set(h.axes(i),'XLim',[mintime maxtime]);
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% DRAWCURRENTAIRCRAFTSTATE(nested function)
|
||||
% ************************************************************************
|
||||
function DrawCurrentAircraftState()
|
||||
%find current data index
|
||||
i=find(time>=CurTime,1,'first');
|
||||
|
||||
%**********************************************************************
|
||||
% Current aircraft state label update
|
||||
%**********************************************************************
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
|
||||
', y=',num2str(sysvector.mag(i,2)),...
|
||||
', z=',num2str(sysvector.mag(i,3)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
|
||||
', y=',num2str(sysvector.accel(i,2)),...
|
||||
', z=',num2str(sysvector.accel(i,3)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
|
||||
', y=',num2str(sysvector.gyro(i,2)),...
|
||||
', z=',num2str(sysvector.gyro(i,3)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
|
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||||
for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
|
||||
end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
|
||||
end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
%**********************************************************************
|
||||
% GPS Plot Update
|
||||
%**********************************************************************
|
||||
%Plot traveled path, and and time.
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint;
|
||||
end
|
||||
axes(h.axes(1));
|
||||
line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20);
|
||||
|
||||
|
||||
% Plot current time (small label next to current gps position)
|
||||
textdesc=strcat(' t=',num2str(time(i)),'s');
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
|
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
% Plot the lines showing the current time in the 2-d plots
|
||||
%**********************************************************************
|
||||
for i=2:NrAxes
|
||||
if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end
|
||||
ylims=get(h.axes(i),'YLim');
|
||||
h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black');
|
||||
set(h.markerline(i),'parent',h.axes(i));
|
||||
end
|
||||
|
||||
set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% MINMAXTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function minmaxtime_callback(hObj,event) %#ok<INUSL>
|
||||
new_mintime=get(h.sliders.MinTime,'Value');
|
||||
new_maxtime=get(h.sliders.MaxTime,'Value');
|
||||
|
||||
%Safety checks:
|
||||
bErr=false;
|
||||
%1: mintime must be < maxtime
|
||||
if((new_mintime>maxtime) || (new_maxtime<mintime))
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than maxtime! Values were not changed.','BackgroundColor','red');
|
||||
bErr=true;
|
||||
else
|
||||
%2: MinTime must be <=CurTime
|
||||
if(new_mintime>CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red');
|
||||
mintime=new_mintime;
|
||||
CurTime=mintime;
|
||||
bErr=true;
|
||||
end
|
||||
%3: MaxTime must be >CurTime
|
||||
if(new_maxtime<CurTime)
|
||||
set(h.labels.GUIState,'String','Error: Maxtime cannot be smaller than CurTime! CurTime set to new maxtime.','BackgroundColor','red');
|
||||
maxtime=new_maxtime;
|
||||
CurTime=maxtime;
|
||||
bErr=true;
|
||||
end
|
||||
end
|
||||
|
||||
if(bErr==false)
|
||||
maxtime=new_maxtime;
|
||||
mintime=new_mintime;
|
||||
end
|
||||
|
||||
%Needs to be done in case values were reset above
|
||||
set(h.sliders.MinTime,'Value',mintime);
|
||||
set(h.sliders.MaxTime,'Value',maxtime);
|
||||
|
||||
%Update curtime-slider
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.sliders.CurTime,'Max',maxtime);
|
||||
set(h.sliders.CurTime,'Min',mintime);
|
||||
temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min');
|
||||
set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); %Set Stepsize to constant [in seconds]
|
||||
|
||||
%update edit fields
|
||||
set(h.edits.CurTime,'String',get(h.sliders.CurTime,'Value'));
|
||||
set(h.edits.MinTime,'String',get(h.sliders.MinTime,'Value'));
|
||||
set(h.edits.MaxTime,'String',get(h.sliders.MaxTime,'Value'));
|
||||
|
||||
%Finally, we have to redraw. Update time indices first.
|
||||
[imintime,imaxtime]=FindMinMaxTimeIndices();
|
||||
DrawRawData(); %Rawdata only
|
||||
DrawCurrentAircraftState(); %path info & markers
|
||||
end
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% CURTIME CALLBACK (nested function)
|
||||
% ************************************************************************
|
||||
function curtime_callback(hObj,event) %#ok<INUSL>
|
||||
%find current time
|
||||
if(hObj==h.sliders.CurTime)
|
||||
CurTime=get(h.sliders.CurTime,'Value');
|
||||
elseif (hObj==h.edits.CurTime)
|
||||
temp=str2num(get(h.edits.CurTime,'String'));
|
||||
if(temp<maxtime && temp>mintime)
|
||||
CurTime=temp;
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red');
|
||||
end
|
||||
else
|
||||
%Error
|
||||
set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red');
|
||||
end
|
||||
|
||||
set(h.sliders.CurTime,'Value',CurTime);
|
||||
set(h.edits.CurTime,'String',num2str(CurTime));
|
||||
|
||||
%Redraw time markers, but don't have to redraw the whole raw data
|
||||
DrawCurrentAircraftState();
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
maxtime=time(idxmax);
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% ISVALIDHANDLE (nested function)
|
||||
% ************************************************************************
|
||||
function isvalid = isvalidhandle(handle)
|
||||
if(exist(varname(handle))>0 && length(ishandle(handle))>0)
|
||||
if(ishandle(handle)>0)
|
||||
if(handle>0.0)
|
||||
isvalid=true;
|
||||
return;
|
||||
end
|
||||
end
|
||||
end
|
||||
isvalid=false;
|
||||
end
|
||||
|
||||
%% ************************************************************************
|
||||
% JUST SOME SMALL HELPER FUNCTIONS (nested function)
|
||||
% ************************************************************************
|
||||
function out = varname(var)
|
||||
out = inputname(1);
|
||||
end
|
||||
|
||||
%This is the end of the matlab file / the main function
|
||||
end
|
||||
|
|
|
|||
|
|
@ -0,0 +1,107 @@
|
|||
#!nsh
|
||||
|
||||
# Disable USB and autostart
|
||||
set USB no
|
||||
set MODE camflyer
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 1
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
kalman_demo start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
|
||||
control_demo start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
#sdlog start -s 4
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
|
@ -0,0 +1,99 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Init the parameter storage
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/parameters
|
||||
if [ -f /fs/microsd/parameters ]
|
||||
then
|
||||
param load /fs/microsd/parameters
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog start -s 10
|
||||
|
||||
#
|
||||
# Start GPS capture
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
echo "using BlinkM for state indication"
|
||||
blinkm systemstate
|
||||
else
|
||||
echo "no BlinkM found, OK."
|
||||
fi
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
exit
|
||||
|
|
@ -35,6 +35,17 @@ param set MAV_TYPE 1
|
|||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Check if we got an IO
|
||||
#
|
||||
if [ px4io start ]
|
||||
then
|
||||
echo "IO started"
|
||||
else
|
||||
fmu mode_serial
|
||||
echo "FMU started"
|
||||
end
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
|
|
|
|||
|
|
@ -0,0 +1,83 @@
|
|||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
|
||||
#
|
||||
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
# Start playing the startup tune
|
||||
tone_alarm start
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
# Play SOS
|
||||
tone_alarm 2
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
|
|
@ -33,7 +33,14 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* @file U-Blox protocol implementation */
|
||||
/**
|
||||
* @file ubx.cpp
|
||||
*
|
||||
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
|
||||
* including Prototol Specification.
|
||||
*
|
||||
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
|
||||
*/
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
|
@ -113,13 +120,15 @@ UBX::configure(unsigned &baudrate)
|
|||
cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
|
||||
|
||||
send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet));
|
||||
|
||||
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
|
||||
receive(UBX_CONFIG_TIMEOUT);
|
||||
|
||||
if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
|
||||
set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
|
||||
baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
|
||||
}
|
||||
|
||||
/* no ack is ecpected here, keep going configuring */
|
||||
|
||||
/* send a CFT-RATE message to define update rate */
|
||||
type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
|
||||
memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
|
||||
|
|
@ -631,16 +640,17 @@ UBX::handle_message()
|
|||
}
|
||||
|
||||
case NAV_VELNED: {
|
||||
// printf("GOT NAV_VELNED MESSAGE\n");
|
||||
|
||||
if (!_waiting_for_ack) {
|
||||
/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
|
||||
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
|
||||
|
||||
_gps_position->vel_m_s = (float)packet->speed * 1e-2f;
|
||||
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
|
||||
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
|
||||
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
|
||||
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
|
||||
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
|
||||
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
|
||||
_gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
|
||||
_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
|
||||
_gps_position->vel_ned_valid = true;
|
||||
_gps_position->timestamp_velocity = hrt_absolute_time();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
|
|||
float LDot = vN / R;
|
||||
float lDot = vE / (cosLSing * R);
|
||||
float rotRate = 2 * omega + lDot;
|
||||
|
||||
// XXX position prediction using speed
|
||||
float vNDot = fN - vE * rotRate * sinL +
|
||||
vD * LDot;
|
||||
float vDDot = fD - vE * rotRate * cosL -
|
||||
|
|
|
|||
|
|
@ -308,6 +308,14 @@ handle_message(mavlink_message_t *msg)
|
|||
|
||||
uint64_t timestamp = hrt_absolute_time();
|
||||
|
||||
/* TODO, set ground_press/ temp during calib */
|
||||
static const float ground_press = 1013.25f; // mbar
|
||||
static const float ground_tempC = 21.0f;
|
||||
static const float ground_alt = 0.0f;
|
||||
static const float T0 = 273.15;
|
||||
static const float R = 287.05f;
|
||||
static const float g = 9.806f;
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
|
||||
|
||||
mavlink_raw_imu_t imu;
|
||||
|
|
@ -376,6 +384,87 @@ handle_message(mavlink_message_t *msg)
|
|||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
|
||||
|
||||
mavlink_highres_imu_t imu;
|
||||
mavlink_msg_highres_imu_decode(msg, &imu);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* sensors general */
|
||||
hil_sensors.timestamp = hrt_absolute_time();
|
||||
|
||||
/* hil gyro */
|
||||
static const float mrad2rad = 1.0e-3f;
|
||||
hil_sensors.gyro_counter = hil_counter;
|
||||
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
|
||||
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
|
||||
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
|
||||
hil_sensors.gyro_rad_s[0] = imu.xgyro;
|
||||
hil_sensors.gyro_rad_s[1] = imu.ygyro;
|
||||
hil_sensors.gyro_rad_s[2] = imu.zgyro;
|
||||
|
||||
/* accelerometer */
|
||||
hil_sensors.accelerometer_counter = hil_counter;
|
||||
static const float mg2ms2 = 9.8f / 1000.0f;
|
||||
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
|
||||
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
|
||||
hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
|
||||
hil_sensors.accelerometer_m_s2[0] = imu.xacc;
|
||||
hil_sensors.accelerometer_m_s2[1] = imu.yacc;
|
||||
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
|
||||
hil_sensors.accelerometer_mode = 0; // TODO what is this?
|
||||
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
|
||||
|
||||
/* adc */
|
||||
hil_sensors.adc_voltage_v[0] = 0;
|
||||
hil_sensors.adc_voltage_v[1] = 0;
|
||||
hil_sensors.adc_voltage_v[2] = 0;
|
||||
|
||||
/* magnetometer */
|
||||
float mga2ga = 1.0e-3f;
|
||||
hil_sensors.magnetometer_counter = hil_counter;
|
||||
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
|
||||
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
|
||||
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
|
||||
hil_sensors.magnetometer_ga[0] = imu.xmag;
|
||||
hil_sensors.magnetometer_ga[1] = imu.ymag;
|
||||
hil_sensors.magnetometer_ga[2] = imu.zmag;
|
||||
hil_sensors.magnetometer_range_ga = 32.7f; // int16
|
||||
hil_sensors.magnetometer_mode = 0; // TODO what is this
|
||||
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
|
||||
|
||||
hil_sensors.baro_pres_mbar = imu.abs_pressure;
|
||||
|
||||
float tempC = imu.temperature;
|
||||
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
|
||||
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure);
|
||||
|
||||
hil_sensors.baro_alt_meter = h;
|
||||
hil_sensors.baro_temp_celcius = imu.temperature;
|
||||
|
||||
hil_sensors.gyro_counter = hil_counter;
|
||||
hil_sensors.magnetometer_counter = hil_counter;
|
||||
hil_sensors.accelerometer_counter = hil_counter;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
|
||||
|
||||
// increment counters
|
||||
hil_counter++;
|
||||
hil_frames++;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil imu at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
|
||||
|
||||
mavlink_gps_raw_int_t gps;
|
||||
|
|
@ -388,21 +477,27 @@ handle_message(mavlink_message_t *msg)
|
|||
|
||||
/* gps */
|
||||
hil_gps.timestamp_position = gps.time_usec;
|
||||
// hil_gps.counter = hil_counter++;
|
||||
hil_gps.time_gps_usec = gps.time_usec;
|
||||
hil_gps.lat = gps.lat;
|
||||
hil_gps.lon = gps.lon;
|
||||
hil_gps.alt = gps.alt;
|
||||
// hil_gps.counter_pos_valid = hil_counter++;
|
||||
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
|
||||
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
|
||||
hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
|
||||
hil_gps.p_variance_m = 100; // XXX 100 m variance?
|
||||
hil_gps.s_variance_m_s = 5.0f;
|
||||
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
|
||||
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
|
||||
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
|
||||
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
|
||||
|
||||
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
|
||||
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
|
||||
/* go back to -PI..PI */
|
||||
if (heading_rad > M_PI_F)
|
||||
heading_rad -= 2.0f * M_PI_F;
|
||||
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
|
||||
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
|
||||
hil_gps.vel_d_m_s = 0.0f;
|
||||
hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
|
||||
hil_gps.vel_ned_valid = true;
|
||||
/* COG (course over ground) is speced as -PI..+PI */
|
||||
hil_gps.cog_rad = heading_rad;
|
||||
hil_gps.fix_type = gps.fix_type;
|
||||
hil_gps.satellites_visible = gps.satellites_visible;
|
||||
|
||||
|
|
@ -435,13 +530,6 @@ handle_message(mavlink_message_t *msg)
|
|||
hil_sensors.timestamp = press.time_usec;
|
||||
|
||||
/* baro */
|
||||
/* TODO, set ground_press/ temp during calib */
|
||||
static const float ground_press = 1013.25f; // mbar
|
||||
static const float ground_tempC = 21.0f;
|
||||
static const float ground_alt = 0.0f;
|
||||
static const float T0 = 273.15;
|
||||
static const float R = 287.05f;
|
||||
static const float g = 9.806f;
|
||||
|
||||
float tempC = press.temperature / 100.0f;
|
||||
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
|
||||
|
|
|
|||
|
|
@ -229,6 +229,13 @@ l_vehicle_gps_position(const struct listener *l)
|
|||
/* copy gps data into local buffer */
|
||||
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
|
||||
|
||||
/* GPS COG is 0..2PI in degrees * 1e2 */
|
||||
float cog_deg = gps.cog_rad;
|
||||
if (cog_deg > M_PI_F)
|
||||
cog_deg -= 2.0f * M_PI_F;
|
||||
cog_deg *= M_RAD_TO_DEG_F;
|
||||
|
||||
|
||||
/* GPS position */
|
||||
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
|
||||
gps.timestamp_position,
|
||||
|
|
@ -236,13 +243,14 @@ l_vehicle_gps_position(const struct listener *l)
|
|||
gps.lat,
|
||||
gps.lon,
|
||||
gps.alt,
|
||||
(uint16_t)(gps.eph_m * 1e2f), // from m to cm
|
||||
(uint16_t)(gps.epv_m * 1e2f), // from m to cm
|
||||
(uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
|
||||
(uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
|
||||
gps.eph_m * 1e2f, // from m to cm
|
||||
gps.epv_m * 1e2f, // from m to cm
|
||||
gps.vel_m_s * 1e2f, // from m/s to cm/s
|
||||
cog_deg * 1e2f, // from rad to deg * 100
|
||||
gps.satellites_visible);
|
||||
|
||||
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
|
||||
/* update SAT info every 10 seconds */
|
||||
if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
|
||||
mavlink_msg_gps_status_send(MAVLINK_COMM_0,
|
||||
gps.satellites_visible,
|
||||
gps.satellite_prn,
|
||||
|
|
|
|||
|
|
@ -0,0 +1,64 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the position estimator
|
||||
#
|
||||
|
||||
APPNAME = position_estimator_mc
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 4096
|
||||
|
||||
CSRCS = position_estimator_mc_main.c \
|
||||
position_estimator_mc_params.c \
|
||||
codegen/positionKalmanFilter1D_initialize.c \
|
||||
codegen/positionKalmanFilter1D_terminate.c \
|
||||
codegen/positionKalmanFilter1D.c \
|
||||
codegen/rt_nonfinite.c \
|
||||
codegen/rtGetInf.c \
|
||||
codegen/rtGetNaN.c \
|
||||
codegen/positionKalmanFilter1D_dT_initialize.c \
|
||||
codegen/positionKalmanFilter1D_dT_terminate.c \
|
||||
codegen/kalman_dlqe1.c \
|
||||
codegen/kalman_dlqe1_initialize.c \
|
||||
codegen/kalman_dlqe1_terminate.c \
|
||||
codegen/kalman_dlqe2.c \
|
||||
codegen/kalman_dlqe2_initialize.c \
|
||||
codegen/kalman_dlqe2_terminate.c \
|
||||
codegen/kalman_dlqe3.c \
|
||||
codegen/kalman_dlqe3_initialize.c \
|
||||
codegen/kalman_dlqe3_terminate.c \
|
||||
codegen/kalman_dlqe3_data.c \
|
||||
codegen/randn.c
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
/*
|
||||
* kalman_dlqe1.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe1.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3],
|
||||
const real32_T x_aposteriori_k[3], real32_T z, real32_T
|
||||
x_aposteriori[3])
|
||||
{
|
||||
printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z);
|
||||
printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2]));
|
||||
real32_T y;
|
||||
int32_T i0;
|
||||
real32_T b_y[3];
|
||||
int32_T i1;
|
||||
real32_T f0;
|
||||
y = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
b_y[i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
b_y[i0] += C[i1] * A[i1 + 3 * i0];
|
||||
}
|
||||
|
||||
y += b_y[i0] * x_aposteriori_k[i0];
|
||||
}
|
||||
|
||||
y = z - y;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
|
||||
}
|
||||
|
||||
x_aposteriori[i0] = f0 + K[i0] * y;
|
||||
}
|
||||
//printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2]));
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe1.c) */
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
/*
|
||||
* kalman_dlqe1.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE1_H__
|
||||
#define __KALMAN_DLQE1_H__
|
||||
/* Include files */
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe1_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe1.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* kalman_dlqe1_initialize.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1_initialize'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe1.h"
|
||||
#include "kalman_dlqe1_initialize.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe1_initialize(void)
|
||||
{
|
||||
rt_InitInfAndNaN(8U);
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe1_initialize.c) */
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
/*
|
||||
* kalman_dlqe1_initialize.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1_initialize'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE1_INITIALIZE_H__
|
||||
#define __KALMAN_DLQE1_INITIALIZE_H__
|
||||
/* Include files */
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe1_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe1_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe1_initialize.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* kalman_dlqe1_terminate.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1_terminate'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe1.h"
|
||||
#include "kalman_dlqe1_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe1_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe1_terminate.c) */
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
/*
|
||||
* kalman_dlqe1_terminate.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1_terminate'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE1_TERMINATE_H__
|
||||
#define __KALMAN_DLQE1_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe1_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe1_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe1_terminate.h) */
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* kalman_dlqe1_types.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe1'
|
||||
*
|
||||
* C source code generated on: Wed Feb 13 20:34:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE1_TYPES_H__
|
||||
#define __KALMAN_DLQE1_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe1_types.h) */
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
/*
|
||||
* kalman_dlqe2.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe2.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
static real32_T rt_powf_snf(real32_T u0, real32_T u1);
|
||||
|
||||
/* Function Definitions */
|
||||
static real32_T rt_powf_snf(real32_T u0, real32_T u1)
|
||||
{
|
||||
real32_T y;
|
||||
real32_T f1;
|
||||
real32_T f2;
|
||||
if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else {
|
||||
f1 = (real32_T)fabs(u0);
|
||||
f2 = (real32_T)fabs(u1);
|
||||
if (rtIsInfF(u1)) {
|
||||
if (f1 == 1.0F) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else if (f1 > 1.0F) {
|
||||
if (u1 > 0.0F) {
|
||||
y = ((real32_T)rtInf);
|
||||
} else {
|
||||
y = 0.0F;
|
||||
}
|
||||
} else if (u1 > 0.0F) {
|
||||
y = 0.0F;
|
||||
} else {
|
||||
y = ((real32_T)rtInf);
|
||||
}
|
||||
} else if (f2 == 0.0F) {
|
||||
y = 1.0F;
|
||||
} else if (f2 == 1.0F) {
|
||||
if (u1 > 0.0F) {
|
||||
y = u0;
|
||||
} else {
|
||||
y = 1.0F / u0;
|
||||
}
|
||||
} else if (u1 == 2.0F) {
|
||||
y = u0 * u0;
|
||||
} else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
|
||||
y = (real32_T)sqrt(u0);
|
||||
} else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else {
|
||||
y = (real32_T)pow(u0, u1);
|
||||
}
|
||||
}
|
||||
|
||||
return y;
|
||||
}
|
||||
|
||||
void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
|
||||
real32_T x_aposteriori_k[3], real32_T z, real32_T
|
||||
x_aposteriori[3])
|
||||
{
|
||||
//printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3));
|
||||
//printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3));
|
||||
real32_T A[9];
|
||||
real32_T y;
|
||||
int32_T i0;
|
||||
static const int8_T iv0[3] = { 0, 0, 1 };
|
||||
|
||||
real32_T b_k1[3];
|
||||
int32_T i1;
|
||||
static const int8_T iv1[3] = { 1, 0, 0 };
|
||||
|
||||
real32_T f0;
|
||||
A[0] = 1.0F;
|
||||
A[3] = dt;
|
||||
A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
|
||||
A[1] = 0.0F;
|
||||
A[4] = 1.0F;
|
||||
A[7] = dt;
|
||||
y = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
A[2 + 3 * i0] = (real32_T)iv0[i0];
|
||||
b_k1[i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
|
||||
}
|
||||
|
||||
y += b_k1[i0] * x_aposteriori_k[i0];
|
||||
}
|
||||
|
||||
y = z - y;
|
||||
b_k1[0] = k1;
|
||||
b_k1[1] = k2;
|
||||
b_k1[2] = k3;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
|
||||
}
|
||||
|
||||
x_aposteriori[i0] = f0 + b_k1[i0] * y;
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe2.c) */
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* kalman_dlqe2.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE2_H__
|
||||
#define __KALMAN_DLQE2_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe2_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe2.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* kalman_dlqe2_initialize.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2_initialize'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe2.h"
|
||||
#include "kalman_dlqe2_initialize.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe2_initialize(void)
|
||||
{
|
||||
rt_InitInfAndNaN(8U);
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe2_initialize.c) */
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* kalman_dlqe2_initialize.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2_initialize'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE2_INITIALIZE_H__
|
||||
#define __KALMAN_DLQE2_INITIALIZE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe2_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe2_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe2_initialize.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* kalman_dlqe2_terminate.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2_terminate'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe2.h"
|
||||
#include "kalman_dlqe2_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe2_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe2_terminate.c) */
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* kalman_dlqe2_terminate.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2_terminate'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE2_TERMINATE_H__
|
||||
#define __KALMAN_DLQE2_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe2_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe2_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe2_terminate.h) */
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* kalman_dlqe2_types.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:28 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE2_TYPES_H__
|
||||
#define __KALMAN_DLQE2_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe2_types.h) */
|
||||
|
|
@ -0,0 +1,137 @@
|
|||
/*
|
||||
* kalman_dlqe3.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe3.h"
|
||||
#include "randn.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
static real32_T rt_powf_snf(real32_T u0, real32_T u1);
|
||||
|
||||
/* Function Definitions */
|
||||
static real32_T rt_powf_snf(real32_T u0, real32_T u1)
|
||||
{
|
||||
real32_T y;
|
||||
real32_T f1;
|
||||
real32_T f2;
|
||||
if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else {
|
||||
f1 = (real32_T)fabs(u0);
|
||||
f2 = (real32_T)fabs(u1);
|
||||
if (rtIsInfF(u1)) {
|
||||
if (f1 == 1.0F) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else if (f1 > 1.0F) {
|
||||
if (u1 > 0.0F) {
|
||||
y = ((real32_T)rtInf);
|
||||
} else {
|
||||
y = 0.0F;
|
||||
}
|
||||
} else if (u1 > 0.0F) {
|
||||
y = 0.0F;
|
||||
} else {
|
||||
y = ((real32_T)rtInf);
|
||||
}
|
||||
} else if (f2 == 0.0F) {
|
||||
y = 1.0F;
|
||||
} else if (f2 == 1.0F) {
|
||||
if (u1 > 0.0F) {
|
||||
y = u0;
|
||||
} else {
|
||||
y = 1.0F / u0;
|
||||
}
|
||||
} else if (u1 == 2.0F) {
|
||||
y = u0 * u0;
|
||||
} else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
|
||||
y = (real32_T)sqrt(u0);
|
||||
} else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
|
||||
y = ((real32_T)rtNaN);
|
||||
} else {
|
||||
y = (real32_T)pow(u0, u1);
|
||||
}
|
||||
}
|
||||
|
||||
return y;
|
||||
}
|
||||
|
||||
void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
|
||||
real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,
|
||||
real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])
|
||||
{
|
||||
real32_T A[9];
|
||||
int32_T i0;
|
||||
static const int8_T iv0[3] = { 0, 0, 1 };
|
||||
|
||||
real_T b;
|
||||
real32_T y;
|
||||
real32_T b_y[3];
|
||||
int32_T i1;
|
||||
static const int8_T iv1[3] = { 1, 0, 0 };
|
||||
|
||||
real32_T b_k1[3];
|
||||
real32_T f0;
|
||||
A[0] = 1.0F;
|
||||
A[3] = dt;
|
||||
A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
|
||||
A[1] = 0.0F;
|
||||
A[4] = 1.0F;
|
||||
A[7] = dt;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
A[2 + 3 * i0] = (real32_T)iv0[i0];
|
||||
}
|
||||
|
||||
if (addNoise == 1.0F) {
|
||||
b = randn();
|
||||
z += sigma * (real32_T)b;
|
||||
}
|
||||
|
||||
if (posUpdate != 0.0F) {
|
||||
y = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
b_y[i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
|
||||
}
|
||||
|
||||
y += b_y[i0] * x_aposteriori_k[i0];
|
||||
}
|
||||
|
||||
y = z - y;
|
||||
b_k1[0] = k1;
|
||||
b_k1[1] = k2;
|
||||
b_k1[2] = k3;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
|
||||
}
|
||||
|
||||
x_aposteriori[i0] = f0 + b_k1[i0] * y;
|
||||
}
|
||||
} else {
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
x_aposteriori[i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe3.c) */
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* kalman_dlqe3.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE3_H__
|
||||
#define __KALMAN_DLQE3_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe3_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe3.h) */
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* kalman_dlqe3_data.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_data'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe3.h"
|
||||
#include "kalman_dlqe3_data.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
uint32_T method;
|
||||
uint32_T state[2];
|
||||
uint32_T b_method;
|
||||
uint32_T b_state;
|
||||
uint32_T c_state[2];
|
||||
boolean_T state_not_empty;
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
/* End of code generation (kalman_dlqe3_data.c) */
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
/*
|
||||
* kalman_dlqe3_data.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_data'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE3_DATA_H__
|
||||
#define __KALMAN_DLQE3_DATA_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe3_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
extern uint32_T method;
|
||||
extern uint32_T state[2];
|
||||
extern uint32_T b_method;
|
||||
extern uint32_T b_state;
|
||||
extern uint32_T c_state[2];
|
||||
extern boolean_T state_not_empty;
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe3_data.h) */
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
/*
|
||||
* kalman_dlqe3_initialize.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_initialize'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe3.h"
|
||||
#include "kalman_dlqe3_initialize.h"
|
||||
#include "kalman_dlqe3_data.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe3_initialize(void)
|
||||
{
|
||||
int32_T i;
|
||||
static const uint32_T uv0[2] = { 362436069U, 0U };
|
||||
|
||||
rt_InitInfAndNaN(8U);
|
||||
state_not_empty = FALSE;
|
||||
b_state = 1144108930U;
|
||||
b_method = 7U;
|
||||
method = 0U;
|
||||
for (i = 0; i < 2; i++) {
|
||||
c_state[i] = 362436069U + 158852560U * (uint32_T)i;
|
||||
state[i] = uv0[i];
|
||||
}
|
||||
|
||||
if (state[1] == 0U) {
|
||||
state[1] = 521288629U;
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe3_initialize.c) */
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* kalman_dlqe3_initialize.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_initialize'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE3_INITIALIZE_H__
|
||||
#define __KALMAN_DLQE3_INITIALIZE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe3_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe3_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe3_initialize.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* kalman_dlqe3_terminate.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_terminate'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe3.h"
|
||||
#include "kalman_dlqe3_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void kalman_dlqe3_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (kalman_dlqe3_terminate.c) */
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* kalman_dlqe3_terminate.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3_terminate'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:31 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE3_TERMINATE_H__
|
||||
#define __KALMAN_DLQE3_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe3_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void kalman_dlqe3_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe3_terminate.h) */
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* kalman_dlqe3_types.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe3'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:30 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __KALMAN_DLQE3_TYPES_H__
|
||||
#define __KALMAN_DLQE3_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (kalman_dlqe3_types.h) */
|
||||
|
|
@ -0,0 +1,136 @@
|
|||
/*
|
||||
* positionKalmanFilter1D.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
|
||||
real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
|
||||
P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
|
||||
Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
|
||||
real32_T P_aposteriori[9])
|
||||
{
|
||||
int32_T i0;
|
||||
real32_T f0;
|
||||
int32_T k;
|
||||
real32_T b_A[9];
|
||||
int32_T i1;
|
||||
real32_T P_apriori[9];
|
||||
real32_T y;
|
||||
real32_T K[3];
|
||||
real32_T S;
|
||||
int8_T I[9];
|
||||
|
||||
/* prediction */
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (k = 0; k < 3; k++) {
|
||||
f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
|
||||
}
|
||||
|
||||
x_aposteriori[i0] = f0 + B[i0] * u;
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
for (k = 0; k < 3; k++) {
|
||||
b_A[i0 + 3 * k] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
for (k = 0; k < 3; k++) {
|
||||
f0 = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
|
||||
}
|
||||
|
||||
P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
|
||||
}
|
||||
}
|
||||
|
||||
if ((real32_T)fabs(u) < thresh) {
|
||||
x_aposteriori[1] *= decay;
|
||||
}
|
||||
|
||||
/* update */
|
||||
if (gps_update == 1) {
|
||||
y = 0.0F;
|
||||
for (k = 0; k < 3; k++) {
|
||||
y += C[k] * x_aposteriori[k];
|
||||
K[k] = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
K[k] += C[i0] * P_apriori[i0 + 3 * k];
|
||||
}
|
||||
}
|
||||
|
||||
y = z - y;
|
||||
S = 0.0F;
|
||||
for (k = 0; k < 3; k++) {
|
||||
S += K[k] * C[k];
|
||||
}
|
||||
|
||||
S += R;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (k = 0; k < 3; k++) {
|
||||
f0 += P_apriori[i0 + 3 * k] * C[k];
|
||||
}
|
||||
|
||||
K[i0] = f0 / S;
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
x_aposteriori[i0] += K[i0] * y;
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 9; i0++) {
|
||||
I[i0] = 0;
|
||||
}
|
||||
|
||||
for (k = 0; k < 3; k++) {
|
||||
I[k + 3 * k] = 1;
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
for (k = 0; k < 3; k++) {
|
||||
b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
|
||||
}
|
||||
}
|
||||
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
for (k = 0; k < 3; k++) {
|
||||
P_aposteriori[i0 + 3 * k] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
for (i0 = 0; i0 < 9; i0++) {
|
||||
P_aposteriori[i0] = P_apriori[i0];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_H__
|
||||
#define __POSITIONKALMANFILTER1D_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D.h) */
|
||||
|
|
@ -0,0 +1,157 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D_dT.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
|
||||
const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
|
||||
const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
|
||||
x_aposteriori[3], real32_T P_aposteriori[9])
|
||||
{
|
||||
real32_T A[9];
|
||||
int32_T i;
|
||||
static const int8_T iv0[3] = { 0, 0, 1 };
|
||||
|
||||
real32_T K[3];
|
||||
real32_T f0;
|
||||
int32_T i0;
|
||||
real32_T b_A[9];
|
||||
int32_T i1;
|
||||
real32_T P_apriori[9];
|
||||
static const int8_T iv1[3] = { 1, 0, 0 };
|
||||
|
||||
real32_T fv0[3];
|
||||
real32_T y;
|
||||
static const int8_T iv2[3] = { 1, 0, 0 };
|
||||
|
||||
real32_T S;
|
||||
int8_T I[9];
|
||||
|
||||
/* dynamics */
|
||||
A[0] = 1.0F;
|
||||
A[3] = dT;
|
||||
A[6] = -0.5F * dT * dT;
|
||||
A[1] = 0.0F;
|
||||
A[4] = 1.0F;
|
||||
A[7] = -dT;
|
||||
for (i = 0; i < 3; i++) {
|
||||
A[2 + 3 * i] = (real32_T)iv0[i];
|
||||
}
|
||||
|
||||
/* prediction */
|
||||
K[0] = 0.5F * dT * dT;
|
||||
K[1] = dT;
|
||||
K[2] = 0.0F;
|
||||
for (i = 0; i < 3; i++) {
|
||||
f0 = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
|
||||
}
|
||||
|
||||
x_aposteriori[i] = f0 + K[i] * u;
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
b_A[i + 3 * i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
|
||||
}
|
||||
|
||||
P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
|
||||
}
|
||||
}
|
||||
|
||||
if ((real32_T)fabs(u) < thresh) {
|
||||
x_aposteriori[1] *= decay;
|
||||
}
|
||||
|
||||
/* update */
|
||||
if (gps_update == 1) {
|
||||
f0 = 0.0F;
|
||||
for (i = 0; i < 3; i++) {
|
||||
f0 += (real32_T)iv1[i] * x_aposteriori[i];
|
||||
fv0[i] = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
|
||||
}
|
||||
}
|
||||
|
||||
y = z - f0;
|
||||
f0 = 0.0F;
|
||||
for (i = 0; i < 3; i++) {
|
||||
f0 += fv0[i] * (real32_T)iv2[i];
|
||||
}
|
||||
|
||||
S = f0 + (real32_T)R;
|
||||
for (i = 0; i < 3; i++) {
|
||||
f0 = 0.0F;
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
|
||||
}
|
||||
|
||||
K[i] = f0 / S;
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
x_aposteriori[i] += K[i] * y;
|
||||
}
|
||||
|
||||
for (i = 0; i < 9; i++) {
|
||||
I[i] = 0;
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
I[i + 3 * i] = 1;
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
for (i0 = 0; i0 < 3; i0++) {
|
||||
P_aposteriori[i + 3 * i0] = 0.0F;
|
||||
for (i1 = 0; i1 < 3; i1++) {
|
||||
P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
for (i = 0; i < 9; i++) {
|
||||
P_aposteriori[i] = P_apriori[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D_dT.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_DT_H__
|
||||
#define __POSITIONKALMANFILTER1D_DT_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_dT_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_dT.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT_initialize.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D_dT.h"
|
||||
#include "positionKalmanFilter1D_dT_initialize.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D_dT_initialize(void)
|
||||
{
|
||||
rt_InitInfAndNaN(8U);
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT_initialize.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
|
||||
#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_dT_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D_dT_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT_terminate.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D_dT.h"
|
||||
#include "positionKalmanFilter1D_dT_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D_dT_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT_terminate.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
|
||||
#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_dT_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D_dT_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_dT_types.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_dT'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 17:37:33 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__
|
||||
#define __POSITIONKALMANFILTER1D_DT_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_dT_types.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_initialize.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D.h"
|
||||
#include "positionKalmanFilter1D_initialize.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D_initialize(void)
|
||||
{
|
||||
rt_InitInfAndNaN(8U);
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D_initialize.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_initialize.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__
|
||||
#define __POSITIONKALMANFILTER1D_INITIALIZE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_initialize.h) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_terminate.c
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "positionKalmanFilter1D.h"
|
||||
#include "positionKalmanFilter1D_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void positionKalmanFilter1D_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (positionKalmanFilter1D_terminate.c) */
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_terminate.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__
|
||||
#define __POSITIONKALMANFILTER1D_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "positionKalmanFilter1D_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void positionKalmanFilter1D_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_terminate.h) */
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
/*
|
||||
* positionKalmanFilter1D_types.h
|
||||
*
|
||||
* Code generation for function 'positionKalmanFilter1D'
|
||||
*
|
||||
* C source code generated on: Fri Nov 30 14:26:11 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITIONKALMANFILTER1D_TYPES_H__
|
||||
#define __POSITIONKALMANFILTER1D_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (positionKalmanFilter1D_types.h) */
|
||||
|
|
@ -0,0 +1,524 @@
|
|||
/*
|
||||
* randn.c
|
||||
*
|
||||
* Code generation for function 'randn'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "kalman_dlqe3.h"
|
||||
#include "randn.h"
|
||||
#include "kalman_dlqe3_data.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
static uint32_T d_state[625];
|
||||
|
||||
/* Function Declarations */
|
||||
static real_T b_genrandu(uint32_T mt[625]);
|
||||
static real_T eml_rand_mt19937ar(uint32_T e_state[625]);
|
||||
static real_T eml_rand_shr3cong(uint32_T e_state[2]);
|
||||
static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);
|
||||
static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);
|
||||
static void twister_state_vector(uint32_T mt[625], real_T seed);
|
||||
|
||||
/* Function Definitions */
|
||||
static real_T b_genrandu(uint32_T mt[625])
|
||||
{
|
||||
real_T r;
|
||||
int32_T exitg1;
|
||||
uint32_T u[2];
|
||||
boolean_T isvalid;
|
||||
int32_T k;
|
||||
boolean_T exitg2;
|
||||
|
||||
/* <LEGAL> This is a uniform (0,1) pseudorandom number generator based on: */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> A C-program for MT19937, with initialization improved 2002/1/26. */
|
||||
/* <LEGAL> Coded by Takuji Nishimura and Makoto Matsumoto. */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */
|
||||
/* <LEGAL> All rights reserved. */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> Redistribution and use in source and binary forms, with or without */
|
||||
/* <LEGAL> modification, are permitted provided that the following conditions */
|
||||
/* <LEGAL> are met: */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> 1. Redistributions of source code must retain the above copyright */
|
||||
/* <LEGAL> notice, this list of conditions and the following disclaimer. */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> 2. Redistributions in binary form must reproduce the above copyright */
|
||||
/* <LEGAL> notice, this list of conditions and the following disclaimer in the */
|
||||
/* <LEGAL> documentation and/or other materials provided with the distribution. */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> 3. The names of its contributors may not be used to endorse or promote */
|
||||
/* <LEGAL> products derived from this software without specific prior written */
|
||||
/* <LEGAL> permission. */
|
||||
/* <LEGAL> */
|
||||
/* <LEGAL> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */
|
||||
/* <LEGAL> "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */
|
||||
/* <LEGAL> LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */
|
||||
/* <LEGAL> A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR */
|
||||
/* <LEGAL> CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */
|
||||
/* <LEGAL> EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */
|
||||
/* <LEGAL> PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */
|
||||
/* <LEGAL> PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */
|
||||
/* <LEGAL> LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */
|
||||
/* <LEGAL> NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */
|
||||
/* <LEGAL> SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
|
||||
do {
|
||||
exitg1 = 0;
|
||||
genrand_uint32_vector(mt, u);
|
||||
r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)
|
||||
(u[1] >> 6U));
|
||||
if (r == 0.0) {
|
||||
if ((mt[624] >= 1U) && (mt[624] < 625U)) {
|
||||
isvalid = TRUE;
|
||||
} else {
|
||||
isvalid = FALSE;
|
||||
}
|
||||
|
||||
if (isvalid) {
|
||||
isvalid = FALSE;
|
||||
k = 1;
|
||||
exitg2 = FALSE;
|
||||
while ((exitg2 == FALSE) && (k < 625)) {
|
||||
if (mt[k - 1] == 0U) {
|
||||
k++;
|
||||
} else {
|
||||
isvalid = TRUE;
|
||||
exitg2 = TRUE;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!isvalid) {
|
||||
twister_state_vector(mt, 5489.0);
|
||||
}
|
||||
} else {
|
||||
exitg1 = 1;
|
||||
}
|
||||
} while (exitg1 == 0);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
static real_T eml_rand_mt19937ar(uint32_T e_state[625])
|
||||
{
|
||||
real_T r;
|
||||
int32_T exitg1;
|
||||
uint32_T u32[2];
|
||||
int32_T i;
|
||||
static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,
|
||||
0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,
|
||||
0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,
|
||||
0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,
|
||||
0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,
|
||||
0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,
|
||||
0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,
|
||||
0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,
|
||||
0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,
|
||||
0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,
|
||||
0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,
|
||||
0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,
|
||||
0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,
|
||||
0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,
|
||||
1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,
|
||||
1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,
|
||||
1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,
|
||||
1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,
|
||||
1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,
|
||||
1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,
|
||||
1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,
|
||||
1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,
|
||||
1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,
|
||||
1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,
|
||||
1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,
|
||||
1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,
|
||||
1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,
|
||||
1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,
|
||||
1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,
|
||||
1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,
|
||||
1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,
|
||||
1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,
|
||||
1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,
|
||||
1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,
|
||||
1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,
|
||||
1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,
|
||||
1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,
|
||||
1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,
|
||||
1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,
|
||||
1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,
|
||||
1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,
|
||||
1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,
|
||||
1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,
|
||||
1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,
|
||||
1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,
|
||||
1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,
|
||||
1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,
|
||||
1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,
|
||||
2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,
|
||||
2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,
|
||||
2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,
|
||||
2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,
|
||||
2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,
|
||||
2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,
|
||||
2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,
|
||||
2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,
|
||||
2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,
|
||||
2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,
|
||||
2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,
|
||||
2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,
|
||||
2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,
|
||||
2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,
|
||||
2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,
|
||||
3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,
|
||||
3.65415288536101, 3.91075795952492 };
|
||||
|
||||
real_T u;
|
||||
static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,
|
||||
0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,
|
||||
0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,
|
||||
0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,
|
||||
0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,
|
||||
0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,
|
||||
0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,
|
||||
0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,
|
||||
0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,
|
||||
0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,
|
||||
0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,
|
||||
0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,
|
||||
0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,
|
||||
0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,
|
||||
0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,
|
||||
0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,
|
||||
0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,
|
||||
0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,
|
||||
0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,
|
||||
0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,
|
||||
0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,
|
||||
0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,
|
||||
0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,
|
||||
0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,
|
||||
0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,
|
||||
0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,
|
||||
0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,
|
||||
0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,
|
||||
0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,
|
||||
0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,
|
||||
0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,
|
||||
0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,
|
||||
0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,
|
||||
0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,
|
||||
0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,
|
||||
0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,
|
||||
0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,
|
||||
0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,
|
||||
0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,
|
||||
0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,
|
||||
0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,
|
||||
0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,
|
||||
0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,
|
||||
0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,
|
||||
0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,
|
||||
0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,
|
||||
0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,
|
||||
0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,
|
||||
0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,
|
||||
0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,
|
||||
0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,
|
||||
0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,
|
||||
0.093365311912691, 0.0911136480663738, 0.0888735920682759,
|
||||
0.0866451944505581, 0.0844285095703535, 0.082223595813203,
|
||||
0.0800305158146631, 0.0778493367020961, 0.0756801303589272,
|
||||
0.0735229737139814, 0.0713779490588905, 0.0692451443970068,
|
||||
0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,
|
||||
0.0587679529209339, 0.0567106901062031, 0.0546664613248891,
|
||||
0.0526354182767924, 0.0506177238609479, 0.0486135532158687,
|
||||
0.0466230949019305, 0.0446465522512946, 0.0426841449164746,
|
||||
0.0407361106559411, 0.0388027074045262, 0.0368842156885674,
|
||||
0.0349809414617162, 0.0330932194585786, 0.0312214171919203,
|
||||
0.0293659397581334, 0.0275272356696031, 0.0257058040085489,
|
||||
0.0239022033057959, 0.0221170627073089, 0.0203510962300445,
|
||||
0.0186051212757247, 0.0168800831525432, 0.0151770883079353,
|
||||
0.0134974506017399, 0.0118427578579079, 0.0102149714397015,
|
||||
0.00861658276939875, 0.00705087547137324, 0.00552240329925101,
|
||||
0.00403797259336304, 0.00260907274610216, 0.0012602859304986,
|
||||
0.000477467764609386 };
|
||||
|
||||
real_T x;
|
||||
do {
|
||||
exitg1 = 0;
|
||||
genrand_uint32_vector(e_state, u32);
|
||||
i = (int32_T)((u32[1] >> 24U) + 1U);
|
||||
r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &
|
||||
16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];
|
||||
if (fabs(r) <= dv1[i - 1]) {
|
||||
exitg1 = 1;
|
||||
} else if (i < 256) {
|
||||
u = b_genrandu(e_state);
|
||||
if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {
|
||||
exitg1 = 1;
|
||||
}
|
||||
} else {
|
||||
do {
|
||||
u = b_genrandu(e_state);
|
||||
x = log(u) * 0.273661237329758;
|
||||
u = b_genrandu(e_state);
|
||||
} while (!(-2.0 * log(u) > x * x));
|
||||
|
||||
if (r < 0.0) {
|
||||
r = x - 3.65415288536101;
|
||||
} else {
|
||||
r = 3.65415288536101 - x;
|
||||
}
|
||||
|
||||
exitg1 = 1;
|
||||
}
|
||||
} while (exitg1 == 0);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
static real_T eml_rand_shr3cong(uint32_T e_state[2])
|
||||
{
|
||||
real_T r;
|
||||
uint32_T icng;
|
||||
uint32_T jsr;
|
||||
uint32_T ui;
|
||||
int32_T j;
|
||||
static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,
|
||||
0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,
|
||||
0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,
|
||||
1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,
|
||||
1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,
|
||||
1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,
|
||||
1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,
|
||||
1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,
|
||||
2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,
|
||||
2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };
|
||||
|
||||
real_T x;
|
||||
real_T y;
|
||||
real_T s;
|
||||
icng = 69069U * e_state[0] + 1234567U;
|
||||
jsr = e_state[1] ^ e_state[1] << 13U;
|
||||
jsr ^= jsr >> 17U;
|
||||
jsr ^= jsr << 5U;
|
||||
ui = icng + jsr;
|
||||
j = (int32_T)(ui & 63U);
|
||||
r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];
|
||||
if (fabs(r) <= dv0[j]) {
|
||||
} else {
|
||||
x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);
|
||||
icng = 69069U * icng + 1234567U;
|
||||
jsr ^= jsr << 13U;
|
||||
jsr ^= jsr >> 17U;
|
||||
jsr ^= jsr << 5U;
|
||||
y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;
|
||||
s = x + (0.5 + y);
|
||||
if (s > 1.301198) {
|
||||
if (r < 0.0) {
|
||||
r = 0.4878992 * x - 0.4878992;
|
||||
} else {
|
||||
r = 0.4878992 - 0.4878992 * x;
|
||||
}
|
||||
} else if (s <= 0.9689279) {
|
||||
} else {
|
||||
s = 0.4878992 * x;
|
||||
x = 0.4878992 - 0.4878992 * x;
|
||||
if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {
|
||||
if (r < 0.0) {
|
||||
r = -(0.4878992 - s);
|
||||
} else {
|
||||
r = 0.4878992 - s;
|
||||
}
|
||||
} else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /
|
||||
dv0[j + 1] <= exp(-0.5 * r * r)) {
|
||||
} else {
|
||||
do {
|
||||
icng = 69069U * icng + 1234567U;
|
||||
jsr ^= jsr << 13U;
|
||||
jsr ^= jsr >> 17U;
|
||||
jsr ^= jsr << 5U;
|
||||
x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /
|
||||
2.776994;
|
||||
icng = 69069U * icng + 1234567U;
|
||||
jsr ^= jsr << 13U;
|
||||
jsr ^= jsr >> 17U;
|
||||
jsr ^= jsr << 5U;
|
||||
} while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *
|
||||
2.328306436538696E-10) > x * x));
|
||||
|
||||
if (r < 0.0) {
|
||||
r = x - 2.776994;
|
||||
} else {
|
||||
r = 2.776994 - x;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
e_state[0] = icng;
|
||||
e_state[1] = jsr;
|
||||
return r;
|
||||
}
|
||||
|
||||
static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])
|
||||
{
|
||||
int32_T i;
|
||||
uint32_T mti;
|
||||
int32_T kk;
|
||||
uint32_T y;
|
||||
uint32_T b_y;
|
||||
uint32_T c_y;
|
||||
uint32_T d_y;
|
||||
for (i = 0; i < 2; i++) {
|
||||
u[i] = 0U;
|
||||
}
|
||||
|
||||
for (i = 0; i < 2; i++) {
|
||||
mti = mt[624] + 1U;
|
||||
if (mti >= 625U) {
|
||||
for (kk = 0; kk < 227; kk++) {
|
||||
y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);
|
||||
if ((int32_T)(y & 1U) == 0) {
|
||||
b_y = y >> 1U;
|
||||
} else {
|
||||
b_y = y >> 1U ^ 2567483615U;
|
||||
}
|
||||
|
||||
mt[kk] = mt[397 + kk] ^ b_y;
|
||||
}
|
||||
|
||||
for (kk = 0; kk < 396; kk++) {
|
||||
y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);
|
||||
if ((int32_T)(y & 1U) == 0) {
|
||||
c_y = y >> 1U;
|
||||
} else {
|
||||
c_y = y >> 1U ^ 2567483615U;
|
||||
}
|
||||
|
||||
mt[227 + kk] = mt[kk] ^ c_y;
|
||||
}
|
||||
|
||||
y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);
|
||||
if ((int32_T)(y & 1U) == 0) {
|
||||
d_y = y >> 1U;
|
||||
} else {
|
||||
d_y = y >> 1U ^ 2567483615U;
|
||||
}
|
||||
|
||||
mt[623] = mt[396] ^ d_y;
|
||||
mti = 1U;
|
||||
}
|
||||
|
||||
y = mt[(int32_T)mti - 1];
|
||||
mt[624] = mti;
|
||||
y ^= y >> 11U;
|
||||
y ^= y << 7U & 2636928640U;
|
||||
y ^= y << 15U & 4022730752U;
|
||||
y ^= y >> 18U;
|
||||
u[i] = y;
|
||||
}
|
||||
}
|
||||
|
||||
static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)
|
||||
{
|
||||
int32_T hi;
|
||||
uint32_T test1;
|
||||
uint32_T test2;
|
||||
hi = (int32_T)(s / 127773U);
|
||||
test1 = 16807U * (s - (uint32_T)hi * 127773U);
|
||||
test2 = 2836U * (uint32_T)hi;
|
||||
if (test1 < test2) {
|
||||
*e_state = (test1 - test2) + 2147483647U;
|
||||
} else {
|
||||
*e_state = test1 - test2;
|
||||
}
|
||||
|
||||
*r = (real_T)*e_state * 4.6566128752457969E-10;
|
||||
}
|
||||
|
||||
static void twister_state_vector(uint32_T mt[625], real_T seed)
|
||||
{
|
||||
uint32_T r;
|
||||
int32_T mti;
|
||||
if (seed < 4.294967296E+9) {
|
||||
if (seed >= 0.0) {
|
||||
r = (uint32_T)seed;
|
||||
} else {
|
||||
r = 0U;
|
||||
}
|
||||
} else if (seed >= 4.294967296E+9) {
|
||||
r = MAX_uint32_T;
|
||||
} else {
|
||||
r = 0U;
|
||||
}
|
||||
|
||||
mt[0] = r;
|
||||
for (mti = 0; mti < 623; mti++) {
|
||||
r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);
|
||||
mt[1 + mti] = r;
|
||||
}
|
||||
|
||||
mt[624] = 624U;
|
||||
}
|
||||
|
||||
real_T randn(void)
|
||||
{
|
||||
real_T r;
|
||||
uint32_T e_state;
|
||||
real_T t;
|
||||
real_T b_r;
|
||||
uint32_T f_state;
|
||||
if (method == 0U) {
|
||||
if (b_method == 4U) {
|
||||
do {
|
||||
genrandu(b_state, &e_state, &r);
|
||||
genrandu(e_state, &b_state, &t);
|
||||
b_r = 2.0 * r - 1.0;
|
||||
t = 2.0 * t - 1.0;
|
||||
t = t * t + b_r * b_r;
|
||||
} while (!(t <= 1.0));
|
||||
|
||||
r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);
|
||||
} else if (b_method == 5U) {
|
||||
r = eml_rand_shr3cong(c_state);
|
||||
} else {
|
||||
if (!state_not_empty) {
|
||||
memset(&d_state[0], 0, 625U * sizeof(uint32_T));
|
||||
twister_state_vector(d_state, 5489.0);
|
||||
state_not_empty = TRUE;
|
||||
}
|
||||
|
||||
r = eml_rand_mt19937ar(d_state);
|
||||
}
|
||||
} else if (method == 4U) {
|
||||
e_state = state[0];
|
||||
do {
|
||||
genrandu(e_state, &f_state, &r);
|
||||
genrandu(f_state, &e_state, &t);
|
||||
b_r = 2.0 * r - 1.0;
|
||||
t = 2.0 * t - 1.0;
|
||||
t = t * t + b_r * b_r;
|
||||
} while (!(t <= 1.0));
|
||||
|
||||
state[0] = e_state;
|
||||
r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);
|
||||
} else {
|
||||
r = eml_rand_shr3cong(state);
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
/* End of code generation (randn.c) */
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* randn.h
|
||||
*
|
||||
* Code generation for function 'randn'
|
||||
*
|
||||
* C source code generated on: Tue Feb 19 15:26:32 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RANDN_H__
|
||||
#define __RANDN_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stddef.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "kalman_dlqe3_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern real_T randn(void);
|
||||
#endif
|
||||
/* End of code generation (randn.h) */
|
||||
|
|
@ -0,0 +1,139 @@
|
|||
/*
|
||||
* rtGetInf.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finite, Inf and MinusInf
|
||||
*/
|
||||
#include "rtGetInf.h"
|
||||
#define NumBitsPerChar 8U
|
||||
|
||||
/* Function: rtGetInf ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtInf needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetInf(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T inf = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
inf = rtGetInfF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
inf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
inf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return inf;
|
||||
}
|
||||
|
||||
/* Function: rtGetInfF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtInfF needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetInfF(void)
|
||||
{
|
||||
IEEESingle infF;
|
||||
infF.wordL.wordLuint = 0x7F800000U;
|
||||
return infF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* Function: rtGetMinusInf ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtMinusInf needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetMinusInf(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T minf = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
minf = rtGetMinusInfF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
minf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
minf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return minf;
|
||||
}
|
||||
|
||||
/* Function: rtGetMinusInfF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtMinusInfF needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetMinusInfF(void)
|
||||
{
|
||||
IEEESingle minfF;
|
||||
minfF.wordL.wordLuint = 0xFF800000U;
|
||||
return minfF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* End of code generation (rtGetInf.c) */
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* rtGetInf.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTGETINF_H__
|
||||
#define __RTGETINF_H__
|
||||
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
extern real_T rtGetInf(void);
|
||||
extern real32_T rtGetInfF(void);
|
||||
extern real_T rtGetMinusInf(void);
|
||||
extern real32_T rtGetMinusInfF(void);
|
||||
|
||||
#endif
|
||||
/* End of code generation (rtGetInf.h) */
|
||||
|
|
@ -0,0 +1,96 @@
|
|||
/*
|
||||
* rtGetNaN.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finite, NaN
|
||||
*/
|
||||
#include "rtGetNaN.h"
|
||||
#define NumBitsPerChar 8U
|
||||
|
||||
/* Function: rtGetNaN ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtNaN needed by the generated code.
|
||||
* NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetNaN(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T nan = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
nan = rtGetNaNF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF80000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
nan = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
|
||||
tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
|
||||
nan = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return nan;
|
||||
}
|
||||
|
||||
/* Function: rtGetNaNF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtNaNF needed by the generated code.
|
||||
* NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetNaNF(void)
|
||||
{
|
||||
IEEESingle nanF = { { 0 } };
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
nanF.wordL.wordLuint = 0xFFC00000U;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
nanF.wordL.wordLuint = 0x7FFFFFFFU;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return nanF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* End of code generation (rtGetNaN.c) */
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
/*
|
||||
* rtGetNaN.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTGETNAN_H__
|
||||
#define __RTGETNAN_H__
|
||||
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
extern real_T rtGetNaN(void);
|
||||
extern real32_T rtGetNaNF(void);
|
||||
|
||||
#endif
|
||||
/* End of code generation (rtGetNaN.h) */
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
/*
|
||||
* rt_nonfinite.c
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finites,
|
||||
* (Inf, NaN and -Inf).
|
||||
*/
|
||||
#include "rt_nonfinite.h"
|
||||
#include "rtGetNaN.h"
|
||||
#include "rtGetInf.h"
|
||||
|
||||
real_T rtInf;
|
||||
real_T rtMinusInf;
|
||||
real_T rtNaN;
|
||||
real32_T rtInfF;
|
||||
real32_T rtMinusInfF;
|
||||
real32_T rtNaNF;
|
||||
|
||||
/* Function: rt_InitInfAndNaN ==================================================
|
||||
* Abstract:
|
||||
* Initialize the rtInf, rtMinusInf, and rtNaN needed by the
|
||||
* generated code. NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
void rt_InitInfAndNaN(size_t realSize)
|
||||
{
|
||||
(void) (realSize);
|
||||
rtNaN = rtGetNaN();
|
||||
rtNaNF = rtGetNaNF();
|
||||
rtInf = rtGetInf();
|
||||
rtInfF = rtGetInfF();
|
||||
rtMinusInf = rtGetMinusInf();
|
||||
rtMinusInfF = rtGetMinusInfF();
|
||||
}
|
||||
|
||||
/* Function: rtIsInf ==================================================
|
||||
* Abstract:
|
||||
* Test if value is infinite
|
||||
*/
|
||||
boolean_T rtIsInf(real_T value)
|
||||
{
|
||||
return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
|
||||
}
|
||||
|
||||
/* Function: rtIsInfF =================================================
|
||||
* Abstract:
|
||||
* Test if single-precision value is infinite
|
||||
*/
|
||||
boolean_T rtIsInfF(real32_T value)
|
||||
{
|
||||
return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
|
||||
}
|
||||
|
||||
/* Function: rtIsNaN ==================================================
|
||||
* Abstract:
|
||||
* Test if value is not a number
|
||||
*/
|
||||
boolean_T rtIsNaN(real_T value)
|
||||
{
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
return _isnan(value)? TRUE:FALSE;
|
||||
#else
|
||||
return (value!=value)? 1U:0U;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Function: rtIsNaNF =================================================
|
||||
* Abstract:
|
||||
* Test if single-precision value is not a number
|
||||
*/
|
||||
boolean_T rtIsNaNF(real32_T value)
|
||||
{
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
return _isnan((real_T)value)? true:false;
|
||||
#else
|
||||
return (value!=value)? 1U:0U;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/* End of code generation (rt_nonfinite.c) */
|
||||
|
|
@ -0,0 +1,53 @@
|
|||
/*
|
||||
* rt_nonfinite.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RT_NONFINITE_H__
|
||||
#define __RT_NONFINITE_H__
|
||||
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
#include <float.h>
|
||||
#endif
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
|
||||
extern real_T rtInf;
|
||||
extern real_T rtMinusInf;
|
||||
extern real_T rtNaN;
|
||||
extern real32_T rtInfF;
|
||||
extern real32_T rtMinusInfF;
|
||||
extern real32_T rtNaNF;
|
||||
extern void rt_InitInfAndNaN(size_t realSize);
|
||||
extern boolean_T rtIsInf(real_T value);
|
||||
extern boolean_T rtIsInfF(real32_T value);
|
||||
extern boolean_T rtIsNaN(real_T value);
|
||||
extern boolean_T rtIsNaNF(real32_T value);
|
||||
|
||||
typedef struct {
|
||||
struct {
|
||||
uint32_T wordH;
|
||||
uint32_T wordL;
|
||||
} words;
|
||||
} BigEndianIEEEDouble;
|
||||
|
||||
typedef struct {
|
||||
struct {
|
||||
uint32_T wordL;
|
||||
uint32_T wordH;
|
||||
} words;
|
||||
} LittleEndianIEEEDouble;
|
||||
|
||||
typedef struct {
|
||||
union {
|
||||
real32_T wordLreal;
|
||||
uint32_T wordLuint;
|
||||
} wordL;
|
||||
} IEEESingle;
|
||||
|
||||
#endif
|
||||
/* End of code generation (rt_nonfinite.h) */
|
||||
|
|
@ -0,0 +1,159 @@
|
|||
/*
|
||||
* rtwtypes.h
|
||||
*
|
||||
* Code generation for function 'kalman_dlqe2'
|
||||
*
|
||||
* C source code generated on: Thu Feb 14 12:52:29 2013
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTWTYPES_H__
|
||||
#define __RTWTYPES_H__
|
||||
#ifndef TRUE
|
||||
# define TRUE (1U)
|
||||
#endif
|
||||
#ifndef FALSE
|
||||
# define FALSE (0U)
|
||||
#endif
|
||||
#ifndef __TMWTYPES__
|
||||
#define __TMWTYPES__
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
/*=======================================================================*
|
||||
* Target hardware information
|
||||
* Device type: Generic->MATLAB Host Computer
|
||||
* Number of bits: char: 8 short: 16 int: 32
|
||||
* long: 32 native word size: 32
|
||||
* Byte ordering: LittleEndian
|
||||
* Signed integer division rounds to: Undefined
|
||||
* Shift right on a signed integer as arithmetic shift: off
|
||||
*=======================================================================*/
|
||||
|
||||
/*=======================================================================*
|
||||
* Fixed width word size data types: *
|
||||
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
* real32_T, real64_T - 32 and 64 bit floating point numbers *
|
||||
*=======================================================================*/
|
||||
|
||||
typedef signed char int8_T;
|
||||
typedef unsigned char uint8_T;
|
||||
typedef short int16_T;
|
||||
typedef unsigned short uint16_T;
|
||||
typedef int int32_T;
|
||||
typedef unsigned int uint32_T;
|
||||
typedef float real32_T;
|
||||
typedef double real64_T;
|
||||
|
||||
/*===========================================================================*
|
||||
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
|
||||
* ulong_T, char_T and byte_T. *
|
||||
*===========================================================================*/
|
||||
|
||||
typedef double real_T;
|
||||
typedef double time_T;
|
||||
typedef unsigned char boolean_T;
|
||||
typedef int int_T;
|
||||
typedef unsigned int uint_T;
|
||||
typedef unsigned long ulong_T;
|
||||
typedef char char_T;
|
||||
typedef char_T byte_T;
|
||||
|
||||
/*===========================================================================*
|
||||
* Complex number type definitions *
|
||||
*===========================================================================*/
|
||||
#define CREAL_T
|
||||
typedef struct {
|
||||
real32_T re;
|
||||
real32_T im;
|
||||
} creal32_T;
|
||||
|
||||
typedef struct {
|
||||
real64_T re;
|
||||
real64_T im;
|
||||
} creal64_T;
|
||||
|
||||
typedef struct {
|
||||
real_T re;
|
||||
real_T im;
|
||||
} creal_T;
|
||||
|
||||
typedef struct {
|
||||
int8_T re;
|
||||
int8_T im;
|
||||
} cint8_T;
|
||||
|
||||
typedef struct {
|
||||
uint8_T re;
|
||||
uint8_T im;
|
||||
} cuint8_T;
|
||||
|
||||
typedef struct {
|
||||
int16_T re;
|
||||
int16_T im;
|
||||
} cint16_T;
|
||||
|
||||
typedef struct {
|
||||
uint16_T re;
|
||||
uint16_T im;
|
||||
} cuint16_T;
|
||||
|
||||
typedef struct {
|
||||
int32_T re;
|
||||
int32_T im;
|
||||
} cint32_T;
|
||||
|
||||
typedef struct {
|
||||
uint32_T re;
|
||||
uint32_T im;
|
||||
} cuint32_T;
|
||||
|
||||
|
||||
/*=======================================================================*
|
||||
* Min and Max: *
|
||||
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
*=======================================================================*/
|
||||
|
||||
#define MAX_int8_T ((int8_T)(127))
|
||||
#define MIN_int8_T ((int8_T)(-128))
|
||||
#define MAX_uint8_T ((uint8_T)(255))
|
||||
#define MIN_uint8_T ((uint8_T)(0))
|
||||
#define MAX_int16_T ((int16_T)(32767))
|
||||
#define MIN_int16_T ((int16_T)(-32768))
|
||||
#define MAX_uint16_T ((uint16_T)(65535))
|
||||
#define MIN_uint16_T ((uint16_T)(0))
|
||||
#define MAX_int32_T ((int32_T)(2147483647))
|
||||
#define MIN_int32_T ((int32_T)(-2147483647-1))
|
||||
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
|
||||
#define MIN_uint32_T ((uint32_T)(0))
|
||||
|
||||
/* Logical type definitions */
|
||||
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
|
||||
# ifndef false
|
||||
# define false (0U)
|
||||
# endif
|
||||
# ifndef true
|
||||
# define true (1U)
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
|
||||
* for signed integer values.
|
||||
*/
|
||||
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
|
||||
#error "This code must be compiled using a 2's complement representation for signed integer values"
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Maximum length of a MATLAB identifier (function/variable)
|
||||
* including the null-termination character. Referenced by
|
||||
* rt_logging.c and rt_matrx.c.
|
||||
*/
|
||||
#define TMW_NAME_LENGTH_MAX 64
|
||||
|
||||
#endif
|
||||
#endif
|
||||
/* End of code generation (rtwtypes.h) */
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z)
|
||||
x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);
|
||||
end
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
|
||||
st = 1/2*dt^2;
|
||||
A = [1,dt,st;
|
||||
0,1,dt;
|
||||
0,0,1];
|
||||
C=[1,0,0];
|
||||
K = [k1;k2;k3];
|
||||
x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);
|
||||
end
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)
|
||||
st = 1/2*dt^2;
|
||||
A = [1,dt,st;
|
||||
0,1,dt;
|
||||
0,0,1];
|
||||
C=[1,0,0];
|
||||
K = [k1;k2;k3];
|
||||
if addNoise==1
|
||||
noise = sigma*randn(1,1);
|
||||
z = z + noise;
|
||||
end
|
||||
if(posUpdate)
|
||||
x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);
|
||||
else
|
||||
x_aposteriori=A*x_aposteriori_k;
|
||||
end
|
||||
end
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
|
||||
%prediction
|
||||
x_apriori=A*x_aposteriori_k+B*u;
|
||||
P_apriori=A*P_aposteriori_k*A'+Q;
|
||||
if abs(u)<thresh
|
||||
x_apriori(2)=decay*x_apriori(2);
|
||||
end
|
||||
%update
|
||||
if gps_update==1
|
||||
y=z-C*x_apriori;
|
||||
S=C*P_apriori*C'+R;
|
||||
K=(P_apriori*C')/S;
|
||||
x_aposteriori=x_apriori+K*y;
|
||||
P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
|
||||
else
|
||||
x_aposteriori=x_apriori;
|
||||
P_aposteriori=P_apriori;
|
||||
end
|
||||
end
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
|
||||
%dynamics
|
||||
A = [1 dT -0.5*dT*dT;
|
||||
0 1 -dT;
|
||||
0 0 1];
|
||||
B = [0.5*dT*dT; dT; 0];
|
||||
C = [1 0 0];
|
||||
%prediction
|
||||
x_apriori=A*x_aposteriori_k+B*u;
|
||||
P_apriori=A*P_aposteriori_k*A'+Q;
|
||||
if abs(u)<thresh
|
||||
x_apriori(2)=decay*x_apriori(2);
|
||||
end
|
||||
%update
|
||||
if gps_update==1
|
||||
y=z-C*x_apriori;
|
||||
S=C*P_apriori*C'+R;
|
||||
K=(P_apriori*C')/S;
|
||||
x_aposteriori=x_apriori+K*y;
|
||||
P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
|
||||
else
|
||||
x_aposteriori=x_apriori;
|
||||
P_aposteriori=P_apriori;
|
||||
end
|
||||
end
|
||||
|
||||
|
|
@ -0,0 +1,510 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Damian Aregger <daregger@student.ethz.ch>
|
||||
* Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 position_estimator_main.c
|
||||
* Model-identification based position estimator for multirotors
|
||||
*/
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <fcntl.h>
|
||||
#include <float.h>
|
||||
#include <string.h>
|
||||
#include <nuttx/config.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/sensor_combined.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/actuator_controls_effective.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_vicon_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position_setpoint.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
#include <poll.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "position_estimator_mc_params.h"
|
||||
//#include <uORB/topics/debug_key_value.h>
|
||||
#include "codegen/kalman_dlqe2.h"
|
||||
#include "codegen/kalman_dlqe2_initialize.h"
|
||||
#include "codegen/kalman_dlqe3.h"
|
||||
#include "codegen/kalman_dlqe3_initialize.h"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int position_estimator_mc_task; /**< Handle of deamon task / thread */
|
||||
|
||||
__EXPORT int position_estimator_mc_main(int argc, char *argv[]);
|
||||
|
||||
int position_estimator_mc_thread_main(int argc, char *argv[]);
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
warnx("%s\n", reason);
|
||||
warnx("usage: position_estimator_mc {start|stop|status}");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The position_estimator_mc_thread 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 position_estimator_mc_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("position_estimator_mc already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
position_estimator_mc_task = task_spawn("position_estimator_mc",
|
||||
SCHED_RR,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
4096,
|
||||
position_estimator_mc_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("position_estimator_mc is running");
|
||||
} else {
|
||||
warnx("position_estimator_mc not started");
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* main
|
||||
****************************************************************************/
|
||||
int position_estimator_mc_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* welcome user */
|
||||
warnx("[position_estimator_mc] started");
|
||||
int mavlink_fd;
|
||||
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
mavlink_log_info(mavlink_fd, "[position_estimator_mc] started");
|
||||
|
||||
/* initialize values */
|
||||
float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */
|
||||
// float rotMatrix[4] = {1.0f, 0.0f, 0.0f, 1.0f};
|
||||
float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
|
||||
float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
|
||||
float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
|
||||
float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f};
|
||||
float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f};
|
||||
float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f};
|
||||
|
||||
// XXX this is terribly wrong and should actual dT instead
|
||||
const float dT_const_50 = 1.0f/50.0f;
|
||||
|
||||
float addNoise = 0.0f;
|
||||
float sigma = 0.0f;
|
||||
//computed from dlqe in matlab
|
||||
const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f};
|
||||
// XXX implement baro filter
|
||||
const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f};
|
||||
float K[3] = {0.0f, 0.0f, 0.0f};
|
||||
int baro_loop_cnt = 0;
|
||||
int baro_loop_end = 70; /* measurement for 1 second */
|
||||
float p0_Pa = 0.0f; /* to determin while start up */
|
||||
float rho0 = 1.293f; /* standard pressure */
|
||||
const float const_earth_gravity = 9.81f;
|
||||
|
||||
float posX = 0.0f;
|
||||
float posY = 0.0f;
|
||||
float posZ = 0.0f;
|
||||
|
||||
double lat_current;
|
||||
double lon_current;
|
||||
float alt_current;
|
||||
|
||||
float gps_origin_altitude = 0.0f;
|
||||
|
||||
/* Initialize filter */
|
||||
kalman_dlqe2_initialize();
|
||||
kalman_dlqe3_initialize();
|
||||
|
||||
/* declare and safely initialize all structs */
|
||||
struct sensor_combined_s sensor;
|
||||
memset(&sensor, 0, sizeof(sensor));
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
struct vehicle_status_s vehicle_status;
|
||||
memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */
|
||||
struct vehicle_vicon_position_s vicon_pos;
|
||||
memset(&vicon_pos, 0, sizeof(vicon_pos));
|
||||
struct actuator_controls_effective_s act_eff;
|
||||
memset(&act_eff, 0, sizeof(act_eff));
|
||||
struct vehicle_gps_position_s gps;
|
||||
memset(&gps, 0, sizeof(gps));
|
||||
struct vehicle_local_position_s local_pos_est;
|
||||
memset(&local_pos_est, 0, sizeof(local_pos_est));
|
||||
struct vehicle_global_position_s global_pos_est;
|
||||
memset(&global_pos_est, 0, sizeof(global_pos_est));
|
||||
|
||||
/* subscribe */
|
||||
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
int sub_params = orb_subscribe(ORB_ID(parameter_update));
|
||||
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
|
||||
int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0));
|
||||
int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
|
||||
/* advertise */
|
||||
orb_advert_t local_pos_est_pub = 0;
|
||||
orb_advert_t global_pos_est_pub = 0;
|
||||
|
||||
struct position_estimator_mc_params pos1D_params;
|
||||
struct position_estimator_mc_param_handles pos1D_param_handles;
|
||||
/* initialize parameter handles */
|
||||
parameters_init(&pos1D_param_handles);
|
||||
|
||||
bool flag_use_gps = false;
|
||||
bool flag_use_baro = false;
|
||||
bool flag_baro_initialized = false; /* in any case disable baroINITdone */
|
||||
/* FIRST PARAMETER READ at START UP*/
|
||||
struct parameter_update_s update;
|
||||
orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */
|
||||
/* FIRST PARAMETER UPDATE */
|
||||
parameters_update(&pos1D_param_handles, &pos1D_params);
|
||||
flag_use_baro = pos1D_params.baro;
|
||||
sigma = pos1D_params.sigma;
|
||||
addNoise = pos1D_params.addNoise;
|
||||
/* END FIRST PARAMETER UPDATE */
|
||||
|
||||
/* try to grab a vicon message - if it fails, go for GPS. */
|
||||
|
||||
/* make sure the next orb_check() can't return true unless we get a timely update */
|
||||
orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
|
||||
/* allow 200 ms for vicon to come in */
|
||||
usleep(200000);
|
||||
/* check if we got vicon */
|
||||
bool update_check;
|
||||
orb_check(vicon_pos_sub, &update_check);
|
||||
/* if no update was available, use GPS */
|
||||
flag_use_gps = !update_check;
|
||||
|
||||
if (flag_use_gps) {
|
||||
mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked");
|
||||
/* wait until gps signal turns valid, only then can we initialize the projection */
|
||||
|
||||
// XXX magic number
|
||||
float hdop_threshold_m = 4.0f;
|
||||
float vdop_threshold_m = 8.0f;
|
||||
|
||||
/*
|
||||
* If horizontal dilution of precision (hdop / eph)
|
||||
* and vertical diluation of precision (vdop / epv)
|
||||
* are below a certain threshold (e.g. 4 m), AND
|
||||
* home position is not yet set AND the last GPS
|
||||
* GPS measurement is not older than two seconds AND
|
||||
* the system is currently not armed, set home
|
||||
* position to the current position.
|
||||
*/
|
||||
|
||||
while (!(gps.fix_type == 3
|
||||
&& (gps.eph_m < hdop_threshold_m)
|
||||
&& (gps.epv_m < vdop_threshold_m)
|
||||
&& (hrt_absolute_time() - gps.timestamp_position < 2000000))) {
|
||||
|
||||
struct pollfd fds1[2] = {
|
||||
{ .fd = vehicle_gps_sub, .events = POLLIN },
|
||||
{ .fd = sub_params, .events = POLLIN },
|
||||
};
|
||||
|
||||
/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
|
||||
* this choice is critical, since the vehicle status might not
|
||||
* actually change, if this app is started after GPS lock was
|
||||
* aquired.
|
||||
*/
|
||||
if (poll(fds1, 2, 5000)) {
|
||||
if (fds1[0].revents & POLLIN){
|
||||
/* Read gps position */
|
||||
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
|
||||
}
|
||||
if (fds1[1].revents & POLLIN){
|
||||
/* Read out parameters to check for an update there, e.g. useGPS variable */
|
||||
/* read from param to clear updated flag */
|
||||
struct parameter_update_s updated;
|
||||
orb_copy(ORB_ID(parameter_update), sub_params, &updated);
|
||||
/* update parameters */
|
||||
parameters_update(&pos1D_param_handles, &pos1D_params);
|
||||
}
|
||||
}
|
||||
static int printcounter = 0;
|
||||
if (printcounter == 100) {
|
||||
printcounter = 0;
|
||||
warnx("[pos_est_mc] wait for GPS fix");
|
||||
}
|
||||
printcounter++;
|
||||
}
|
||||
|
||||
/* get gps value for first initialization */
|
||||
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
|
||||
lat_current = ((double)(gps.lat)) * 1e-7d;
|
||||
lon_current = ((double)(gps.lon)) * 1e-7d;
|
||||
alt_current = gps.alt * 1e-3f;
|
||||
gps_origin_altitude = alt_current;
|
||||
/* initialize coordinates */
|
||||
map_projection_init(lat_current, lon_current);
|
||||
/* publish global position messages only after first GPS message */
|
||||
printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current);
|
||||
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON");
|
||||
/* onboard calculated position estimations */
|
||||
}
|
||||
thread_running = true;
|
||||
|
||||
struct pollfd fds2[3] = {
|
||||
{ .fd = vehicle_gps_sub, .events = POLLIN },
|
||||
{ .fd = vicon_pos_sub, .events = POLLIN },
|
||||
{ .fd = sub_params, .events = POLLIN },
|
||||
};
|
||||
|
||||
bool vicon_updated = false;
|
||||
bool gps_updated = false;
|
||||
|
||||
/**< main_loop */
|
||||
while (!thread_should_exit) {
|
||||
int ret = poll(fds2, 3, 20); //wait maximal this 20 ms = 50 Hz minimum rate
|
||||
if (ret < 0) {
|
||||
/* poll error */
|
||||
} else {
|
||||
if (fds2[2].revents & POLLIN){
|
||||
/* new parameter */
|
||||
/* read from param to clear updated flag */
|
||||
struct parameter_update_s updated;
|
||||
orb_copy(ORB_ID(parameter_update), sub_params, &updated);
|
||||
/* update parameters */
|
||||
parameters_update(&pos1D_param_handles, &pos1D_params);
|
||||
flag_use_baro = pos1D_params.baro;
|
||||
sigma = pos1D_params.sigma;
|
||||
addNoise = pos1D_params.addNoise;
|
||||
}
|
||||
vicon_updated = false; /* default is no vicon_updated */
|
||||
if (fds2[1].revents & POLLIN) {
|
||||
/* new vicon position */
|
||||
orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
|
||||
posX = vicon_pos.x;
|
||||
posY = vicon_pos.y;
|
||||
posZ = vicon_pos.z;
|
||||
vicon_updated = true; /* set flag for vicon update */
|
||||
} /* end of poll call for vicon updates */
|
||||
gps_updated = false;
|
||||
if (fds2[0].revents & POLLIN) {
|
||||
/* new GPS value */
|
||||
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
|
||||
/* Project gps lat lon (Geographic coordinate system) to plane*/
|
||||
map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1]));
|
||||
posX = z[0];
|
||||
posY = z[1];
|
||||
posZ = (float)(gps.alt * 1e-3f);
|
||||
gps_updated = true;
|
||||
}
|
||||
|
||||
/* Main estimator loop */
|
||||
orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff);
|
||||
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
|
||||
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor);
|
||||
// barometric pressure estimation at start up
|
||||
if (!flag_baro_initialized){
|
||||
// mean calculation over several measurements
|
||||
if (baro_loop_cnt<baro_loop_end) {
|
||||
p0_Pa += (sensor.baro_pres_mbar*100);
|
||||
baro_loop_cnt++;
|
||||
} else {
|
||||
p0_Pa /= (float)(baro_loop_cnt);
|
||||
flag_baro_initialized = true;
|
||||
char *baro_m_start = "barometer initialized with p0 = ";
|
||||
char p0_char[15];
|
||||
sprintf(p0_char, "%8.2f", (double)(p0_Pa/100));
|
||||
char *baro_m_end = " mbar";
|
||||
char str[80];
|
||||
strcpy(str,baro_m_start);
|
||||
strcat(str,p0_char);
|
||||
strcat(str,baro_m_end);
|
||||
mavlink_log_info(mavlink_fd, str);
|
||||
}
|
||||
}
|
||||
if (flag_use_gps) {
|
||||
/* initialize map projection with the last estimate (not at full rate) */
|
||||
if (gps.fix_type > 2) {
|
||||
/* x-y-position/velocity estimation in earth frame = gps frame */
|
||||
kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori);
|
||||
memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
|
||||
kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori);
|
||||
memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
|
||||
/* z-position/velocity estimation in earth frame = vicon frame */
|
||||
float z_est = 0.0f;
|
||||
if (flag_baro_initialized && flag_use_baro) {
|
||||
z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity);
|
||||
K[0] = K_vicon_50Hz[0];
|
||||
K[1] = K_vicon_50Hz[1];
|
||||
K[2] = K_vicon_50Hz[2];
|
||||
gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */
|
||||
} else {
|
||||
z_est = posZ;
|
||||
K[0] = K_vicon_50Hz[0];
|
||||
K[1] = K_vicon_50Hz[1];
|
||||
K[2] = K_vicon_50Hz[2];
|
||||
}
|
||||
|
||||
kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori);
|
||||
memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
|
||||
local_pos_est.x = x_x_aposteriori_k[0];
|
||||
local_pos_est.vx = x_x_aposteriori_k[1];
|
||||
local_pos_est.y = x_y_aposteriori_k[0];
|
||||
local_pos_est.vy = x_y_aposteriori_k[1];
|
||||
local_pos_est.z = x_z_aposteriori_k[0];
|
||||
local_pos_est.vz = x_z_aposteriori_k[1];
|
||||
local_pos_est.timestamp = hrt_absolute_time();
|
||||
if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) {
|
||||
/* publish local position estimate */
|
||||
if (local_pos_est_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
|
||||
} else {
|
||||
local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
|
||||
}
|
||||
/* publish on GPS updates */
|
||||
if (gps_updated) {
|
||||
|
||||
double lat, lon;
|
||||
float alt = z_est + gps_origin_altitude;
|
||||
|
||||
map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon);
|
||||
|
||||
global_pos_est.lat = lat;
|
||||
global_pos_est.lon = lon;
|
||||
global_pos_est.alt = alt;
|
||||
|
||||
if (global_pos_est_pub > 0) {
|
||||
orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est);
|
||||
} else {
|
||||
global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
/* x-y-position/velocity estimation in earth frame = vicon frame */
|
||||
kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori);
|
||||
memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
|
||||
kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori);
|
||||
memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
|
||||
/* z-position/velocity estimation in earth frame = vicon frame */
|
||||
float z_est = 0.0f;
|
||||
float local_sigma = 0.0f;
|
||||
if (flag_baro_initialized && flag_use_baro) {
|
||||
z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity);
|
||||
K[0] = K_vicon_50Hz[0];
|
||||
K[1] = K_vicon_50Hz[1];
|
||||
K[2] = K_vicon_50Hz[2];
|
||||
vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */
|
||||
local_sigma = 0.0f; /* don't add noise on barometer in any case */
|
||||
} else {
|
||||
z_est = posZ;
|
||||
K[0] = K_vicon_50Hz[0];
|
||||
K[1] = K_vicon_50Hz[1];
|
||||
K[2] = K_vicon_50Hz[2];
|
||||
local_sigma = sigma;
|
||||
}
|
||||
kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori);
|
||||
memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
|
||||
local_pos_est.x = x_x_aposteriori_k[0];
|
||||
local_pos_est.vx = x_x_aposteriori_k[1];
|
||||
local_pos_est.y = x_y_aposteriori_k[0];
|
||||
local_pos_est.vy = x_y_aposteriori_k[1];
|
||||
local_pos_est.z = x_z_aposteriori_k[0];
|
||||
local_pos_est.vz = x_z_aposteriori_k[1];
|
||||
local_pos_est.timestamp = hrt_absolute_time();
|
||||
if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){
|
||||
orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
|
||||
}
|
||||
}
|
||||
} /* end of poll return value check */
|
||||
}
|
||||
|
||||
printf("[pos_est_mc] exiting.\n");
|
||||
mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting");
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,68 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Damian Aregger <daregger@student.ethz.ch>
|
||||
* Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 position_estimator_mc_params.c
|
||||
*
|
||||
* Parameters for position_estimator_mc
|
||||
*/
|
||||
|
||||
#include "position_estimator_mc_params.h"
|
||||
|
||||
/* Kalman Filter covariances */
|
||||
/* gps measurement noise standard deviation */
|
||||
PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
|
||||
PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
|
||||
|
||||
int parameters_init(struct position_estimator_mc_param_handles *h)
|
||||
{
|
||||
h->addNoise = param_find("POS_EST_ADDN");
|
||||
h->sigma = param_find("POS_EST_SIGMA");
|
||||
h->r = param_find("POS_EST_R");
|
||||
h->baro_param_handle = param_find("POS_EST_BARO");
|
||||
return OK;
|
||||
}
|
||||
|
||||
int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
|
||||
{
|
||||
param_get(h->addNoise, &(p->addNoise));
|
||||
param_get(h->sigma, &(p->sigma));
|
||||
param_get(h->r, &(p->R));
|
||||
param_get(h->baro_param_handle, &(p->baro));
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Damian Aregger <daregger@student.ethz.ch>
|
||||
* Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 position_estimator_mc_params.h
|
||||
*
|
||||
* Parameters for Position Estimator
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
struct position_estimator_mc_params {
|
||||
float addNoise;
|
||||
float sigma;
|
||||
float R;
|
||||
int baro; /* consider barometer */
|
||||
};
|
||||
|
||||
struct position_estimator_mc_param_handles {
|
||||
param_t addNoise;
|
||||
param_t sigma;
|
||||
param_t r;
|
||||
param_t baro_param_handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize all parameter handles and values
|
||||
*
|
||||
*/
|
||||
int parameters_init(struct position_estimator_mc_param_handles *h);
|
||||
|
||||
/**
|
||||
* Update all parameters
|
||||
*
|
||||
*/
|
||||
int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);
|
||||
|
|
@ -46,6 +46,7 @@
|
|||
#include <drivers/drv_gpio.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <sys/types.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
|
|
|||
|
|
@ -55,38 +55,39 @@
|
|||
*/
|
||||
struct vehicle_gps_position_s
|
||||
{
|
||||
uint64_t timestamp_position; /**< Timestamp for position information */
|
||||
int32_t lat; /**< Latitude in 1E7 degrees */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees */
|
||||
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
|
||||
uint64_t timestamp_position; /**< Timestamp for position information */
|
||||
int32_t lat; /**< Latitude in 1E7 degrees */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees */
|
||||
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
|
||||
|
||||
uint64_t timestamp_variance;
|
||||
float s_variance_m_s; /**< speed accuracy estimate m/s */
|
||||
float p_variance_m; /**< position accuracy estimate m */
|
||||
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
|
||||
float p_variance_m; /**< position accuracy estimate m */
|
||||
float c_variance_rad; /**< course accuracy estimate rad */
|
||||
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
|
||||
|
||||
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
|
||||
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
|
||||
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
|
||||
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
|
||||
|
||||
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
|
||||
float vel_m_s; /**< GPS ground speed (m/s) */
|
||||
float vel_n_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_e_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_d_m_s; /**< GPS ground speed in m/s */
|
||||
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
|
||||
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
|
||||
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
|
||||
float vel_m_s; /**< GPS ground speed (m/s) */
|
||||
float vel_n_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_e_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_d_m_s; /**< GPS ground speed in m/s */
|
||||
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
|
||||
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
|
||||
|
||||
uint64_t timestamp_time; /**< Timestamp for time information */
|
||||
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
|
||||
|
||||
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
|
||||
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
|
||||
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
|
||||
uint8_t satellite_prn[20]; /**< Global satellite ID */
|
||||
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
|
||||
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
|
||||
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
|
||||
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
|
||||
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
|
||||
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
|
||||
bool satellite_info_available; /**< 0 for no info, 1 for info available */
|
||||
bool satellite_info_available; /**< 0 for no info, 1 for info available */
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -96,7 +96,7 @@ ifneq ($(CONFIG_APM),y)
|
|||
CONFIGURED_APPS += ardrone_interface
|
||||
CONFIGURED_APPS += multirotor_att_control
|
||||
CONFIGURED_APPS += multirotor_pos_control
|
||||
#CONFIGURED_APPS += fixedwing_control
|
||||
CONFIGURED_APPS += position_estimator_mc
|
||||
CONFIGURED_APPS += fixedwing_att_control
|
||||
CONFIGURED_APPS += fixedwing_pos_control
|
||||
CONFIGURED_APPS += position_estimator
|
||||
|
|
|
|||
Loading…
Reference in New Issue