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Fixed code style for attitude estimator

This commit is contained in:
Lorenz Meier 2013-01-11 07:46:40 +01:00
parent cded2787f0
commit 970ae0c13e
3 changed files with 42 additions and 32 deletions
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70
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
View File

@ -35,7 +35,7 @@
/*
* @file attitude_estimator_ekf_main.c
*
*
* Extended Kalman Filter for Attitude Estimation.
*/
@ -79,18 +79,18 @@ static float dt = 0.005f;
static float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */
static float x_aposteriori_k[12]; /**< states */
static float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; /**< init: diagonal matrix with big values */
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; /**< init: diagonal matrix with big values */
static float x_aposteriori[12];
static float P_aposteriori[144];
@ -99,9 +99,9 @@ static float P_aposteriori[144];
static float euler[3] = {0.0f, 0.0f, 0.0f};
static float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
static bool thread_should_exit = false; /**< Deamon exit flag */
@ -123,6 +123,7 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
@ -131,7 +132,7 @@ usage(const char *reason)
* The attitude_estimator_ekf app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
*
* The actual stack size should be set in the call
* to task_create().
*/
@ -150,11 +151,11 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
12000,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
12000,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
@ -166,9 +167,11 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_ekf app is running\n");
} else {
printf("\tattitude_estimator_ekf app not started\n");
}
exit(0);
}
@ -235,7 +238,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* advertise debug value */
// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
// orb_advert_t pub_dbg = -1;
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
// XXX write this out to perf regs
@ -263,8 +266,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
int ret = poll(fds, 2, 1000);
@ -273,10 +276,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
} else if (ret == 0) {
/* check if we're in HIL - not getting sensor data is fine then */
orb_copy(ORB_ID(vehicle_status), sub_state, &state);
if (!state.flag_hil_enabled) {
fprintf(stderr,
fprintf(stderr,
"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
}
} else {
/* only update parameters if they changed */
@ -308,6 +313,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count;
}
} else {
perf_begin(ekf_loop_perf);
@ -336,6 +342,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
@ -347,6 +354,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
}
z_k[6] = raw.magnetometer_ga[0];
z_k[7] = raw.magnetometer_ga[1];
z_k[8] = raw.magnetometer_ga[2];
@ -368,8 +376,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05f && dt > 0.005f)
{
if (!const_initialized && dt < 0.05f && dt > 0.005f) {
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
@ -395,13 +402,15 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
}
uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
} else {
/* due to inputs or numerical failure the output is invalid, skip it */
continue;
@ -433,6 +442,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
} else {
warnx("NaN in roll/pitch/yaw estimate!");
}

2
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -35,7 +35,7 @@
/*
* @file attitude_estimator_ekf_params.c
*
*
* Parameters for EKF filter
*/

2
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
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@ -35,7 +35,7 @@
/*
* @file attitude_estimator_ekf_params.h
*
*
* Parameters for EKF filter
*/