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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-07 04:18:15 -0700 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-07 04:18:15 -0700 |
commit | 8a2a0019a43c07d698bb3f9e98430347acd8a0a6 (patch) | |
tree | 389eea544e8125a4376bc1c8c6347e464e47f321 | |
parent | ab2a85a153f8a9d41836f47a9525d30cec0f1aa1 (diff) | |
parent | e04b8d221b43feb1b9d6e255e420e7d9670c5aa1 (diff) | |
download | px4-firmware-8a2a0019a43c07d698bb3f9e98430347acd8a0a6.tar.gz px4-firmware-8a2a0019a43c07d698bb3f9e98430347acd8a0a6.tar.bz2 px4-firmware-8a2a0019a43c07d698bb3f9e98430347acd8a0a6.zip |
Merge pull request #896 from PX4/modules_cleanup
Unused deprecated modules removed
69 files changed, 0 insertions, 6414 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c deleted file mode 100644 index 2aeca3a98..000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ /dev/null @@ -1,169 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.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 fixedwing_att_control_rate.c - * Implementation of a fixed wing attitude controller. - */ - -#include <nuttx/config.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <time.h> -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> - -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <systemlib/param/param.h> -#include <systemlib/pid/pid.h> -#include <systemlib/geo/geo.h> -#include <systemlib/systemlib.h> - -#include "fixedwing_att_control_att.h" - - -struct fw_att_control_params { - float roll_p; - float rollrate_lim; - float pitch_p; - float pitchrate_lim; - float yawrate_lim; - float pitch_roll_compensation_p; -}; - -struct fw_pos_control_param_handles { - param_t roll_p; - param_t rollrate_lim; - param_t pitch_p; - param_t pitchrate_lim; - param_t yawrate_lim; - param_t pitch_roll_compensation_p; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p); - -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->roll_p = param_find("FW_ROLL_P"); - h->rollrate_lim = param_find("FW_ROLLR_LIM"); - h->pitch_p = param_find("FW_PITCH_P"); - h->pitchrate_lim = param_find("FW_PITCHR_LIM"); - h->yawrate_lim = param_find("FW_YAWR_LIM"); - h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p) -{ - param_get(h->roll_p, &(p->roll_p)); - param_get(h->rollrate_lim, &(p->rollrate_lim)); - param_get(h->pitch_p, &(p->pitch_p)); - param_get(h->pitchrate_lim, &(p->pitchrate_lim)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); - param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); - - return OK; -} - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_att_control_params p; - static struct fw_pos_control_param_handles h; - - static PID_t roll_controller; - static PID_t pitch_controller; - - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); - } - - /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); - - - /* Pitch (P) */ - - /* compensate feedforward for loss of lift due to non-horizontal angle of wing */ - float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); - /* set pitch plus feedforward roll compensation */ - rates_sp->pitch = pid_calculate(&pitch_controller, - att_sp->pitch_body + pitch_sp_rollcompensation, - att->pitch, 0, 0); - - /* Yaw (from coordinated turn constraint or lateral force) */ - rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) - / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch)); - -// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw); - - counter++; - - return 0; -} - - - diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h deleted file mode 100644 index 600e35b89..000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.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 Fixed Wing Attitude Control */ - -#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ -#define FIXEDWING_ATT_CONTROL_ATT_H_ - -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_global_position.h> - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp); - -#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c deleted file mode 100644 index b6b4546c2..000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c +++ /dev/null @@ -1,367 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Doug Weibel <douglas.weibel@colorado.edu> - * - * 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 fixedwing_att_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include <nuttx/config.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <time.h> -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/debug_key_value.h> -#include <systemlib/param/param.h> -#include <systemlib/pid/pid.h> -#include <systemlib/geo/geo.h> -#include <systemlib/perf_counter.h> -#include <systemlib/systemlib.h> - -#include "fixedwing_att_control_rate.h" -#include "fixedwing_att_control_att.h" - -/* Prototypes */ -/** - * Deamon management function. - */ -__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_att_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/* Main Thread */ -int fixedwing_att_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing att control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_attitude_setpoint_s att_sp; - memset(&att_sp, 0, sizeof(att_sp)); - struct vehicle_rates_setpoint_s rates_sp; - memset(&rates_sp, 0, sizeof(rates_sp)); - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct manual_control_setpoint_s manual_sp; - memset(&manual_sp, 0, sizeof(manual_sp)); - struct vehicle_control_mode_s control_mode; - memset(&control_mode, 0, sizeof(control_mode)); - struct vehicle_status_s vstatus; - memset(&vstatus, 0, sizeof(vstatus)); - - /* output structs */ - struct actuator_controls_s actuators; - memset(&actuators, 0, sizeof(actuators)); - - - /* publish actuator controls */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { - actuators.control[i] = 0.0f; - } - - orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - - /* subscribe */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* Setup of loop */ - float gyro[3] = {0.0f, 0.0f, 0.0f}; - float speed_body[3] = {0.0f, 0.0f, 0.0f}; - struct pollfd fds = { .fd = att_sub, .events = POLLIN }; - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - poll(&fds, 1, 500); - - /* Check if there is a new position measurement or attitude setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool att_sp_updated; - orb_check(att_sp_sub, &att_sp_updated); - - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (att_sp_updated) - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - - if (att.R_valid) { - speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; - speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; - speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; - - } else { - speed_body[0] = 0; - speed_body[1] = 0; - speed_body[2] = 0; - - printf("FW ATT CONTROL: Did not get a valid R\n"); - } - } - - orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; - - /* set manual setpoints if required */ - if (control_mode.flag_control_manual_enabled) { - if (control_mode.flag_control_attitude_enabled) { - - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (vstatus.rc_signal_lost) { - - /* put plane into loiter */ - att_sp.roll_body = 0.3f; - att_sp.pitch_body = 0.0f; - - /* limit throttle to 60 % of last value if sane */ - if (isfinite(manual_sp.throttle) && - (manual_sp.throttle >= 0.0f) && - (manual_sp.throttle <= 1.0f)) { - att_sp.thrust = 0.6f * manual_sp.throttle; - - } else { - att_sp.thrust = 0.0f; - } - - att_sp.yaw_body = 0; - - // XXX disable yaw control, loiter - - } else { - - att_sp.roll_body = manual_sp.roll; - att_sp.pitch_body = manual_sp.pitch; - att_sp.yaw_body = 0; - att_sp.thrust = manual_sp.throttle; - } - - att_sp.timestamp = hrt_absolute_time(); - - /* pass through flaps */ - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - - } else { - /* directly pass through values */ - actuators.control[0] = manual_sp.roll; - /* positive pitch means negative actuator -> pull up */ - actuators.control[1] = manual_sp.pitch; - actuators.control[2] = manual_sp.yaw; - actuators.control[3] = manual_sp.throttle; - - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - } - } - - /* execute attitude control if requested */ - if (control_mode.flag_control_attitude_enabled) { - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* set flaps to zero */ - actuators.control[4] = 0.0f; - - } - - /* publish rates */ - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); - - /* sanity check and publish actuator outputs */ - if (isfinite(actuators.control[0]) && - isfinite(actuators.control[1]) && - isfinite(actuators.control[2]) && - isfinite(actuators.control[3])) { - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } - } - - printf("[fixedwing_att_control] exiting, stopping all motors.\n"); - thread_running = false; - - /* kill all outputs */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - actuators.control[i] = 0.0f; - - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - - - close(att_sub); - close(actuator_pub); - close(rates_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_att_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_att_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("fixedwing_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_att_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_att_control is running\n"); - - } else { - printf("\tfixedwing_att_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - - - diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c deleted file mode 100644 index cdab39edc..000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ /dev/null @@ -1,211 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler <thomasgubler@student.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 fixedwing_att_control_rate.c - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * - * Implementation of a fixed wing attitude controller. - * - */ - -#include <nuttx/config.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <time.h> -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> - -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <systemlib/param/param.h> -#include <systemlib/pid/pid.h> -#include <systemlib/geo/geo.h> -#include <systemlib/systemlib.h> - -#include "fixedwing_att_control_rate.h" - -/* - * Controller parameters, accessible via MAVLink - * - */ -// Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); -PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); - -//Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); - -//Yaw control parameters //XXX TODO this is copy paste, asign correct values -PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec - -/* feedforward compensation */ -PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ - -struct fw_rate_control_params { - float rollrate_p; - float rollrate_i; - float rollrate_awu; - float pitchrate_p; - float pitchrate_i; - float pitchrate_awu; - float yawrate_p; - float yawrate_i; - float yawrate_awu; - float pitch_thr_ff; -}; - -struct fw_rate_control_param_handles { - param_t rollrate_p; - param_t rollrate_i; - param_t rollrate_awu; - param_t pitchrate_p; - param_t pitchrate_i; - param_t pitchrate_awu; - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_awu; - param_t pitch_thr_ff; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_rate_control_param_handles *h); -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); - -static int parameters_init(struct fw_rate_control_param_handles *h) -{ - /* PID parameters */ - h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing - h->rollrate_i = param_find("FW_ROLLR_I"); - h->rollrate_awu = param_find("FW_ROLLR_AWU"); - - h->pitchrate_p = param_find("FW_PITCHR_P"); - h->pitchrate_i = param_find("FW_PITCHR_I"); - h->pitchrate_awu = param_find("FW_PITCHR_AWU"); - - h->yawrate_p = param_find("FW_YAWR_P"); - h->yawrate_i = param_find("FW_YAWR_I"); - h->yawrate_awu = param_find("FW_YAWR_AWU"); - h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); - - return OK; -} - -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) -{ - param_get(h->rollrate_p, &(p->rollrate_p)); - param_get(h->rollrate_i, &(p->rollrate_i)); - param_get(h->rollrate_awu, &(p->rollrate_awu)); - param_get(h->pitchrate_p, &(p->pitchrate_p)); - param_get(h->pitchrate_i, &(p->pitchrate_i)); - param_get(h->pitchrate_awu, &(p->pitchrate_awu)); - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); - - return OK; -} - -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_rate_control_params p; - static struct fw_rate_control_param_handles h; - - static PID_t roll_rate_controller; - static PID_t pitch_rate_controller; - static PID_t yaw_rate_controller; - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); - } - - - /* roll rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); - /* pitch rate (PI) */ - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* yaw rate (PI) */ - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); - - counter++; - - return 0; -} - - - diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h deleted file mode 100644 index 500e3e197..000000000 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h +++ /dev/null @@ -1,48 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.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 Fixed Wing Attitude Rate Control */ - -#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ -#define FIXEDWING_ATT_CONTROL_RATE_H_ - -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/actuator_controls.h> - -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators); - -#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk deleted file mode 100644 index fd1a8724a..000000000 --- a/src/modules/fixedwing_att_control/module.mk +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing Attitude Control application -# - -MODULE_COMMAND = fixedwing_att_control - -SRCS = fixedwing_att_control_main.c \ - fixedwing_att_control_att.c \ - fixedwing_att_control_rate.c diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c deleted file mode 100644 index 888dd0942..000000000 --- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c +++ /dev/null @@ -1,479 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Doug Weibel <douglas.weibel@colorado.edu> - * - * 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 fixedwing_pos_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include <nuttx/config.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <time.h> -#include <drivers/drv_hrt.h> -#include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/manual_control_setpoint.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/parameter_update.h> -#include <systemlib/param/param.h> -#include <systemlib/pid/pid.h> -#include <systemlib/geo/geo.h> -#include <systemlib/perf_counter.h> -#include <systemlib/systemlib.h> - -/* - * Controller parameters, accessible via MAVLink - * - */ -PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value -PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track -PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians -PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */ - -struct fw_pos_control_params { - float heading_p; - float headingr_p; - float headingr_i; - float headingr_lim; - float xtrack_p; - float altitude_p; - float roll_lim; - float pitch_lim; -}; - -struct fw_pos_control_param_handles { - param_t heading_p; - param_t headingr_p; - param_t headingr_i; - param_t headingr_lim; - param_t xtrack_p; - param_t altitude_p; - param_t roll_lim; - param_t pitch_lim; -}; - - -struct planned_path_segments_s { - bool segment_type; - double start_lat; // Start of line or center of arc - double start_lon; - double end_lat; - double end_lon; - float radius; // Radius of arc - float arc_start_bearing; // Bearing from center to start of arc - float arc_sweep; // Angle (radians) swept out by arc around center. - // Positive for clockwise, negative for counter-clockwise -}; - - -/* Prototypes */ -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p); - -/** - * Deamon management function. - */ -__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - - -/** - * Parameter management - */ -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->heading_p = param_find("FW_HEAD_P"); - h->headingr_p = param_find("FW_HEADR_P"); - h->headingr_i = param_find("FW_HEADR_I"); - h->headingr_lim = param_find("FW_HEADR_LIM"); - h->xtrack_p = param_find("FW_XTRACK_P"); - h->altitude_p = param_find("FW_ALT_P"); - h->roll_lim = param_find("FW_ROLL_LIM"); - h->pitch_lim = param_find("FW_PITCH_LIM"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) -{ - param_get(h->heading_p, &(p->heading_p)); - param_get(h->headingr_p, &(p->headingr_p)); - param_get(h->headingr_i, &(p->headingr_i)); - param_get(h->headingr_lim, &(p->headingr_lim)); - param_get(h->xtrack_p, &(p->xtrack_p)); - param_get(h->altitude_p, &(p->altitude_p)); - param_get(h->roll_lim, &(p->roll_lim)); - param_get(h->pitch_lim, &(p->pitch_lim)); - - return OK; -} - - -/* Main Thread */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing pos control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct vehicle_global_position_s start_pos; // Temporary variable, replace with - memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available - struct vehicle_global_position_setpoint_s global_setpoint; - memset(&global_setpoint, 0, sizeof(global_setpoint)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct crosstrack_error_s xtrack_err; - memset(&xtrack_err, 0, sizeof(xtrack_err)); - struct parameter_update_s param_update; - memset(¶m_update, 0, sizeof(param_update)); - - /* output structs */ - struct vehicle_attitude_setpoint_s attitude_setpoint; - memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); - - /* publish attitude setpoint */ - attitude_setpoint.roll_body = 0.0f; - attitude_setpoint.pitch_body = 0.0f; - attitude_setpoint.yaw_body = 0.0f; - attitude_setpoint.thrust = 0.0f; - orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); - - /* subscribe */ - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - - /* Setup of loop */ - struct pollfd fds[2] = { - { .fd = param_sub, .events = POLLIN }, - { .fd = att_sub, .events = POLLIN } - }; - bool global_sp_updated_set_once = false; - - float psi_track = 0.0f; - - int counter = 0; - - struct fw_pos_control_params p; - struct fw_pos_control_param_handles h; - - PID_t heading_controller; - PID_t heading_rate_controller; - PID_t offtrack_controller; - PID_t altitude_controller; - - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value - - /* error and performance monitoring */ - perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); - perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); - - if (ret < 0) { - /* poll error, count it in perf */ - perf_count(fw_err_perf); - - } else if (ret == 0) { - /* no return value, ignore */ - } else { - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), param_sub, &update); - - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); - pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); - pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value - } - - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { - - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* check if there is a new position or setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool global_sp_updated; - orb_check(global_setpoint_sub, &global_sp_updated); - - /* load local copies */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - } - - if (global_sp_updated) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) - global_sp_updated_set_once = true; - psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - printf("next wp direction: %0.4f\n", (double)psi_track); - } - - /* Simple Horizontal Control */ - if (global_sp_updated_set_once) { - // if (counter % 100 == 0) - // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate crosstrack error */ - // Only the case of a straight line track following handled so far - int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - // XXX what is xtrack_err.past_end? - if (distance_res == OK /*&& !xtrack_err.past_end*/) { - - float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance - - float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - - /* wrap difference back onto -pi..pi range */ - psi_e = _wrap_pi(psi_e); - - if (verbose) { - printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); - printf("delta_psi_c %.4f ", (double)delta_psi_c); - printf("psi_c %.4f ", (double)psi_c); - printf("att.yaw %.4f ", (double)att.yaw); - printf("psi_e %.4f ", (double)psi_e); - } - - /* calculate roll setpoint, do this artificially around zero */ - float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); - float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following - float psi_rate_c = delta_psi_rate_c + psi_rate_track; - - /* limit turn rate */ - if (psi_rate_c > p.headingr_lim) { - psi_rate_c = p.headingr_lim; - - } else if (psi_rate_c < -p.headingr_lim) { - psi_rate_c = -p.headingr_lim; - } - - float psi_rate_e = psi_rate_c - att.yawspeed; - - // XXX sanity check: Assume 10 m/s stall speed and no stall condition - float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - - if (ground_speed < 10.0f) { - ground_speed = 10.0f; - } - - float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); - - if (verbose) { - printf("psi_rate_c %.4f ", (double)psi_rate_c); - printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); - printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); - } - - if (verbose && counter % 100 == 0) - printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c); - - } else { - if (verbose && counter % 100 == 0) - printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); - } - - /* Very simple Altitude Control */ - if (pos_updated) { - - //TODO: take care of relative vs. ab. altitude - attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); - - } - - // XXX need speed control - attitude_setpoint.thrust = 0.7f; - - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); - - /* measure in what intervals the controller runs */ - perf_count(fw_interval_perf); - - counter++; - - } else { - // XXX no setpoint, decent default needed (loiter?) - } - } - } - } - - printf("[fixedwing_pos_control] exiting.\n"); - thread_running = false; - - - close(attitude_setpoint_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_pos_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_pos_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("fixedwing_pos_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_pos_control is running\n"); - - } else { - printf("\tfixedwing_pos_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/modules/fixedwing_pos_control/module.mk deleted file mode 100644 index b976377e9..000000000 --- a/src/modules/fixedwing_pos_control/module.mk +++ /dev/null @@ -1,40 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing PositionControl application -# - -MODULE_COMMAND = fixedwing_pos_control - -SRCS = fixedwing_pos_control_main.c diff --git a/src/modules/position_estimator/module.mk b/src/modules/position_estimator/module.mk deleted file mode 100644 index f64095d9d..000000000 --- a/src/modules/position_estimator/module.mk +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the position estimator -# - -MODULE_COMMAND = position_estimator - -# XXX this should be converted to a deamon, its a pretty bad example app -MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT -MODULE_STACKSIZE = 4096 - -SRCS = position_estimator_main.c diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c deleted file mode 100644 index e84945299..000000000 --- a/src/modules/position_estimator/position_estimator_main.c +++ /dev/null @@ -1,423 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli <naegelit@student.ethz.ch> - * Thomas Gubler <thomasgubler@student.ethz.ch> - * Julian Oes <joes@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 <nuttx/config.h> -#include <unistd.h> -#include <stdlib.h> -#include <stdio.h> -#include <stdbool.h> -#include <fcntl.h> -#include <float.h> -#include <nuttx/sched.h> -#include <sys/prctl.h> -#include <termios.h> -#include <errno.h> -#include <limits.h> -#include <math.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_local_position.h> -#include <poll.h> - -#define N_STATES 6 -#define ERROR_COVARIANCE_INIT 3 -#define R_EARTH 6371000.0 - -#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000 -#define REPROJECTION_COUNTER_LIMIT 125 - -__EXPORT int position_estimator_main(int argc, char *argv[]); - -static uint16_t position_estimator_counter_position_information; - -/* values for map projection */ -static double phi_1; -static double sin_phi_1; -static double cos_phi_1; -static double lambda_0; -static double scale; - -/** - * Initializes the map transformation. - * - * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 -{ - /* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - phi_1 = lat_0 / 180.0 * M_PI; - lambda_0 = lon_0 / 180.0 * M_PI; - - sin_phi_1 = sin(phi_1); - cos_phi_1 = cos(phi_1); - - /* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale - - /* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */ - const double r_earth = 6371000; - - double lat1 = phi_1; - double lon1 = lambda_0; - - double lat2 = phi_1 + 0.5 / 180 * M_PI; - double lon2 = lambda_0 + 0.5 / 180 * M_PI; - double sin_lat_2 = sin(lat2); - double cos_lat_2 = cos(lat2); - double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth; - - /* 2) calculate distance rho on plane */ - double k_bar = 0; - double c = acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)); - - if (0 != c) - k_bar = c / sin(c); - - double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane - double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0))); - double rho = sqrt(pow(x2, 2) + pow(y2, 2)); - - scale = d / rho; - -} - -/** - * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_project(double lat, double lon, float *x, float *y) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - double phi = lat / 180.0 * M_PI; - double lambda = lon / 180.0 * M_PI; - - double sin_phi = sin(phi); - double cos_phi = cos(phi); - - double k_bar = 0; - /* using small angle approximation (formula in comment is without aproximation) */ - double c = acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c = acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) ); - - if (0 != c) - k_bar = c / sin(c); - - /* using small angle approximation (formula in comment is without aproximation) */ - *y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale; - *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; // *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale; - -// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0); -} - -/** - * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system - * - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_reproject(float x, float y, double *lat, double *lon) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - - double x_descaled = x / scale; - double y_descaled = y / scale; - - double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2)); - double sin_c = sin(c); - double cos_c = cos(c); - - double lat_sphere = 0; - - if (c != 0) - lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c); - else - lat_sphere = asin(cos_c * sin_phi_1); - -// printf("lat_sphere = %.10f\n",lat_sphere); - - double lon_sphere = 0; - - if (phi_1 == M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled)); - - } else if (phi_1 == -M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled)); - - } else { - - lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c)); - //using small angle approximation -// double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c); -// if(denominator != 0) -// { -// lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator); -// } -// else -// { -// ... -// } - } - -// printf("lon_sphere = %.10f\n",lon_sphere); - - *lat = lat_sphere * 180.0 / M_PI; - *lon = lon_sphere * 180.0 / M_PI; - -} - -/**************************************************************************** - * main - ****************************************************************************/ - -int position_estimator_main(int argc, char *argv[]) -{ - - /* welcome user */ - printf("[multirotor position_estimator] started\n"); - - /* initialize values */ - static float u[2] = {0, 0}; - static float z[3] = {0, 0, 0}; - static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0}; - static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0 - }; - - static float xapo1[N_STATES]; - static float Papo1[36]; - - static float gps_covariance[3] = {0.0f, 0.0f, 0.0f}; - - static uint16_t counter = 0; - position_estimator_counter_position_information = 0; - - uint8_t predict_only = 1; - - bool gps_valid = false; - - bool new_initialization = true; - - static double lat_current = 0.0d;//[°]] --> 47.0 - static double lon_current = 0.0d; //[°]] -->8.5 - float alt_current = 0.0f; - - - //TODO: handle flight without gps but with estimator - - /* subscribe to vehicle status, attitude, gps */ - struct vehicle_gps_position_s gps; - gps.fix_type = 0; - struct vehicle_status_s vstatus; - struct vehicle_attitude_s att; - - int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* subscribe to attitude at 100 Hz */ - int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - - /* wait until gps signal turns valid, only then can we initialize the projection */ - while (gps.fix_type < 3) { - struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .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(fds, 1, 5000)) { - /* Wait for the GPS update to propagate (we have some time) */ - usleep(5000); - /* Read wether the vehicle status changed */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - gps_valid = (gps.fix_type > 2); - } - } - - /* get gps value for first initialization */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - lat_current = ((double)(gps.lat)) * 1e-7; - lon_current = ((double)(gps.lon)) * 1e-7; - alt_current = gps.alt * 1e-3; - - /* initialize coordinates */ - map_projection_init(lat_current, lon_current); - - /* publish global position messages only after first GPS message */ - struct vehicle_local_position_s local_pos = { - .x = 0, - .y = 0, - .z = 0 - }; - orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); - - printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); - - while (1) { - - /*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */ - struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} }; - - if (poll(fds, 1, 5000) <= 0) { - /* error / timeout */ - } else { - - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); - /* got attitude, updating pos as well */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - - /*copy attitude */ - u[0] = att.roll; - u[1] = att.pitch; - - /* initialize map projection with the last estimate (not at full rate) */ - if (gps.fix_type > 2) { - /* Project gps lat lon (Geographic coordinate system) to plane*/ - map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1])); - - local_pos.x = z[0]; - local_pos.y = z[1]; - /* negative offset from initialization altitude */ - local_pos.z = alt_current - (gps.alt) * 1e-3; - - - orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos); - } - - - // gps_covariance[0] = gps.eph; //TODO: needs scaling - // gps_covariance[1] = gps.eph; - // gps_covariance[2] = gps.epv; - - // } else { - // /* we can not use the gps signal (it is of low quality) */ - // predict_only = 1; - // } - - // // predict_only = 0; //TODO: only for testing, removeme, XXX - // // z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX - // // usleep(100000); //TODO: only for testing, removeme, XXX - - - // /*Get new estimation (this is calculated in the plane) */ - // //TODO: if new_initialization == true: use 0,0,0, else use xapo - // if (true == new_initialization) { //TODO,XXX: uncomment! - // xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane - // xapo[2] = 0; - // xapo[4] = 0; - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - - // } else { - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - // } - - - - // /* Copy values from xapo1 to xapo */ - // int i; - - // for (i = 0; i < N_STATES; i++) { - // xapo[i] = xapo1[i]; - // } - - // if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) { - // /* Reproject from plane to geographic coordinate system */ - // // map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment! - // map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme - // // //DEBUG - // // if(counter%500 == 0) - // // { - // // printf("phi_1: %.10f\n", phi_1); - // // printf("lambda_0: %.10f\n", lambda_0); - // // printf("lat_estimated: %.10f\n", lat_current); - // // printf("lon_estimated: %.10f\n", lon_current); - // // printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]); - // // fflush(stdout); - // // - // // } - - // // if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5])) - // // { - // /* send out */ - - // global_pos.lat = lat_current; - // global_pos.lon = lon_current; - // global_pos.alt = xapo1[4]; - // global_pos.vx = xapo1[1]; - // global_pos.vy = xapo1[3]; - // global_pos.vz = xapo1[5]; - - /* publish current estimate */ - // orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos); - // } - // else - // { - // printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]); - // fflush(stdout); - // } - - // } - - counter++; - } - - } - - return 0; -} - - diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c deleted file mode 100755 index 977565b8e..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c +++ /dev/null @@ -1,58 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h deleted file mode 100755 index 2f5330563..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c deleted file mode 100755 index 6627f76e9..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h deleted file mode 100755 index a77eb5712..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c deleted file mode 100755 index a65536f79..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h deleted file mode 100755 index 100c7f76c..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h deleted file mode 100755 index d4b2c2d61..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c deleted file mode 100755 index 11b999064..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c +++ /dev/null @@ -1,119 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h deleted file mode 100755 index 30170ae22..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c deleted file mode 100755 index de5a1d8aa..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h deleted file mode 100755 index 3d507ff31..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c deleted file mode 100755 index 0757c878c..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h deleted file mode 100755 index 23995020b..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h deleted file mode 100755 index f7a04d908..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c deleted file mode 100755 index 9efe2ea7a..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c +++ /dev/null @@ -1,137 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h deleted file mode 100755 index 9bbffbbb3..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h +++ /dev/null @@ -1,33 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c deleted file mode 100755 index 8f2275c13..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c +++ /dev/null @@ -1,32 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h deleted file mode 100755 index 952eb7b89..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h +++ /dev/null @@ -1,38 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c deleted file mode 100755 index b87d604c4..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c +++ /dev/null @@ -1,47 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h deleted file mode 100755 index 9dee90f9e..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h +++ /dev/null @@ -1,33 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c deleted file mode 100755 index b00858205..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h deleted file mode 100755 index 69cc85c76..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h +++ /dev/null @@ -1,33 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h deleted file mode 100755 index f36ea4557..000000000 --- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c deleted file mode 100755 index 5139848bc..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c +++ /dev/null @@ -1,136 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h deleted file mode 100755 index 205c8eb4e..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c deleted file mode 100755 index 4c535618a..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c +++ /dev/null @@ -1,157 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h deleted file mode 100755 index 94cbe2ce6..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c deleted file mode 100755 index aa89f8a9d..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h deleted file mode 100755 index 8d358a9a3..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c deleted file mode 100755 index 20ed2edbb..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h deleted file mode 100755 index 5eb5807a0..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h deleted file mode 100755 index 43e5f016c..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c deleted file mode 100755 index 5bd87c390..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h deleted file mode 100755 index 44bce472f..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c deleted file mode 100755 index 41e11936f..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h deleted file mode 100755 index e84ea01bc..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h deleted file mode 100755 index 4b473f56f..000000000 --- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c deleted file mode 100755 index 51aef7b76..000000000 --- a/src/modules/position_estimator_mc/codegen/randn.c +++ /dev/null @@ -1,524 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h deleted file mode 100755 index 8a2aa9277..000000000 --- a/src/modules/position_estimator_mc/codegen/randn.h +++ /dev/null @@ -1,33 +0,0 @@ -/*
- * 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) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c deleted file mode 100755 index c6fa7884e..000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetInf.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h deleted file mode 100755 index e7b2a2d1c..000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetInf.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c deleted file mode 100755 index 552770149..000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetNaN.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h deleted file mode 100755 index 5acdd9790..000000000 --- a/src/modules/position_estimator_mc/codegen/rtGetNaN.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c deleted file mode 100755 index de121c4a0..000000000 --- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c +++ /dev/null @@ -1,87 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h deleted file mode 100755 index 3bbcfd087..000000000 --- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h deleted file mode 100755 index 8916e8572..000000000 --- a/src/modules/position_estimator_mc/codegen/rtwtypes.h +++ /dev/null @@ -1,159 +0,0 @@ -/* - * 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) */ diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m deleted file mode 100755 index ff939d029..000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe1.m +++ /dev/null @@ -1,3 +0,0 @@ -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
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m deleted file mode 100755 index 2a50164ef..000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe2.m +++ /dev/null @@ -1,9 +0,0 @@ -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
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m deleted file mode 100755 index 4c6421b7f..000000000 --- a/src/modules/position_estimator_mc/kalman_dlqe3.m +++ /dev/null @@ -1,17 +0,0 @@ -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
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk deleted file mode 100644 index 40b135ea4..000000000 --- a/src/modules/position_estimator_mc/module.mk +++ /dev/null @@ -1,60 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the position estimator -# - -MODULE_COMMAND = position_estimator_mc - -SRCS = 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 diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m deleted file mode 100755 index 144ff8c7c..000000000 --- a/src/modules/position_estimator_mc/positionKalmanFilter1D.m +++ /dev/null @@ -1,19 +0,0 @@ -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 diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m deleted file mode 100755 index f94cce1fb..000000000 --- a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m +++ /dev/null @@ -1,26 +0,0 @@ -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 - diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c deleted file mode 100755 index 363961819..000000000 --- a/src/modules/position_estimator_mc/position_estimator_mc_main.c +++ /dev/null @@ -1,515 +0,0 @@ -/**************************************************************************** - * - * 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_cmd("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]))){ - 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); - //char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]); - //mavlink_log_info(mavlink_fd, buf); - } - } - } /* 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; -} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c deleted file mode 100755 index 72e5bc73b..000000000 --- a/src/modules/position_estimator_mc/position_estimator_mc_params.c +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * 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; -} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h deleted file mode 100755 index c4c95f7b4..000000000 --- a/src/modules/position_estimator_mc/position_estimator_mc_params.h +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * 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); diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk deleted file mode 100644 index 89da2d827..000000000 --- a/src/modules/sdlog/module.mk +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# sdlog Application -# - -MODULE_COMMAND = sdlog -# The main thread only buffers to RAM, needs a high priority -MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" - -SRCS = sdlog.c \ - sdlog_ringbuffer.c diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c deleted file mode 100644 index c22523bf2..000000000 --- a/src/modules/sdlog/sdlog.c +++ /dev/null @@ -1,840 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: 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 sdlog.c - * @author Lorenz Meier <lm@inf.ethz.ch> - * - * Simple SD logger for flight data. Buffers new sensor values and - * does the heavy SD I/O in a low-priority worker thread. - */ - -#include <nuttx/config.h> -#include <sys/types.h> -#include <sys/stat.h> -#include <sys/prctl.h> -#include <fcntl.h> -#include <errno.h> -#include <unistd.h> -#include <stdio.h> -#include <poll.h> -#include <stdlib.h> -#include <string.h> -#include <ctype.h> -#include <systemlib/err.h> -#include <unistd.h> -#include <drivers/drv_hrt.h> - -#include <uORB/uORB.h> -#include <uORB/topics/sensor_combined.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_attitude_setpoint.h> -#include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <uORB/topics/vehicle_command.h> -#include <uORB/topics/vehicle_local_position.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/optical_flow.h> -#include <uORB/topics/battery_status.h> -#include <uORB/topics/differential_pressure.h> -#include <uORB/topics/airspeed.h> - -#include <systemlib/systemlib.h> - -#include <mavlink/mavlink_log.h> - -#include "sdlog_ringbuffer.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ - -static const char *mountpoint = "/fs/microsd"; -static const char *mfile_in = "/etc/logging/logconv.m"; -int sysvector_file = -1; -int mavlink_fd = -1; -struct sdlog_logbuffer lb; - -/* mutex / condition to synchronize threads */ -pthread_mutex_t sysvector_mutex; -pthread_cond_t sysvector_cond; - -/** - * System state vector log buffer writing - */ -static void *sdlog_sysvector_write_thread(void *arg); - -/** - * Create the thread to write the system vector - */ -pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf); - -/** - * SD log management function. - */ -__EXPORT int sdlog_main(int argc, char *argv[]); - -/** - * Mainloop of sd log deamon. - */ -int sdlog_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static int file_exist(const char *filename); - -static int file_copy(const char *file_old, const char *file_new); - -static void handle_command(struct vehicle_command_s *cmd); - -/** - * Print the current status. - */ -static void print_sdlog_status(void); - -/** - * Create folder for current logging session. - */ -static int create_logfolder(char *folder_path); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n"); -} - -// XXX turn this into a C++ class -unsigned sensor_combined_bytes = 0; -unsigned actuator_outputs_bytes = 0; -unsigned actuator_controls_bytes = 0; -unsigned sysvector_bytes = 0; -unsigned blackbox_file_bytes = 0; -uint64_t starttime = 0; - -/* logging on or off, default to true */ -bool logging_enabled = true; - -/** - * The sd log deamon 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_spawn_cmd(). - */ -int sdlog_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("sdlog already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn_cmd("sdlog", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 4096, - sdlog_thread_main, - (const char **)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (!thread_running) { - printf("\tsdlog is not started\n"); - } - - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - print_sdlog_status(); - - } else { - printf("\tsdlog not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int create_logfolder(char *folder_path) -{ - /* make folder on sdcard */ - uint16_t foldernumber = 1; // start with folder 0001 - int mkdir_ret; - - /* look for the next folder that does not exist */ - while (foldernumber < MAX_NO_LOGFOLDER) { - /* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */ - sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber); - mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); - /* the result is -1 if the folder exists */ - - if (mkdir_ret == 0) { - /* folder does not exist, success */ - - /* now copy the Matlab/Octave file */ - char mfile_out[100]; - sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); - int ret = file_copy(mfile_in, mfile_out); - - if (!ret) { - warnx("copied m file to %s", mfile_out); - - } else { - warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); - } - - break; - - } else if (mkdir_ret == -1) { - /* folder exists already */ - foldernumber++; - continue; - - } else { - warn("failed creating new folder"); - return -1; - } - } - - if (foldernumber >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - warn("all %d possible folders exist already", MAX_NO_LOGFOLDER); - return -1; - } - - return 0; -} - - -static void * -sdlog_sysvector_write_thread(void *arg) -{ - /* set name */ - prctl(PR_SET_NAME, "sdlog microSD I/O", 0); - - struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg; - - int poll_count = 0; - struct sdlog_sysvector sysvect; - memset(&sysvect, 0, sizeof(sysvect)); - - while (!thread_should_exit) { - - /* make sure threads are synchronized */ - pthread_mutex_lock(&sysvector_mutex); - - /* only wait if no data is available to process */ - if (sdlog_logbuffer_is_empty(logbuf)) { - /* blocking wait for new data at this line */ - pthread_cond_wait(&sysvector_cond, &sysvector_mutex); - } - - /* only quickly load data, do heavy I/O a few lines down */ - int ret = sdlog_logbuffer_read(logbuf, &sysvect); - /* continue */ - pthread_mutex_unlock(&sysvector_mutex); - - if (ret == OK) { - sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect)); - } - - if (poll_count % 100 == 0) { - fsync(sysvector_file); - } - - poll_count++; - } - - fsync(sysvector_file); - - return OK; -} - -pthread_t -sysvector_write_start(struct sdlog_logbuffer *logbuf) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - /* low priority, as this is expensive disk I/O */ - param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf); - return thread; - - // XXX we have to destroy the attr at some point -} - - -int sdlog_thread_main(int argc, char *argv[]) -{ - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* log every n'th value (skip three per default) */ - int skip_value = 3; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - int ch; - - while ((ch = getopt(argc, argv, "s:r")) != EOF) { - switch (ch) { - case 's': - { - /* log only every n'th (gyro clocked) value */ - unsigned s = strtoul(optarg, NULL, 10); - - if (s < 1 || s > 250) { - errx(1, "Wrong skip value of %d, out of range (1..250)\n", s); - } else { - skip_value = s; - } - } - break; - - case 'r': - /* log only on request, disable logging per default */ - logging_enabled = false; - break; - - case '?': - if (optopt == 'c') { - warnx("Option -%c requires an argument.\n", optopt); - } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.\n", optopt); - } else { - warnx("Unknown option character `\\x%x'.\n", optopt); - } - - default: - usage("unrecognized flag"); - errx(1, "exiting."); - } - } - - if (file_exist(mountpoint) != OK) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } - - char folder_path[64]; - - if (create_logfolder(folder_path)) - errx(1, "unable to create logging folder, exiting."); - - FILE *gpsfile; - FILE *blackbox_file; - - /* string to hold the path to the sensorfile */ - char path_buf[64] = ""; - - /* only print logging path, important to find log file later */ - warnx("logging to directory %s\n", folder_path); - - /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */ - sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector"); - - if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) { - errx(1, "opening %s failed.\n", path_buf); - } - - /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "gps"); - - if (NULL == (gpsfile = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - int gpsfile_no = fileno(gpsfile); - - /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox"); - - if (NULL == (blackbox_file = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - // XXX for fsync() calls - int blackbox_file_no = fileno(blackbox_file); - - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - - - struct { - struct sensor_combined_s raw; - struct vehicle_attitude_s att; - struct vehicle_attitude_setpoint_s att_sp; - struct actuator_outputs_s act_outputs; - struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; - struct vehicle_command_s cmd; - struct vehicle_local_position_s local_pos; - struct vehicle_global_position_s global_pos; - struct vehicle_gps_position_s gps_pos; - struct vehicle_vicon_position_s vicon_pos; - struct optical_flow_s flow; - struct battery_status_s batt; - struct differential_pressure_s diff_pres; - struct airspeed_s airspeed; - } buf; - memset(&buf, 0, sizeof(buf)); - - struct { - int cmd_sub; - int sensor_sub; - int att_sub; - int spa_sub; - int act_0_sub; - int controls_0_sub; - int controls_effective_0_sub; - int local_pos_sub; - int global_pos_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int batt_sub; - int diff_pres_sub; - int airspeed_sub; - } subs; - - /* --- MANAGEMENT - LOGGING COMMAND --- */ - /* subscribe to ORB for vehicle command */ - subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ - /* subscribe to ORB for global position */ - subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS RAW VALUE --- */ - /* subscribe to ORB for sensors raw */ - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - /* do not rate limit, instead use skip counter (aliasing on rate limit) */ - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE VALUE --- */ - /* subscribe to ORB for attitude */ - subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT VALUE --- */ - /* subscribe to ORB for attitude setpoint */ - /* struct already allocated */ - subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.spa_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /** --- ACTUATOR OUTPUTS --- */ - subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - fds[fdsc_count].fd = subs.act_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.controls_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.controls_effective_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ - /* subscribe to ORB for local position */ - subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ - /* subscribe to ORB for global position */ - subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ - /* subscribe to ORB for vicon position */ - subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- FLOW measurements --- */ - /* subscribe to ORB for flow measurements */ - subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY STATUS --- */ - /* subscribe to ORB for flow measurements */ - subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.batt_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- DIFFERENTIAL PRESSURE --- */ - /* subscribe to ORB for flow measurements */ - subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pres_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- AIRSPEED --- */ - /* subscribe to ORB for airspeed */ - subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - fds[fdsc_count].fd = subs.airspeed_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* WARNING: If you get the error message below, - * then the number of registered messages (fdsc) - * differs from the number of messages in the above list. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); - fdsc_count = fdsc; - } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - // const int timeout = 1000; - - thread_running = true; - - /* initialize log buffer with a size of 10 */ - sdlog_logbuffer_init(&lb, 10); - - /* initialize thread synchronization */ - pthread_mutex_init(&sysvector_mutex, NULL); - pthread_cond_init(&sysvector_cond, NULL); - - /* start logbuffer emptying thread */ - pthread_t sysvector_pthread = sysvector_write_start(&lb); - - starttime = hrt_absolute_time(); - - /* track skipping */ - int skip_count = 0; - - while (!thread_should_exit) { - - /* only poll for commands, gps and sensor_combined */ - int poll_ret = poll(fds, 3, 1000); - - /* handle the poll result */ - if (poll_ret == 0) { - /* XXX this means none of our providers is giving us data - might be an error? */ - } else if (poll_ret < 0) { - /* XXX this is seriously bad - should be an emergency */ - } else { - - int ifds = 0; - - /* --- VEHICLE COMMAND VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy command into local buffer */ - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - - /* always log to blackbox, even when logging disabled */ - blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d, - buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4, - (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7); - - handle_command(&buf.cmd); - } - - /* --- VEHICLE GPS VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy gps position into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - - /* if logging disabled, continue */ - if (logging_enabled) { - - /* write KML line */ - } - } - - /* --- SENSORS RAW VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - - // /* copy sensors raw data into local buffer */ - // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - // /* write out */ - // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw)); - - /* always copy sensors raw data into local buffer, since poll flags won't clear else */ - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); - orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres); - orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); - orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); - - /* if skipping is on or logging is disabled, ignore */ - if (skip_count < skip_value || !logging_enabled) { - skip_count++; - /* do not log data */ - continue; - } else { - /* log data, reset */ - skip_count = 0; - } - - struct sdlog_sysvector sysvect = { - .timestamp = buf.raw.timestamp, - .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, - .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, - .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, - .baro = buf.raw.baro_pres_mbar, - .baro_alt = buf.raw.baro_alt_meter, - .baro_temp = buf.raw.baro_temp_celcius, - .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, - .actuators = { - buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], - buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] - }, - .vbat = buf.batt.voltage_v, - .bat_current = buf.batt.current_a, - .bat_discharged = buf.batt.discharged_mah, - .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, - .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, - .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, - .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, - .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, - .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, - .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, - .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pres.differential_pressure_pa, - .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, - .true_airspeed = buf.airspeed.true_airspeed_m_s - }; - - /* put into buffer for later IO */ - pthread_mutex_lock(&sysvector_mutex); - sdlog_logbuffer_write(&lb, &sysvect); - /* signal the other thread new data, but not yet unlock */ - if ((unsigned)lb.count > (lb.size / 2)) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&sysvector_cond); - } - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&sysvector_mutex); - } - - } - - } - - print_sdlog_status(); - - /* wake up write thread one last time */ - pthread_mutex_lock(&sysvector_mutex); - pthread_cond_signal(&sysvector_cond); - /* unlock, now the writer thread may return */ - pthread_mutex_unlock(&sysvector_mutex); - - /* wait for write thread to return */ - (void)pthread_join(sysvector_pthread, NULL); - - pthread_mutex_destroy(&sysvector_mutex); - pthread_cond_destroy(&sysvector_cond); - - warnx("exiting.\n\n"); - - /* finish KML file */ - // XXX - fclose(gpsfile); - fclose(blackbox_file); - - thread_running = false; - - return 0; -} - -void print_sdlog_status() -{ - unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; - float mebibytes = bytes / 1024.0f / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f; - - warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds)); -} - -/** - * @return 0 if file exists - */ -int file_exist(const char *filename) -{ - struct stat buffer; - return stat(filename, &buffer); -} - -int file_copy(const char *file_old, const char *file_new) -{ - FILE *source, *target; - source = fopen(file_old, "r"); - int ret = 0; - - if (source == NULL) { - warnx("failed opening input file to copy"); - return 1; - } - - target = fopen(file_new, "w"); - - if (target == NULL) { - fclose(source); - warnx("failed to open output file to copy"); - return 1; - } - - char buf[128]; - int nread; - - while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) { - int ret = fwrite(buf, 1, nread, target); - - if (ret <= 0) { - warnx("error writing file"); - ret = 1; - break; - } - } - - fsync(fileno(target)); - - fclose(source); - fclose(target); - - return ret; -} - -void handle_command(struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* request to set different system mode */ - switch (cmd->command) { - - case VEHICLE_CMD_PREFLIGHT_STORAGE: - - if (((int)(cmd->param3)) == 1) { - - /* enable logging */ - mavlink_log_info(mavlink_fd, "[log] file:"); - mavlink_log_info(mavlink_fd, "logdir"); - logging_enabled = true; - } - if (((int)(cmd->param3)) == 0) { - - /* disable logging */ - mavlink_log_info(mavlink_fd, "[log] stopped."); - logging_enabled = false; - } - break; - - default: - /* silently ignore */ - break; - } - -} diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c deleted file mode 100644 index d7c8a4759..000000000 --- a/src/modules/sdlog/sdlog_ringbuffer.c +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: 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 sdlog_log.c - * MAVLink text logging. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include <string.h> -#include <stdlib.h> - -#include "sdlog_ringbuffer.h" - -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size) -{ - lb->size = size; - lb->start = 0; - lb->count = 0; - lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector)); -} - -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb) -{ - return lb->count == (int)lb->size; -} - -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb) -{ - return lb->count == 0; -} - - -// XXX make these functions thread-safe -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem) -{ - int end = (lb->start + lb->count) % lb->size; - memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector)); - - if (sdlog_logbuffer_is_full(lb)) { - lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ - - } else { - ++lb->count; - } -} - -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem) -{ - if (!sdlog_logbuffer_is_empty(lb)) { - memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector)); - lb->start = (lb->start + 1) % lb->size; - --lb->count; - return 0; - - } else { - return 1; - } -} diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h deleted file mode 100644 index b65916459..000000000 --- a/src/modules/sdlog/sdlog_ringbuffer.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: 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 sdlog_ringbuffer.h - * microSD logging - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#ifndef SDLOG_RINGBUFFER_H_ -#define SDLOG_RINGBUFFER_H_ - -#pragma pack(push, 1) -struct sdlog_sysvector { - uint64_t timestamp; /**< time [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; /**< battery discharge current */ - 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]; /**< roll, pitch, yaw [rad] */ - float rotMatrix[9]; /**< unitvectors */ - float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */ - float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ - float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */ - float diff_pressure; /**< differential pressure */ - float ind_airspeed; /**< indicated airspeed */ - float true_airspeed; /**< true airspeed */ -}; -#pragma pack(pop) - -struct sdlog_logbuffer { - unsigned int start; - // unsigned int end; - unsigned int size; - int count; - struct sdlog_sysvector *elems; -}; - -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size); - -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb); - -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb); - -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem); - -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); - -#endif |