diff options
author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-07 09:26:56 +0400 |
---|---|---|
committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-07 09:26:56 +0400 |
commit | 04bca061a2bc722b22e37c8ea4f3bced7757db29 (patch) | |
tree | 5494fbe14f30e5747f43c24e2a0f89091b961956 | |
parent | 1362d5f195bc02f8f9c3ad0988768d547c705748 (diff) | |
parent | ceb287504c7460b024ecabbcf278462da9e2aca1 (diff) | |
download | px4-firmware-04bca061a2bc722b22e37c8ea4f3bced7757db29.tar.gz px4-firmware-04bca061a2bc722b22e37c8ea4f3bced7757db29.tar.bz2 px4-firmware-04bca061a2bc722b22e37c8ea4f3bced7757db29.zip |
Merge branch 'master' into fmu_mixer
67 files changed, 4896 insertions, 510 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 36194ad68..d114fe21a 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -7,7 +7,7 @@ sh /etc/init.d/rc.fw_defaults -echo "HIL Rascal 110 starting.." +echo "X Plane HIL starting.." set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 6e1a531cf..fff4b58df 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -33,3 +33,6 @@ then fi set MIXER FMU_Q +# Provide ESC a constant 1000 us pulse +set PWM_OUTPUTS 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps index 72327c554..429abc5ec 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_apps +++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps @@ -3,6 +3,13 @@ # Standard apps for fixed wing # -att_pos_estimator_ekf start +# +# Start the attitude and position estimator +# +fw_att_pos_estimator start + +# +# Start attitude controller +# fw_att_control start fw_pos_control_l1 start diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 9f80219b1..b7b556945 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -9,6 +9,8 @@ mavlink start -r 10000 -d /dev/ttyACM0 # Enable a number of interesting streams we want via USB mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 +mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10 diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index e4a8b3c05..985e6ffd9 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -389,18 +389,22 @@ class uploader(object): self.otp_pid = self.otp[12:8:-1] self.otp_coa = self.otp[32:160] # show user: - print("type: " + self.otp_id.decode('Latin-1')) - print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) - print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) - print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) - print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) - print("sn: ", end='') - for byte in range(0,12,4): - x = self.__getSN(byte) - x = x[::-1] # reverse the bytes - self.sn = self.sn + x - print(binascii.hexlify(x).decode('Latin-1'), end='') # show user - print('') + try: + print("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('Latin-1'), end='') # show user + print('') + except Exception: + # ignore bad character encodings + pass print("erase...") self.__erase() diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 651c2ac38..532e978d0 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -70,7 +70,7 @@ MODULES += modules/gpio_led # Estimation modules (EKF/ SO3 / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/att_pos_estimator_ekf +MODULES += modules/fw_att_pos_estimator MODULES += modules/position_estimator_inav #MODULES += examples/flow_position_estimator diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 5bed190d9..e13421acc 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -79,7 +79,7 @@ MODULES += modules/gpio_led # MODULES += modules/attitude_estimator_ekf MODULES += modules/attitude_estimator_so3 -MODULES += modules/att_pos_estimator_ekf +MODULES += modules/fw_att_pos_estimator MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index cb5fd53a5..147d7123a 100644 --- a/src/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h @@ -147,6 +147,7 @@ enum { TONE_BATTERY_WARNING_SLOW_TUNE, TONE_BATTERY_WARNING_FAST_TUNE, TONE_GPS_WARNING_TUNE, + TONE_ARMING_FAILURE_TUNE, TONE_NUMBER_OF_TUNES }; diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index d27ab9727..d873a1132 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -176,11 +176,14 @@ ETSAirspeed::collect() _max_differential_pressure_pa = diff_pres_pa; } - // XXX we may want to smooth out the readings to remove noise. differential_pressure_s report; report.timestamp = hrt_absolute_time(); report.error_count = perf_event_count(_comms_errors); report.differential_pressure_pa = (float)diff_pres_pa; + + // XXX we may want to smooth out the readings to remove noise. + report.differential_pressure_filtered_pa = (float)diff_pres_pa; + report.temperature = -1000.0f; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 4c85c0cda..cb97354ec 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -169,6 +169,8 @@ private: int _bus; /**< the bus the device is connected to */ + struct mag_report _last_report; /**< used for info() */ + /** * Test whether the device supported by the driver is present at a * specific address. @@ -870,6 +872,8 @@ HMC5883::collect() } } + _last_report = new_report; + /* post a report to the ring */ if (_reports->force(&new_report)) { perf_count(_buffer_overflows); @@ -1042,31 +1046,28 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - /* set back to normal mode */ - /* Set to 1.1 Gauss */ - if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); - goto out; - } - - if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); - goto out; - } - /* set scaling in device */ mscale_previous.x_scale = scaling[0]; mscale_previous.y_scale = scaling[1]; mscale_previous.z_scale = scaling[2]; + ret = OK; + +out: + if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { warn("WARNING: failed to set new scale / offsets for mag"); - goto out; } - ret = OK; + /* set back to normal mode */ + /* Set to 1.1 Gauss */ + if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { + warnx("failed to set 1.1 Ga range"); + } -out: + if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { + warnx("failed to disable sensor calibration mode"); + } if (ret == OK) { if (!check_scale()) { @@ -1221,6 +1222,7 @@ HMC5883::print_info() perf_print_counter(_comms_errors); perf_print_counter(_buffer_overflows); printf("poll interval: %u ticks\n", _measure_ticks); + printf("output (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z); printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset); printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale, diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 2c3efdc35..1ad383ee0 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -87,6 +87,7 @@ #include <uORB/uORB.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/subsystem_info.h> +#include <uORB/topics/system_power.h> #include <drivers/airspeed/airspeed.h> @@ -121,6 +122,14 @@ protected: virtual int collect(); math::LowPassFilter2p _filter; + + /** + * Correct for 5V rail voltage variations + */ + void voltage_correction(float &diff_pres_pa, float &temperature); + + int _t_system_power; + struct system_power_s system_power; }; /* @@ -129,10 +138,11 @@ protected: extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]); MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address, - CONVERSION_INTERVAL, path), - _filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ) + CONVERSION_INTERVAL, path), + _filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ), + _t_system_power(-1) { - + memset(&system_power, 0, sizeof(system_power)); } int @@ -194,19 +204,48 @@ MEASAirspeed::collect() dp_raw = 0x3FFF & dp_raw; dT_raw = (val[2] << 8) + val[3]; dT_raw = (0xFFE0 & dT_raw) >> 5; - float temperature = ((200 * dT_raw) / 2047) - 50; + float temperature = ((200.0f * dT_raw) / 2047) - 50; - /* calculate differential pressure. As its centered around 8000 - * and can go positive or negative, enforce absolute value - */ + // Calculate differential pressure. As its centered around 8000 + // and can go positive or negative const float P_min = -1.0f; const float P_max = 1.0f; - float diff_press_pa = fabsf((((float)dp_raw - 0.1f * 16383.0f) * (P_max - P_min) / (0.8f * 16383.0f) + P_min) * 6894.8f) - _diff_pres_offset; + const float PSI_to_Pa = 6894.757f; + /* + this equation is an inversion of the equation in the + pressure transfer function figure on page 4 of the datasheet - if (diff_press_pa < 0.0f) { - diff_press_pa = 0.0f; - } + We negate the result so that positive differential pressures + are generated when the bottom port is used as the static + port on the pitot and top port is used as the dynamic port + */ + float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min); + float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa; + // correct for 5V rail voltage if possible + voltage_correction(diff_press_pa_raw, temperature); + + float diff_press_pa = fabsf(diff_press_pa_raw - _diff_pres_offset); + + /* + note that we return both the absolute value with offset + applied and a raw value without the offset applied. This + makes it possible for higher level code to detect if the + user has the tubes connected backwards, and also makes it + possible to correctly use offsets calculated by a higher + level airspeed driver. + + With the above calculation the MS4525 sensor will produce a + positive number when the top port is used as a dynamic port + and bottom port is used as the static port + + Also note that the _diff_pres_offset is applied before the + fabsf() not afterwards. It needs to be done this way to + prevent a bias at low speeds, but this also means that when + setting a offset you must set it based on the raw value, not + the offset value + */ + struct differential_pressure_s report; /* track maximum differential pressure measured (so we can work out top speed). */ @@ -219,6 +258,13 @@ MEASAirspeed::collect() report.temperature = temperature; report.differential_pressure_pa = diff_press_pa; report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); + + /* the dynamics of the filter can make it overshoot into the negative range */ + if (report.differential_pressure_filtered_pa < 0.0f) { + report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); + } + + report.differential_pressure_raw_pa = diff_press_pa_raw; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; @@ -288,6 +334,62 @@ MEASAirspeed::cycle() } /** + correct for 5V rail voltage if the system_power ORB topic is + available + + See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of + offset versus voltage for 3 sensors + */ +void +MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + if (_t_system_power == -1) { + _t_system_power = orb_subscribe(ORB_ID(system_power)); + } + if (_t_system_power == -1) { + // not available + return; + } + bool updated = false; + orb_check(_t_system_power, &updated); + if (updated) { + orb_copy(ORB_ID(system_power), _t_system_power, &system_power); + } + if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) { + // not valid, skip correction + return; + } + + const float slope = 65.0f; + /* + apply a piecewise linear correction, flattening at 0.5V from 5V + */ + float voltage_diff = system_power.voltage5V_v - 5.0f; + if (voltage_diff > 0.5f) { + voltage_diff = 0.5f; + } + if (voltage_diff < -0.5f) { + voltage_diff = -0.5f; + } + diff_press_pa -= voltage_diff * slope; + + /* + the temperature masurement varies as well + */ + const float temp_slope = 0.887f; + voltage_diff = system_power.voltage5V_v - 5.0f; + if (voltage_diff > 0.5f) { + voltage_diff = 0.5f; + } + if (voltage_diff < -1.0f) { + voltage_diff = -1.0f; + } + temperature -= voltage_diff * temp_slope; +#endif // CONFIG_ARCH_BOARD_PX4FMU_V2 +} + +/** * Local functions in support of the shell command. */ namespace meas_airspeed @@ -409,7 +511,7 @@ test() } warnx("single read"); - warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { @@ -437,7 +539,7 @@ test() } warnx("periodic read %u", i); - warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %d pa", (int)report.differential_pressure_pa); warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature); } diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 82f3ba044..e318e206a 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -944,8 +944,23 @@ PX4IO::task_main() int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); if (pret != OK) { - log("voltage scaling upload failed"); + log("vscale upload failed"); } + + /* send RC throttle failsafe value to IO */ + int32_t failsafe_param_val; + param_t failsafe_param = param_find("RC_FAILS_THR"); + + if (failsafe_param > 0) { + + param_get(failsafe_param, &failsafe_param_val); + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed"); + } + } + } } @@ -1479,10 +1494,11 @@ PX4IO::io_publish_raw_rc() } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; - /* we do not know the RC input, only publish if RC OK flag is set */ - /* if no raw RC, just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) + /* only keep publishing RC input if we ever got a valid input */ + if (_rc_last_valid == 0) { + /* we have never seen valid RC signals, abort */ return OK; + } } /* lazily advertise on first publication */ diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index 70cd1ab1e..a0cf98340 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -124,6 +124,8 @@ private: orb_advert_t _range_finder_topic; + unsigned _consecutive_fail_count; + perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; @@ -186,6 +188,7 @@ SF0X::SF0X(const char *port) : _linebuf_index(0), _last_read(0), _range_finder_topic(-1), + _consecutive_fail_count(0), _sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")), _comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows")) @@ -276,34 +279,11 @@ SF0X::init() warnx("advert err"); } - /* attempt to get a measurement 5 times */ - while (ret != OK && i < 5) { - - if (measure()) { - ret = ERROR; - _sensor_ok = false; - } - - usleep(100000); - - if (collect()) { - ret = ERROR; - _sensor_ok = false; - - } else { - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; - } - - i++; - } - /* close the fd */ ::close(_fd); _fd = -1; out: - return ret; + return OK; } int @@ -376,6 +356,7 @@ SF0X::ioctl(struct file *filp, int cmd, unsigned long arg) /* adjust to a legal polling interval in Hz */ default: { + /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -544,10 +525,16 @@ SF0X::collect() if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) { _linebuf_index = 0; + } else if (_linebuf_index > 0) { + /* increment to next read position */ + _linebuf_index++; } + /* the buffer for read chars is buflen minus null termination */ + unsigned readlen = sizeof(_linebuf) - 1; + /* read from the sensor (uart buffer) */ - ret = ::read(_fd, &_linebuf[_linebuf_index], sizeof(_linebuf) - _linebuf_index); + ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index); if (ret < 0) { _linebuf[sizeof(_linebuf) - 1] = '\0'; @@ -562,19 +549,30 @@ SF0X::collect() } else { return -EAGAIN; } + } else if (ret == 0) { + return -EAGAIN; } - _linebuf_index += ret; - - if (_linebuf_index >= sizeof(_linebuf)) { - _linebuf_index = 0; - } + /* we did increment the index to the next position already, so just add the additional fields */ + _linebuf_index += (ret - 1); _last_read = hrt_absolute_time(); - if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') { - /* incomplete read, reschedule ourselves */ + if (_linebuf_index < 1) { + /* we need at least the two end bytes to make sense of this string */ return -EAGAIN; + + } else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') { + + if (_linebuf_index >= readlen - 1) { + /* we have a full buffer, but no line ending - abort */ + _linebuf_index = 0; + perf_count(_comms_errors); + return -ENOMEM; + } else { + /* incomplete read, reschedule ourselves */ + return -EAGAIN; + } } char *end; @@ -582,22 +580,56 @@ SF0X::collect() bool valid; /* enforce line ending */ - _linebuf[sizeof(_linebuf) - 1] = '\0'; + unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1); + + _linebuf[lend] = '\0'; if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') { si_units = -1.0f; valid = false; } else { - si_units = strtod(_linebuf, &end); - valid = true; + + /* we need to find a dot in the string, as we're missing the meters part else */ + valid = false; + + /* wipe out partially read content from last cycle(s), check for dot */ + for (int i = 0; i < (lend - 2); i++) { + if (_linebuf[i] == '\n') { + char buf[sizeof(_linebuf)]; + memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1)); + memcpy(_linebuf, buf, (lend + 1) - (i + 1)); + } + + if (_linebuf[i] == '.') { + valid = true; + } + } + + if (valid) { + si_units = strtod(_linebuf, &end); + + /* we require at least 3 characters for a valid number */ + if (end > _linebuf + 3) { + valid = true; + } else { + si_units = -1.0f; + valid = false; + } + } } - debug("val (float): %8.4f, raw: %s\n", si_units, _linebuf); + debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO")); - /* done with this chunk, resetting */ + /* done with this chunk, resetting - even if invalid */ _linebuf_index = 0; + /* if its invalid, there is no reason to forward the value */ + if (!valid) { + perf_count(_comms_errors); + return -EINVAL; + } + struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ @@ -689,10 +721,19 @@ SF0X::cycle() } if (OK != collect_ret) { - log("collection error"); + + /* we know the sensor needs about four seconds to initialize */ + if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) { + log("collection error #%u", _consecutive_fail_count); + } + _consecutive_fail_count++; + /* restart the measurement state machine */ start(); return; + } else { + /* apparently success */ + _consecutive_fail_count = 0; } /* next phase is measurement */ @@ -848,10 +889,10 @@ test() } warnx("single read"); - warnx("measurement: %0.2f m", (double)report.distance); - warnx("time: %lld", report.timestamp); + warnx("val: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); - /* start the sensor polling at 2Hz */ + /* start the sensor polling at 2 Hz rate */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); } @@ -866,24 +907,26 @@ test() int ret = poll(&fds, 1, 2000); if (ret != 1) { - errx(1, "timed out waiting for sensor data"); + warnx("timed out"); + break; } /* now go get it */ sz = read(fd, &report, sizeof(report)); if (sz != sizeof(report)) { - err(1, "periodic read failed"); + warnx("read failed: got %d vs exp. %d", sz, sizeof(report)); + break; } - warnx("periodic read %u", i); - warnx("measurement: %0.3f", (double)report.distance); - warnx("time: %lld", report.timestamp); + warnx("read #%u", i); + warnx("val: %0.3f m", (double)report.distance); + warnx("time: %lld", report.timestamp); } - /* reset the sensor polling to default rate */ + /* reset the sensor polling to the default rate */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { - errx(1, "failed to set default poll rate"); + errx(1, "ERR: DEF RATE"); } errx(0, "PASS"); diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp index 00e46d6b8..3a60d2cae 100644 --- a/src/drivers/stm32/adc/adc.cpp +++ b/src/drivers/stm32/adc/adc.cpp @@ -41,6 +41,7 @@ */ #include <nuttx/config.h> +#include <board_config.h> #include <drivers/device/device.h> #include <sys/types.h> @@ -64,6 +65,8 @@ #include <systemlib/err.h> #include <systemlib/perf_counter.h> +#include <uORB/topics/system_power.h> + /* * Register accessors. * For now, no reason not to just use ADC1. @@ -119,6 +122,8 @@ private: unsigned _channel_count; adc_msg_s *_samples; /**< sample buffer */ + orb_advert_t _to_system_power; + /** work trampoline */ static void _tick_trampoline(void *arg); @@ -134,13 +139,16 @@ private: */ uint16_t _sample(unsigned channel); + // update system_power ORB topic, only on FMUv2 + void update_system_power(void); }; ADC::ADC(uint32_t channels) : CDev("adc", ADC_DEVICE_PATH), _sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")), _channel_count(0), - _samples(nullptr) + _samples(nullptr), + _to_system_power(0) { _debug_enabled = true; @@ -290,6 +298,43 @@ ADC::_tick() /* scan the channel set and sample each */ for (unsigned i = 0; i < _channel_count; i++) _samples[i].am_data = _sample(_samples[i].am_channel); + update_system_power(); +} + +void +ADC::update_system_power(void) +{ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + system_power_s system_power; + system_power.timestamp = hrt_absolute_time(); + + system_power.voltage5V_v = 0; + for (unsigned i = 0; i < _channel_count; i++) { + if (_samples[i].am_channel == 4) { + // it is 2:1 scaled + system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096); + } + } + + // these are not ADC related, but it is convenient to + // publish these to the same topic + system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS); + + // note that the valid pins are active low + system_power.brick_valid = !stm32_gpioread(GPIO_VDD_BRICK_VALID); + system_power.servo_valid = !stm32_gpioread(GPIO_VDD_SERVO_VALID); + + // OC pins are active low + system_power.periph_5V_OC = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC); + system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC); + + /* lazily publish */ + if (_to_system_power > 0) { + orb_publish(ORB_ID(system_power), _to_system_power, &system_power); + } else { + _to_system_power = orb_advertise(ORB_ID(system_power), &system_power); + } +#endif // CONFIG_ARCH_BOARD_PX4FMU_V2 } uint16_t @@ -341,7 +386,7 @@ test(void) err(1, "can't open ADC device"); for (unsigned i = 0; i < 50; i++) { - adc_msg_s data[10]; + adc_msg_s data[12]; ssize_t count = read(fd, data, sizeof(data)); if (count < 0) diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index f36f2091e..8ed0de58c 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -334,6 +334,7 @@ ToneAlarm::ToneAlarm() : _default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8"; //battery warning slow _default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast _default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow + _default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP"; _tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune _tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone @@ -344,6 +345,7 @@ ToneAlarm::ToneAlarm() : _tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat"; // battery warning slow _tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast _tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning"; // gps warning + _tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure"; //fail to arm } ToneAlarm::~ToneAlarm() diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 59c04f0e3..f72dc607c 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -197,7 +197,6 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub double lat_next_rad = lat_next * M_DEG_TO_RAD; double lon_next_rad = lon_next * M_DEG_TO_RAD; - double d_lat = lat_next_rad - lat_now_rad; double d_lon = lon_next_rad - lon_now_rad; /* conscious mix of double and float trig function to maximize speed and efficiency */ diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp index 3699d9bce..6f640c9f9 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp @@ -69,7 +69,7 @@ float LowPassFilter2p::apply(float sample) // do the filtering float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; if (isnan(delay_element_0) || isinf(delay_element_0)) { - // don't allow bad values to propogate via the filter + // don't allow bad values to propagate via the filter delay_element_0 = sample; } float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; @@ -81,5 +81,10 @@ float LowPassFilter2p::apply(float sample) return output; } +float LowPassFilter2p::reset(float sample) { + _delay_element_1 = _delay_element_2 = sample; + return apply(sample); +} + } // namespace math diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp index 208ec98d4..74cd5d78c 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp @@ -52,18 +52,30 @@ public: _delay_element_1 = _delay_element_2 = 0; } - // change parameters + /** + * Change filter parameters + */ void set_cutoff_frequency(float sample_freq, float cutoff_freq); - // apply - Add a new raw value to the filter - // and retrieve the filtered result + /** + * Add a new raw value to the filter + * + * @return retrieve the filtered result + */ float apply(float sample); - // return the cutoff frequency + /** + * Return the cutoff frequency + */ float get_cutoff_freq(void) const { return _cutoff_freq; } + /** + * Reset the filter state to this value + */ + float reset(float sample); + private: float _cutoff_freq; float _a1; diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 6039d92a7..c8c7a42e7 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd) { /* give directions */ mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); - mavlink_log_info(mavlink_fd, "don't move system"); + mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind"); - const int calibration_count = 2500; + const int calibration_count = 2000; int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); struct differential_pressure_s diff_pres; @@ -85,13 +85,15 @@ int do_airspeed_calibration(int mavlink_fd) if (fd > 0) { if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { paramreset_successful = true; + } else { + mavlink_log_critical(mavlink_fd, "airspeed offset zero failed"); } close(fd); } if (!paramreset_successful) { - warn("WARNING: failed to set scale / offsets for airspeed sensor"); - mavlink_log_critical(mavlink_fd, "could not reset dpress sensor"); + warn("FAILED to set scale / offsets for airspeed"); + mavlink_log_critical(mavlink_fd, "dpress reset failed"); mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); return ERROR; } @@ -107,7 +109,7 @@ int do_airspeed_calibration(int mavlink_fd) if (poll_ret) { orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - diff_pres_offset += diff_pres.differential_pressure_pa; + diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; if (calibration_counter % (calibration_count / 20) == 0) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index cf7ba757e..3720b5a3b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -118,8 +118,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ -#define RC_TIMEOUT 100000 -#define RC_TIMEOUT_HIL 500000 +#define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -1109,16 +1108,8 @@ int commander_thread_main(int argc, char *argv[]) } } - - /* - * XXX workaround: - * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz) - * which can trigger RC loss if the computer/simulator lags. - */ - uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT; - /* start RC input check */ - if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) { + if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index f139c25f4..2f84dc963 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -660,18 +660,24 @@ FixedwingAttitudeControl::task_main() float airspeed; - /* if airspeed is smaller than min, the sensor is not giving good readings */ - if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) || - !isfinite(_airspeed.indicated_airspeed_m_s) || + /* if airspeed is not updating, we assume the normal average speed */ + if (!isfinite(_airspeed.true_airspeed_m_s) || hrt_elapsed_time(&_airspeed.timestamp) > 1e6) { airspeed = _parameters.airspeed_trim; } else { - airspeed = _airspeed.indicated_airspeed_m_s; + airspeed = _airspeed.true_airspeed_m_s; } - float airspeed_scaling = _parameters.airspeed_trim / airspeed; - //warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling); + /* + * For scaling our actuators using anything less than the min (close to stall) + * speed doesn't make any sense - its the strongest reasonable deflection we + * want to do in flight and its the baseline a human pilot would choose. + * + * Forcing the scaling to this value allows reasonable handheld tests. + */ + + float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed); float roll_sp = _parameters.rollsp_offset_rad; float pitch_sp = _parameters.pitchsp_offset_rad; diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp new file mode 100644 index 000000000..c31217393 --- /dev/null +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -0,0 +1,2248 @@ +#include "estimator.h" + +#include <string.h> + +float Vector3f::length(void) const +{ + return sqrt(x*x + y*y + z*z); +} + +Vector3f Vector3f::zero(void) const +{ + Vector3f ret = *this; + ret.x = 0.0; + ret.y = 0.0; + ret.z = 0.0; + return ret; +} + +Mat3f::Mat3f() { + x.x = 1.0f; + x.y = 0.0f; + x.z = 0.0f; + + y.x = 0.0f; + y.y = 1.0f; + y.z = 0.0f; + + z.x = 0.0f; + z.y = 0.0f; + z.z = 1.0f; +} + +Mat3f Mat3f::transpose(void) const +{ + Mat3f ret = *this; + swap_var(ret.x.y, ret.y.x); + swap_var(ret.x.z, ret.z.x); + swap_var(ret.y.z, ret.z.y); + return ret; +} + +// overload + operator to provide a vector addition +Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x + vecIn2.x; + vecOut.y = vecIn1.y + vecIn2.y; + vecOut.z = vecIn1.z + vecIn2.z; + return vecOut; +} + +// overload - operator to provide a vector subtraction +Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x - vecIn2.x; + vecOut.y = vecIn1.y - vecIn2.y; + vecOut.z = vecIn1.z - vecIn2.z; + return vecOut; +} + +// overload * operator to provide a matrix vector product +Vector3f operator*( Mat3f matIn, Vector3f vecIn) +{ + Vector3f vecOut; + vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z; + vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z; + vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; + return vecOut; +} + +// overload % operator to provide a vector cross product +Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2) +{ + Vector3f vecOut; + vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y; + vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z; + vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x; + return vecOut; +} + +// overload * operator to provide a vector scaler product +Vector3f operator*(Vector3f vecIn1, float sclIn1) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x * sclIn1; + vecOut.y = vecIn1.y * sclIn1; + vecOut.z = vecIn1.z * sclIn1; + return vecOut; +} + +// overload * operator to provide a vector scaler product +Vector3f operator*(float sclIn1, Vector3f vecIn1) +{ + Vector3f vecOut; + vecOut.x = vecIn1.x * sclIn1; + vecOut.y = vecIn1.y * sclIn1; + vecOut.z = vecIn1.z * sclIn1; + return vecOut; +} + +void swap_var(float &d1, float &d2) +{ + float tmp = d1; + d1 = d2; + d2 = tmp; +} + +AttPosEKF::AttPosEKF() : + fusionModeGPS(0), + covSkipCount(0), + EAS2TAS(1.0f), + statesInitialised(false), + fuseVelData(false), + fusePosData(false), + fuseHgtData(false), + fuseMagData(false), + fuseVtasData(false), + onGround(true), + staticMode(true), + useAirspeed(true), + useCompass(true), + numericalProtection(true), + storeIndex(0) +{ + +} + +AttPosEKF::~AttPosEKF() +{ +} + +void AttPosEKF::UpdateStrapdownEquationsNED() +{ + Vector3f delVelNav; + float q00; + float q11; + float q22; + float q33; + float q01; + float q02; + float q03; + float q12; + float q13; + float q23; + Mat3f Tbn; + Mat3f Tnb; + float rotationMag; + float qUpdated[4]; + float quatMag; + float deltaQuat[4]; + const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS}; + +// Remove sensor bias errors + correctedDelAng.x = dAngIMU.x - states[10]; + correctedDelAng.y = dAngIMU.y - states[11]; + correctedDelAng.z = dAngIMU.z - states[12]; + dVelIMU.x = dVelIMU.x; + dVelIMU.y = dVelIMU.y; + dVelIMU.z = dVelIMU.z; + +// Save current measurements + Vector3f prevDelAng = correctedDelAng; + +// Apply corrections for earths rotation rate and coning errors +// * and + operators have been overloaded + correctedDelAng = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng); + +// Convert the rotation vector to its equivalent quaternion + rotationMag = correctedDelAng.length(); + if (rotationMag < 1e-12f) + { + deltaQuat[0] = 1.0; + deltaQuat[1] = 0.0; + deltaQuat[2] = 0.0; + deltaQuat[3] = 0.0; + } + else + { + deltaQuat[0] = cos(0.5f*rotationMag); + float rotScaler = (sin(0.5f*rotationMag))/rotationMag; + deltaQuat[1] = correctedDelAng.x*rotScaler; + deltaQuat[2] = correctedDelAng.y*rotScaler; + deltaQuat[3] = correctedDelAng.z*rotScaler; + } + +// Update the quaternions by rotating from the previous attitude through +// the delta angle rotation quaternion + qUpdated[0] = states[0]*deltaQuat[0] - states[1]*deltaQuat[1] - states[2]*deltaQuat[2] - states[3]*deltaQuat[3]; + qUpdated[1] = states[0]*deltaQuat[1] + states[1]*deltaQuat[0] + states[2]*deltaQuat[3] - states[3]*deltaQuat[2]; + qUpdated[2] = states[0]*deltaQuat[2] + states[2]*deltaQuat[0] + states[3]*deltaQuat[1] - states[1]*deltaQuat[3]; + qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1]; + +// Normalise the quaternions and update the quaternion states + quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3])); + if (quatMag > 1e-16f) + { + float quatMagInv = 1.0f/quatMag; + states[0] = quatMagInv*qUpdated[0]; + states[1] = quatMagInv*qUpdated[1]; + states[2] = quatMagInv*qUpdated[2]; + states[3] = quatMagInv*qUpdated[3]; + } + +// Calculate the body to nav cosine matrix + q00 = sq(states[0]); + q11 = sq(states[1]); + q22 = sq(states[2]); + q33 = sq(states[3]); + q01 = states[0]*states[1]; + q02 = states[0]*states[2]; + q03 = states[0]*states[3]; + q12 = states[1]*states[2]; + q13 = states[1]*states[3]; + q23 = states[2]*states[3]; + + Tbn.x.x = q00 + q11 - q22 - q33; + Tbn.y.y = q00 - q11 + q22 - q33; + Tbn.z.z = q00 - q11 - q22 + q33; + Tbn.x.y = 2*(q12 - q03); + Tbn.x.z = 2*(q13 + q02); + Tbn.y.x = 2*(q12 + q03); + Tbn.y.z = 2*(q23 - q01); + Tbn.z.x = 2*(q13 - q02); + Tbn.z.y = 2*(q23 + q01); + + Tnb = Tbn.transpose(); + +// transform body delta velocities to delta velocities in the nav frame +// * and + operators have been overloaded + //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU; + delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU; + delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU; + delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU; + +// calculate the magnitude of the nav acceleration (required for GPS +// variance estimation) + accNavMag = delVelNav.length()/dtIMU; + +// If calculating position save previous velocity + float lastVelocity[3]; + lastVelocity[0] = states[4]; + lastVelocity[1] = states[5]; + lastVelocity[2] = states[6]; + +// Sum delta velocities to get velocity + states[4] = states[4] + delVelNav.x; + states[5] = states[5] + delVelNav.y; + states[6] = states[6] + delVelNav.z; + +// If calculating postions, do a trapezoidal integration for position + states[7] = states[7] + 0.5f*(states[4] + lastVelocity[0])*dtIMU; + states[8] = states[8] + 0.5f*(states[5] + lastVelocity[1])*dtIMU; + states[9] = states[9] + 0.5f*(states[6] + lastVelocity[2])*dtIMU; + + // Constrain states (to protect against filter divergence) + ConstrainStates(); +} + +void AttPosEKF::CovariancePrediction(float dt) +{ + // scalars + float windVelSigma; + float dAngBiasSigma; + // float dVelBiasSigma; + float magEarthSigma; + float magBodySigma; + float daxCov; + float dayCov; + float dazCov; + float dvxCov; + float dvyCov; + float dvzCov; + float dvx; + float dvy; + float dvz; + float dax; + float day; + float daz; + float q0; + float q1; + float q2; + float q3; + float dax_b; + float day_b; + float daz_b; + + // arrays + float processNoise[21]; + float SF[14]; + float SG[8]; + float SQ[11]; + float SPP[13] = {0}; + float nextP[21][21]; + + // calculate covariance prediction process noise + const float yawVarScale = 1.0f; + windVelSigma = dt*0.1f; + dAngBiasSigma = dt*5.0e-7f; + magEarthSigma = dt*3.0e-4f; + magBodySigma = dt*3.0e-4f; + for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f; + for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma; + if (onGround) processNoise[12] = dAngBiasSigma * yawVarScale; + for (uint8_t i=13; i<=14; i++) processNoise[i] = windVelSigma; + for (uint8_t i=15; i<=17; i++) processNoise[i] = magEarthSigma; + for (uint8_t i=18; i<=20; i++) processNoise[i] = magBodySigma; + for (uint8_t i= 0; i<=20; i++) processNoise[i] = sq(processNoise[i]); + + // set variables used to calculate covariance growth + dvx = summedDelVel.x; + dvy = summedDelVel.y; + dvz = summedDelVel.z; + dax = summedDelAng.x; + day = summedDelAng.y; + daz = summedDelAng.z; + q0 = states[0]; + q1 = states[1]; + q2 = states[2]; + q3 = states[3]; + dax_b = states[10]; + day_b = states[11]; + daz_b = states[12]; + daxCov = sq(dt*1.4544411e-2f); + dayCov = sq(dt*1.4544411e-2f); + dazCov = sq(dt*1.4544411e-2f); + if (onGround) dazCov = dazCov * sq(yawVarScale); + dvxCov = sq(dt*0.5f); + dvyCov = sq(dt*0.5f); + dvzCov = sq(dt*0.5f); + + // Predicted covariance calculation + SF[0] = 2*dvx*q1 + 2*dvy*q2 + 2*dvz*q3; + SF[1] = 2*dvx*q3 + 2*dvy*q0 - 2*dvz*q1; + SF[2] = 2*dvx*q0 - 2*dvy*q3 + 2*dvz*q2; + SF[3] = day/2 - day_b/2; + SF[4] = daz/2 - daz_b/2; + SF[5] = dax/2 - dax_b/2; + SF[6] = dax_b/2 - dax/2; + SF[7] = daz_b/2 - daz/2; + SF[8] = day_b/2 - day/2; + SF[9] = q1/2; + SF[10] = q2/2; + SF[11] = q3/2; + SF[12] = 2*dvz*q0; + SF[13] = 2*dvy*q1; + + SG[0] = q0/2; + SG[1] = sq(q3); + SG[2] = sq(q2); + SG[3] = sq(q1); + SG[4] = sq(q0); + SG[5] = 2*q2*q3; + SG[6] = 2*q1*q3; + SG[7] = 2*q1*q2; + + SQ[0] = dvzCov*(SG[5] - 2*q0*q1)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvyCov*(SG[5] + 2*q0*q1)*(SG[1] - SG[2] + SG[3] - SG[4]) + dvxCov*(SG[6] - 2*q0*q2)*(SG[7] + 2*q0*q3); + SQ[1] = dvzCov*(SG[6] + 2*q0*q2)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvxCov*(SG[6] - 2*q0*q2)*(SG[1] + SG[2] - SG[3] - SG[4]) + dvyCov*(SG[5] + 2*q0*q1)*(SG[7] - 2*q0*q3); + SQ[2] = dvzCov*(SG[5] - 2*q0*q1)*(SG[6] + 2*q0*q2) - dvyCov*(SG[7] - 2*q0*q3)*(SG[1] - SG[2] + SG[3] - SG[4]) - dvxCov*(SG[7] + 2*q0*q3)*(SG[1] + SG[2] - SG[3] - SG[4]); + SQ[3] = (dayCov*q1*SG[0])/2 - (dazCov*q1*SG[0])/2 - (daxCov*q2*q3)/4; + SQ[4] = (dazCov*q2*SG[0])/2 - (daxCov*q2*SG[0])/2 - (dayCov*q1*q3)/4; + SQ[5] = (daxCov*q3*SG[0])/2 - (dayCov*q3*SG[0])/2 - (dazCov*q1*q2)/4; + SQ[6] = (daxCov*q1*q2)/4 - (dazCov*q3*SG[0])/2 - (dayCov*q1*q2)/4; + SQ[7] = (dazCov*q1*q3)/4 - (daxCov*q1*q3)/4 - (dayCov*q2*SG[0])/2; + SQ[8] = (dayCov*q2*q3)/4 - (daxCov*q1*SG[0])/2 - (dazCov*q2*q3)/4; + SQ[9] = sq(SG[0]); + SQ[10] = sq(q1); + + SPP[0] = SF[12] + SF[13] - 2*dvx*q2; + SPP[1] = 2*dvx*q0 - 2*dvy*q3 + 2*dvz*q2; + SPP[2] = 2*dvx*q3 + 2*dvy*q0 - 2*dvz*q1; + SPP[3] = SF[11]; + SPP[4] = SF[10]; + SPP[5] = SF[9]; + SPP[6] = SF[7]; + SPP[7] = SF[8]; + + nextP[0][0] = P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3] + (daxCov*SQ[10])/4 + SF[6]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]) + SPP[7]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]) + SPP[6]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]) + SPP[5]*(P[0][10] + P[1][10]*SF[6] + P[2][10]*SPP[7] + P[3][10]*SPP[6] + P[10][10]*SPP[5] + P[11][10]*SPP[4] + P[12][10]*SPP[3]) + SPP[4]*(P[0][11] + P[1][11]*SF[6] + P[2][11]*SPP[7] + P[3][11]*SPP[6] + P[10][11]*SPP[5] + P[11][11]*SPP[4] + P[12][11]*SPP[3]) + SPP[3]*(P[0][12] + P[1][12]*SF[6] + P[2][12]*SPP[7] + P[3][12]*SPP[6] + P[10][12]*SPP[5] + P[11][12]*SPP[4] + P[12][12]*SPP[3]) + (dayCov*sq(q2))/4 + (dazCov*sq(q3))/4; + nextP[0][1] = P[0][1] + SQ[8] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3] + SF[5]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) + SF[4]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]) + SPP[7]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]) + SPP[3]*(P[0][11] + P[1][11]*SF[6] + P[2][11]*SPP[7] + P[3][11]*SPP[6] + P[10][11]*SPP[5] + P[11][11]*SPP[4] + P[12][11]*SPP[3]) - SPP[4]*(P[0][12] + P[1][12]*SF[6] + P[2][12]*SPP[7] + P[3][12]*SPP[6] + P[10][12]*SPP[5] + P[11][12]*SPP[4] + P[12][12]*SPP[3]) - (q0*(P[0][10] + P[1][10]*SF[6] + P[2][10]*SPP[7] + P[3][10]*SPP[6] + P[10][10]*SPP[5] + P[11][10]*SPP[4] + P[12][10]*SPP[3]))/2; + nextP[0][2] = P[0][2] + SQ[7] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3] + SF[3]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) + SF[5]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]) + SPP[6]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]) - SPP[3]*(P[0][10] + P[1][10]*SF[6] + P[2][10]*SPP[7] + P[3][10]*SPP[6] + P[10][10]*SPP[5] + P[11][10]*SPP[4] + P[12][10]*SPP[3]) + SPP[5]*(P[0][12] + P[1][12]*SF[6] + P[2][12]*SPP[7] + P[3][12]*SPP[6] + P[10][12]*SPP[5] + P[11][12]*SPP[4] + P[12][12]*SPP[3]) - (q0*(P[0][11] + P[1][11]*SF[6] + P[2][11]*SPP[7] + P[3][11]*SPP[6] + P[10][11]*SPP[5] + P[11][11]*SPP[4] + P[12][11]*SPP[3]))/2; + nextP[0][3] = P[0][3] + SQ[6] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3] + SF[4]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) + SF[3]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]) + SF[6]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]) + SPP[4]*(P[0][10] + P[1][10]*SF[6] + P[2][10]*SPP[7] + P[3][10]*SPP[6] + P[10][10]*SPP[5] + P[11][10]*SPP[4] + P[12][10]*SPP[3]) - SPP[5]*(P[0][11] + P[1][11]*SF[6] + P[2][11]*SPP[7] + P[3][11]*SPP[6] + P[10][11]*SPP[5] + P[11][11]*SPP[4] + P[12][11]*SPP[3]) - (q0*(P[0][12] + P[1][12]*SF[6] + P[2][12]*SPP[7] + P[3][12]*SPP[6] + P[10][12]*SPP[5] + P[11][12]*SPP[4] + P[12][12]*SPP[3]))/2; + nextP[0][4] = P[0][4] + P[1][4]*SF[6] + P[2][4]*SPP[7] + P[3][4]*SPP[6] + P[10][4]*SPP[5] + P[11][4]*SPP[4] + P[12][4]*SPP[3] + SF[2]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) + SF[0]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]) + SPP[0]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]) - SPP[2]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]); + nextP[0][5] = P[0][5] + P[1][5]*SF[6] + P[2][5]*SPP[7] + P[3][5]*SPP[6] + P[10][5]*SPP[5] + P[11][5]*SPP[4] + P[12][5]*SPP[3] + SF[1]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) + SF[0]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]) + SF[2]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]) - SPP[0]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]); + nextP[0][6] = P[0][6] + P[1][6]*SF[6] + P[2][6]*SPP[7] + P[3][6]*SPP[6] + P[10][6]*SPP[5] + P[11][6]*SPP[4] + P[12][6]*SPP[3] + SF[1]*(P[0][1] + P[1][1]*SF[6] + P[2][1]*SPP[7] + P[3][1]*SPP[6] + P[10][1]*SPP[5] + P[11][1]*SPP[4] + P[12][1]*SPP[3]) + SF[0]*(P[0][3] + P[1][3]*SF[6] + P[2][3]*SPP[7] + P[3][3]*SPP[6] + P[10][3]*SPP[5] + P[11][3]*SPP[4] + P[12][3]*SPP[3]) + SPP[0]*(P[0][0] + P[1][0]*SF[6] + P[2][0]*SPP[7] + P[3][0]*SPP[6] + P[10][0]*SPP[5] + P[11][0]*SPP[4] + P[12][0]*SPP[3]) - SPP[1]*(P[0][2] + P[1][2]*SF[6] + P[2][2]*SPP[7] + P[3][2]*SPP[6] + P[10][2]*SPP[5] + P[11][2]*SPP[4] + P[12][2]*SPP[3]); + nextP[0][7] = P[0][7] + P[1][7]*SF[6] + P[2][7]*SPP[7] + P[3][7]*SPP[6] + P[10][7]*SPP[5] + P[11][7]*SPP[4] + P[12][7]*SPP[3] + dt*(P[0][4] + P[1][4]*SF[6] + P[2][4]*SPP[7] + P[3][4]*SPP[6] + P[10][4]*SPP[5] + P[11][4]*SPP[4] + P[12][4]*SPP[3]); + nextP[0][8] = P[0][8] + P[1][8]*SF[6] + P[2][8]*SPP[7] + P[3][8]*SPP[6] + P[10][8]*SPP[5] + P[11][8]*SPP[4] + P[12][8]*SPP[3] + dt*(P[0][5] + P[1][5]*SF[6] + P[2][5]*SPP[7] + P[3][5]*SPP[6] + P[10][5]*SPP[5] + P[11][5]*SPP[4] + P[12][5]*SPP[3]); + nextP[0][9] = P[0][9] + P[1][9]*SF[6] + P[2][9]*SPP[7] + P[3][9]*SPP[6] + P[10][9]*SPP[5] + P[11][9]*SPP[4] + P[12][9]*SPP[3] + dt*(P[0][6] + P[1][6]*SF[6] + P[2][6]*SPP[7] + P[3][6]*SPP[6] + P[10][6]*SPP[5] + P[11][6]*SPP[4] + P[12][6]*SPP[3]); + nextP[0][10] = P[0][10] + P[1][10]*SF[6] + P[2][10]*SPP[7] + P[3][10]*SPP[6] + P[10][10]*SPP[5] + P[11][10]*SPP[4] + P[12][10]*SPP[3]; + nextP[0][11] = P[0][11] + P[1][11]*SF[6] + P[2][11]*SPP[7] + P[3][11]*SPP[6] + P[10][11]*SPP[5] + P[11][11]*SPP[4] + P[12][11]*SPP[3]; + nextP[0][12] = P[0][12] + P[1][12]*SF[6] + P[2][12]*SPP[7] + P[3][12]*SPP[6] + P[10][12]*SPP[5] + P[11][12]*SPP[4] + P[12][12]*SPP[3]; + nextP[0][13] = P[0][13] + P[1][13]*SF[6] + P[2][13]*SPP[7] + P[3][13]*SPP[6] + P[10][13]*SPP[5] + P[11][13]*SPP[4] + P[12][13]*SPP[3]; + nextP[0][14] = P[0][14] + P[1][14]*SF[6] + P[2][14]*SPP[7] + P[3][14]*SPP[6] + P[10][14]*SPP[5] + P[11][14]*SPP[4] + P[12][14]*SPP[3]; + nextP[0][15] = P[0][15] + P[1][15]*SF[6] + P[2][15]*SPP[7] + P[3][15]*SPP[6] + P[10][15]*SPP[5] + P[11][15]*SPP[4] + P[12][15]*SPP[3]; + nextP[0][16] = P[0][16] + P[1][16]*SF[6] + P[2][16]*SPP[7] + P[3][16]*SPP[6] + P[10][16]*SPP[5] + P[11][16]*SPP[4] + P[12][16]*SPP[3]; + nextP[0][17] = P[0][17] + P[1][17]*SF[6] + P[2][17]*SPP[7] + P[3][17]*SPP[6] + P[10][17]*SPP[5] + P[11][17]*SPP[4] + P[12][17]*SPP[3]; + nextP[0][18] = P[0][18] + P[1][18]*SF[6] + P[2][18]*SPP[7] + P[3][18]*SPP[6] + P[10][18]*SPP[5] + P[11][18]*SPP[4] + P[12][18]*SPP[3]; + nextP[0][19] = P[0][19] + P[1][19]*SF[6] + P[2][19]*SPP[7] + P[3][19]*SPP[6] + P[10][19]*SPP[5] + P[11][19]*SPP[4] + P[12][19]*SPP[3]; + nextP[0][20] = P[0][20] + P[1][20]*SF[6] + P[2][20]*SPP[7] + P[3][20]*SPP[6] + P[10][20]*SPP[5] + P[11][20]*SPP[4] + P[12][20]*SPP[3]; + nextP[1][0] = P[1][0] + SQ[8] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2 + SF[6]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2) + SPP[7]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2) + SPP[6]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2) + SPP[5]*(P[1][10] + P[0][10]*SF[5] + P[2][10]*SF[4] + P[3][10]*SPP[7] + P[11][10]*SPP[3] - P[12][10]*SPP[4] - (P[10][10]*q0)/2) + SPP[4]*(P[1][11] + P[0][11]*SF[5] + P[2][11]*SF[4] + P[3][11]*SPP[7] + P[11][11]*SPP[3] - P[12][11]*SPP[4] - (P[10][11]*q0)/2) + SPP[3]*(P[1][12] + P[0][12]*SF[5] + P[2][12]*SF[4] + P[3][12]*SPP[7] + P[11][12]*SPP[3] - P[12][12]*SPP[4] - (P[10][12]*q0)/2); + nextP[1][1] = P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] + daxCov*SQ[9] - (P[10][1]*q0)/2 + SF[5]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) + SF[4]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2) + SPP[7]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2) + SPP[3]*(P[1][11] + P[0][11]*SF[5] + P[2][11]*SF[4] + P[3][11]*SPP[7] + P[11][11]*SPP[3] - P[12][11]*SPP[4] - (P[10][11]*q0)/2) - SPP[4]*(P[1][12] + P[0][12]*SF[5] + P[2][12]*SF[4] + P[3][12]*SPP[7] + P[11][12]*SPP[3] - P[12][12]*SPP[4] - (P[10][12]*q0)/2) + (dayCov*sq(q3))/4 + (dazCov*sq(q2))/4 - (q0*(P[1][10] + P[0][10]*SF[5] + P[2][10]*SF[4] + P[3][10]*SPP[7] + P[11][10]*SPP[3] - P[12][10]*SPP[4] - (P[10][10]*q0)/2))/2; + nextP[1][2] = P[1][2] + SQ[5] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2 + SF[3]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) + SF[5]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2) + SPP[6]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2) - SPP[3]*(P[1][10] + P[0][10]*SF[5] + P[2][10]*SF[4] + P[3][10]*SPP[7] + P[11][10]*SPP[3] - P[12][10]*SPP[4] - (P[10][10]*q0)/2) + SPP[5]*(P[1][12] + P[0][12]*SF[5] + P[2][12]*SF[4] + P[3][12]*SPP[7] + P[11][12]*SPP[3] - P[12][12]*SPP[4] - (P[10][12]*q0)/2) - (q0*(P[1][11] + P[0][11]*SF[5] + P[2][11]*SF[4] + P[3][11]*SPP[7] + P[11][11]*SPP[3] - P[12][11]*SPP[4] - (P[10][11]*q0)/2))/2; + nextP[1][3] = P[1][3] + SQ[4] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2 + SF[4]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) + SF[3]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2) + SF[6]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2) + SPP[4]*(P[1][10] + P[0][10]*SF[5] + P[2][10]*SF[4] + P[3][10]*SPP[7] + P[11][10]*SPP[3] - P[12][10]*SPP[4] - (P[10][10]*q0)/2) - SPP[5]*(P[1][11] + P[0][11]*SF[5] + P[2][11]*SF[4] + P[3][11]*SPP[7] + P[11][11]*SPP[3] - P[12][11]*SPP[4] - (P[10][11]*q0)/2) - (q0*(P[1][12] + P[0][12]*SF[5] + P[2][12]*SF[4] + P[3][12]*SPP[7] + P[11][12]*SPP[3] - P[12][12]*SPP[4] - (P[10][12]*q0)/2))/2; + nextP[1][4] = P[1][4] + P[0][4]*SF[5] + P[2][4]*SF[4] + P[3][4]*SPP[7] + P[11][4]*SPP[3] - P[12][4]*SPP[4] - (P[10][4]*q0)/2 + SF[2]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) + SF[0]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2) + SPP[0]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2) - SPP[2]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2); + nextP[1][5] = P[1][5] + P[0][5]*SF[5] + P[2][5]*SF[4] + P[3][5]*SPP[7] + P[11][5]*SPP[3] - P[12][5]*SPP[4] - (P[10][5]*q0)/2 + SF[1]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) + SF[0]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2) + SF[2]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2) - SPP[0]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2); + nextP[1][6] = P[1][6] + P[0][6]*SF[5] + P[2][6]*SF[4] + P[3][6]*SPP[7] + P[11][6]*SPP[3] - P[12][6]*SPP[4] - (P[10][6]*q0)/2 + SF[1]*(P[1][1] + P[0][1]*SF[5] + P[2][1]*SF[4] + P[3][1]*SPP[7] + P[11][1]*SPP[3] - P[12][1]*SPP[4] - (P[10][1]*q0)/2) + SF[0]*(P[1][3] + P[0][3]*SF[5] + P[2][3]*SF[4] + P[3][3]*SPP[7] + P[11][3]*SPP[3] - P[12][3]*SPP[4] - (P[10][3]*q0)/2) + SPP[0]*(P[1][0] + P[0][0]*SF[5] + P[2][0]*SF[4] + P[3][0]*SPP[7] + P[11][0]*SPP[3] - P[12][0]*SPP[4] - (P[10][0]*q0)/2) - SPP[1]*(P[1][2] + P[0][2]*SF[5] + P[2][2]*SF[4] + P[3][2]*SPP[7] + P[11][2]*SPP[3] - P[12][2]*SPP[4] - (P[10][2]*q0)/2); + nextP[1][7] = P[1][7] + P[0][7]*SF[5] + P[2][7]*SF[4] + P[3][7]*SPP[7] + P[11][7]*SPP[3] - P[12][7]*SPP[4] - (P[10][7]*q0)/2 + dt*(P[1][4] + P[0][4]*SF[5] + P[2][4]*SF[4] + P[3][4]*SPP[7] + P[11][4]*SPP[3] - P[12][4]*SPP[4] - (P[10][4]*q0)/2); + nextP[1][8] = P[1][8] + P[0][8]*SF[5] + P[2][8]*SF[4] + P[3][8]*SPP[7] + P[11][8]*SPP[3] - P[12][8]*SPP[4] - (P[10][8]*q0)/2 + dt*(P[1][5] + P[0][5]*SF[5] + P[2][5]*SF[4] + P[3][5]*SPP[7] + P[11][5]*SPP[3] - P[12][5]*SPP[4] - (P[10][5]*q0)/2); + nextP[1][9] = P[1][9] + P[0][9]*SF[5] + P[2][9]*SF[4] + P[3][9]*SPP[7] + P[11][9]*SPP[3] - P[12][9]*SPP[4] - (P[10][9]*q0)/2 + dt*(P[1][6] + P[0][6]*SF[5] + P[2][6]*SF[4] + P[3][6]*SPP[7] + P[11][6]*SPP[3] - P[12][6]*SPP[4] - (P[10][6]*q0)/2); + nextP[1][10] = P[1][10] + P[0][10]*SF[5] + P[2][10]*SF[4] + P[3][10]*SPP[7] + P[11][10]*SPP[3] - P[12][10]*SPP[4] - (P[10][10]*q0)/2; + nextP[1][11] = P[1][11] + P[0][11]*SF[5] + P[2][11]*SF[4] + P[3][11]*SPP[7] + P[11][11]*SPP[3] - P[12][11]*SPP[4] - (P[10][11]*q0)/2; + nextP[1][12] = P[1][12] + P[0][12]*SF[5] + P[2][12]*SF[4] + P[3][12]*SPP[7] + P[11][12]*SPP[3] - P[12][12]*SPP[4] - (P[10][12]*q0)/2; + nextP[1][13] = P[1][13] + P[0][13]*SF[5] + P[2][13]*SF[4] + P[3][13]*SPP[7] + P[11][13]*SPP[3] - P[12][13]*SPP[4] - (P[10][13]*q0)/2; + nextP[1][14] = P[1][14] + P[0][14]*SF[5] + P[2][14]*SF[4] + P[3][14]*SPP[7] + P[11][14]*SPP[3] - P[12][14]*SPP[4] - (P[10][14]*q0)/2; + nextP[1][15] = P[1][15] + P[0][15]*SF[5] + P[2][15]*SF[4] + P[3][15]*SPP[7] + P[11][15]*SPP[3] - P[12][15]*SPP[4] - (P[10][15]*q0)/2; + nextP[1][16] = P[1][16] + P[0][16]*SF[5] + P[2][16]*SF[4] + P[3][16]*SPP[7] + P[11][16]*SPP[3] - P[12][16]*SPP[4] - (P[10][16]*q0)/2; + nextP[1][17] = P[1][17] + P[0][17]*SF[5] + P[2][17]*SF[4] + P[3][17]*SPP[7] + P[11][17]*SPP[3] - P[12][17]*SPP[4] - (P[10][17]*q0)/2; + nextP[1][18] = P[1][18] + P[0][18]*SF[5] + P[2][18]*SF[4] + P[3][18]*SPP[7] + P[11][18]*SPP[3] - P[12][18]*SPP[4] - (P[10][18]*q0)/2; + nextP[1][19] = P[1][19] + P[0][19]*SF[5] + P[2][19]*SF[4] + P[3][19]*SPP[7] + P[11][19]*SPP[3] - P[12][19]*SPP[4] - (P[10][19]*q0)/2; + nextP[1][20] = P[1][20] + P[0][20]*SF[5] + P[2][20]*SF[4] + P[3][20]*SPP[7] + P[11][20]*SPP[3] - P[12][20]*SPP[4] - (P[10][20]*q0)/2; + nextP[2][0] = P[2][0] + SQ[7] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2 + SF[6]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2) + SPP[7]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2) + SPP[6]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2) + SPP[5]*(P[2][10] + P[0][10]*SF[3] + P[3][10]*SF[5] + P[1][10]*SPP[6] - P[10][10]*SPP[3] + P[12][10]*SPP[5] - (P[11][10]*q0)/2) + SPP[4]*(P[2][11] + P[0][11]*SF[3] + P[3][11]*SF[5] + P[1][11]*SPP[6] - P[10][11]*SPP[3] + P[12][11]*SPP[5] - (P[11][11]*q0)/2) + SPP[3]*(P[2][12] + P[0][12]*SF[3] + P[3][12]*SF[5] + P[1][12]*SPP[6] - P[10][12]*SPP[3] + P[12][12]*SPP[5] - (P[11][12]*q0)/2); + nextP[2][1] = P[2][1] + SQ[5] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2 + SF[5]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) + SF[4]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2) + SPP[7]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2) + SPP[3]*(P[2][11] + P[0][11]*SF[3] + P[3][11]*SF[5] + P[1][11]*SPP[6] - P[10][11]*SPP[3] + P[12][11]*SPP[5] - (P[11][11]*q0)/2) - SPP[4]*(P[2][12] + P[0][12]*SF[3] + P[3][12]*SF[5] + P[1][12]*SPP[6] - P[10][12]*SPP[3] + P[12][12]*SPP[5] - (P[11][12]*q0)/2) - (q0*(P[2][10] + P[0][10]*SF[3] + P[3][10]*SF[5] + P[1][10]*SPP[6] - P[10][10]*SPP[3] + P[12][10]*SPP[5] - (P[11][10]*q0)/2))/2; + nextP[2][2] = P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] + dayCov*SQ[9] + (dazCov*SQ[10])/4 - (P[11][2]*q0)/2 + SF[3]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) + SF[5]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2) + SPP[6]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2) - SPP[3]*(P[2][10] + P[0][10]*SF[3] + P[3][10]*SF[5] + P[1][10]*SPP[6] - P[10][10]*SPP[3] + P[12][10]*SPP[5] - (P[11][10]*q0)/2) + SPP[5]*(P[2][12] + P[0][12]*SF[3] + P[3][12]*SF[5] + P[1][12]*SPP[6] - P[10][12]*SPP[3] + P[12][12]*SPP[5] - (P[11][12]*q0)/2) + (daxCov*sq(q3))/4 - (q0*(P[2][11] + P[0][11]*SF[3] + P[3][11]*SF[5] + P[1][11]*SPP[6] - P[10][11]*SPP[3] + P[12][11]*SPP[5] - (P[11][11]*q0)/2))/2; + nextP[2][3] = P[2][3] + SQ[3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2 + SF[4]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) + SF[3]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2) + SF[6]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2) + SPP[4]*(P[2][10] + P[0][10]*SF[3] + P[3][10]*SF[5] + P[1][10]*SPP[6] - P[10][10]*SPP[3] + P[12][10]*SPP[5] - (P[11][10]*q0)/2) - SPP[5]*(P[2][11] + P[0][11]*SF[3] + P[3][11]*SF[5] + P[1][11]*SPP[6] - P[10][11]*SPP[3] + P[12][11]*SPP[5] - (P[11][11]*q0)/2) - (q0*(P[2][12] + P[0][12]*SF[3] + P[3][12]*SF[5] + P[1][12]*SPP[6] - P[10][12]*SPP[3] + P[12][12]*SPP[5] - (P[11][12]*q0)/2))/2; + nextP[2][4] = P[2][4] + P[0][4]*SF[3] + P[3][4]*SF[5] + P[1][4]*SPP[6] - P[10][4]*SPP[3] + P[12][4]*SPP[5] - (P[11][4]*q0)/2 + SF[2]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) + SF[0]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2) + SPP[0]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2) - SPP[2]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2); + nextP[2][5] = P[2][5] + P[0][5]*SF[3] + P[3][5]*SF[5] + P[1][5]*SPP[6] - P[10][5]*SPP[3] + P[12][5]*SPP[5] - (P[11][5]*q0)/2 + SF[1]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) + SF[0]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2) + SF[2]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2) - SPP[0]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2); + nextP[2][6] = P[2][6] + P[0][6]*SF[3] + P[3][6]*SF[5] + P[1][6]*SPP[6] - P[10][6]*SPP[3] + P[12][6]*SPP[5] - (P[11][6]*q0)/2 + SF[1]*(P[2][1] + P[0][1]*SF[3] + P[3][1]*SF[5] + P[1][1]*SPP[6] - P[10][1]*SPP[3] + P[12][1]*SPP[5] - (P[11][1]*q0)/2) + SF[0]*(P[2][3] + P[0][3]*SF[3] + P[3][3]*SF[5] + P[1][3]*SPP[6] - P[10][3]*SPP[3] + P[12][3]*SPP[5] - (P[11][3]*q0)/2) + SPP[0]*(P[2][0] + P[0][0]*SF[3] + P[3][0]*SF[5] + P[1][0]*SPP[6] - P[10][0]*SPP[3] + P[12][0]*SPP[5] - (P[11][0]*q0)/2) - SPP[1]*(P[2][2] + P[0][2]*SF[3] + P[3][2]*SF[5] + P[1][2]*SPP[6] - P[10][2]*SPP[3] + P[12][2]*SPP[5] - (P[11][2]*q0)/2); + nextP[2][7] = P[2][7] + P[0][7]*SF[3] + P[3][7]*SF[5] + P[1][7]*SPP[6] - P[10][7]*SPP[3] + P[12][7]*SPP[5] - (P[11][7]*q0)/2 + dt*(P[2][4] + P[0][4]*SF[3] + P[3][4]*SF[5] + P[1][4]*SPP[6] - P[10][4]*SPP[3] + P[12][4]*SPP[5] - (P[11][4]*q0)/2); + nextP[2][8] = P[2][8] + P[0][8]*SF[3] + P[3][8]*SF[5] + P[1][8]*SPP[6] - P[10][8]*SPP[3] + P[12][8]*SPP[5] - (P[11][8]*q0)/2 + dt*(P[2][5] + P[0][5]*SF[3] + P[3][5]*SF[5] + P[1][5]*SPP[6] - P[10][5]*SPP[3] + P[12][5]*SPP[5] - (P[11][5]*q0)/2); + nextP[2][9] = P[2][9] + P[0][9]*SF[3] + P[3][9]*SF[5] + P[1][9]*SPP[6] - P[10][9]*SPP[3] + P[12][9]*SPP[5] - (P[11][9]*q0)/2 + dt*(P[2][6] + P[0][6]*SF[3] + P[3][6]*SF[5] + P[1][6]*SPP[6] - P[10][6]*SPP[3] + P[12][6]*SPP[5] - (P[11][6]*q0)/2); + nextP[2][10] = P[2][10] + P[0][10]*SF[3] + P[3][10]*SF[5] + P[1][10]*SPP[6] - P[10][10]*SPP[3] + P[12][10]*SPP[5] - (P[11][10]*q0)/2; + nextP[2][11] = P[2][11] + P[0][11]*SF[3] + P[3][11]*SF[5] + P[1][11]*SPP[6] - P[10][11]*SPP[3] + P[12][11]*SPP[5] - (P[11][11]*q0)/2; + nextP[2][12] = P[2][12] + P[0][12]*SF[3] + P[3][12]*SF[5] + P[1][12]*SPP[6] - P[10][12]*SPP[3] + P[12][12]*SPP[5] - (P[11][12]*q0)/2; + nextP[2][13] = P[2][13] + P[0][13]*SF[3] + P[3][13]*SF[5] + P[1][13]*SPP[6] - P[10][13]*SPP[3] + P[12][13]*SPP[5] - (P[11][13]*q0)/2; + nextP[2][14] = P[2][14] + P[0][14]*SF[3] + P[3][14]*SF[5] + P[1][14]*SPP[6] - P[10][14]*SPP[3] + P[12][14]*SPP[5] - (P[11][14]*q0)/2; + nextP[2][15] = P[2][15] + P[0][15]*SF[3] + P[3][15]*SF[5] + P[1][15]*SPP[6] - P[10][15]*SPP[3] + P[12][15]*SPP[5] - (P[11][15]*q0)/2; + nextP[2][16] = P[2][16] + P[0][16]*SF[3] + P[3][16]*SF[5] + P[1][16]*SPP[6] - P[10][16]*SPP[3] + P[12][16]*SPP[5] - (P[11][16]*q0)/2; + nextP[2][17] = P[2][17] + P[0][17]*SF[3] + P[3][17]*SF[5] + P[1][17]*SPP[6] - P[10][17]*SPP[3] + P[12][17]*SPP[5] - (P[11][17]*q0)/2; + nextP[2][18] = P[2][18] + P[0][18]*SF[3] + P[3][18]*SF[5] + P[1][18]*SPP[6] - P[10][18]*SPP[3] + P[12][18]*SPP[5] - (P[11][18]*q0)/2; + nextP[2][19] = P[2][19] + P[0][19]*SF[3] + P[3][19]*SF[5] + P[1][19]*SPP[6] - P[10][19]*SPP[3] + P[12][19]*SPP[5] - (P[11][19]*q0)/2; + nextP[2][20] = P[2][20] + P[0][20]*SF[3] + P[3][20]*SF[5] + P[1][20]*SPP[6] - P[10][20]*SPP[3] + P[12][20]*SPP[5] - (P[11][20]*q0)/2; + nextP[3][0] = P[3][0] + SQ[6] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2 + SF[6]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2) + SPP[7]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2) + SPP[6]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2) + SPP[5]*(P[3][10] + P[0][10]*SF[4] + P[1][10]*SF[3] + P[2][10]*SF[6] + P[10][10]*SPP[4] - P[11][10]*SPP[5] - (P[12][10]*q0)/2) + SPP[4]*(P[3][11] + P[0][11]*SF[4] + P[1][11]*SF[3] + P[2][11]*SF[6] + P[10][11]*SPP[4] - P[11][11]*SPP[5] - (P[12][11]*q0)/2) + SPP[3]*(P[3][12] + P[0][12]*SF[4] + P[1][12]*SF[3] + P[2][12]*SF[6] + P[10][12]*SPP[4] - P[11][12]*SPP[5] - (P[12][12]*q0)/2); + nextP[3][1] = P[3][1] + SQ[4] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2 + SF[5]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) + SF[4]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2) + SPP[7]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2) + SPP[3]*(P[3][11] + P[0][11]*SF[4] + P[1][11]*SF[3] + P[2][11]*SF[6] + P[10][11]*SPP[4] - P[11][11]*SPP[5] - (P[12][11]*q0)/2) - SPP[4]*(P[3][12] + P[0][12]*SF[4] + P[1][12]*SF[3] + P[2][12]*SF[6] + P[10][12]*SPP[4] - P[11][12]*SPP[5] - (P[12][12]*q0)/2) - (q0*(P[3][10] + P[0][10]*SF[4] + P[1][10]*SF[3] + P[2][10]*SF[6] + P[10][10]*SPP[4] - P[11][10]*SPP[5] - (P[12][10]*q0)/2))/2; + nextP[3][2] = P[3][2] + SQ[3] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2 + SF[3]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) + SF[5]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2) + SPP[6]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2) - SPP[3]*(P[3][10] + P[0][10]*SF[4] + P[1][10]*SF[3] + P[2][10]*SF[6] + P[10][10]*SPP[4] - P[11][10]*SPP[5] - (P[12][10]*q0)/2) + SPP[5]*(P[3][12] + P[0][12]*SF[4] + P[1][12]*SF[3] + P[2][12]*SF[6] + P[10][12]*SPP[4] - P[11][12]*SPP[5] - (P[12][12]*q0)/2) - (q0*(P[3][11] + P[0][11]*SF[4] + P[1][11]*SF[3] + P[2][11]*SF[6] + P[10][11]*SPP[4] - P[11][11]*SPP[5] - (P[12][11]*q0)/2))/2; + nextP[3][3] = P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] + (dayCov*SQ[10])/4 + dazCov*SQ[9] - (P[12][3]*q0)/2 + SF[4]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) + SF[3]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2) + SF[6]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2) + SPP[4]*(P[3][10] + P[0][10]*SF[4] + P[1][10]*SF[3] + P[2][10]*SF[6] + P[10][10]*SPP[4] - P[11][10]*SPP[5] - (P[12][10]*q0)/2) - SPP[5]*(P[3][11] + P[0][11]*SF[4] + P[1][11]*SF[3] + P[2][11]*SF[6] + P[10][11]*SPP[4] - P[11][11]*SPP[5] - (P[12][11]*q0)/2) + (daxCov*sq(q2))/4 - (q0*(P[3][12] + P[0][12]*SF[4] + P[1][12]*SF[3] + P[2][12]*SF[6] + P[10][12]*SPP[4] - P[11][12]*SPP[5] - (P[12][12]*q0)/2))/2; + nextP[3][4] = P[3][4] + P[0][4]*SF[4] + P[1][4]*SF[3] + P[2][4]*SF[6] + P[10][4]*SPP[4] - P[11][4]*SPP[5] - (P[12][4]*q0)/2 + SF[2]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) + SF[0]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2) + SPP[0]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2) - SPP[2]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2); + nextP[3][5] = P[3][5] + P[0][5]*SF[4] + P[1][5]*SF[3] + P[2][5]*SF[6] + P[10][5]*SPP[4] - P[11][5]*SPP[5] - (P[12][5]*q0)/2 + SF[1]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) + SF[0]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2) + SF[2]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2) - SPP[0]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2); + nextP[3][6] = P[3][6] + P[0][6]*SF[4] + P[1][6]*SF[3] + P[2][6]*SF[6] + P[10][6]*SPP[4] - P[11][6]*SPP[5] - (P[12][6]*q0)/2 + SF[1]*(P[3][1] + P[0][1]*SF[4] + P[1][1]*SF[3] + P[2][1]*SF[6] + P[10][1]*SPP[4] - P[11][1]*SPP[5] - (P[12][1]*q0)/2) + SF[0]*(P[3][3] + P[0][3]*SF[4] + P[1][3]*SF[3] + P[2][3]*SF[6] + P[10][3]*SPP[4] - P[11][3]*SPP[5] - (P[12][3]*q0)/2) + SPP[0]*(P[3][0] + P[0][0]*SF[4] + P[1][0]*SF[3] + P[2][0]*SF[6] + P[10][0]*SPP[4] - P[11][0]*SPP[5] - (P[12][0]*q0)/2) - SPP[1]*(P[3][2] + P[0][2]*SF[4] + P[1][2]*SF[3] + P[2][2]*SF[6] + P[10][2]*SPP[4] - P[11][2]*SPP[5] - (P[12][2]*q0)/2); + nextP[3][7] = P[3][7] + P[0][7]*SF[4] + P[1][7]*SF[3] + P[2][7]*SF[6] + P[10][7]*SPP[4] - P[11][7]*SPP[5] - (P[12][7]*q0)/2 + dt*(P[3][4] + P[0][4]*SF[4] + P[1][4]*SF[3] + P[2][4]*SF[6] + P[10][4]*SPP[4] - P[11][4]*SPP[5] - (P[12][4]*q0)/2); + nextP[3][8] = P[3][8] + P[0][8]*SF[4] + P[1][8]*SF[3] + P[2][8]*SF[6] + P[10][8]*SPP[4] - P[11][8]*SPP[5] - (P[12][8]*q0)/2 + dt*(P[3][5] + P[0][5]*SF[4] + P[1][5]*SF[3] + P[2][5]*SF[6] + P[10][5]*SPP[4] - P[11][5]*SPP[5] - (P[12][5]*q0)/2); + nextP[3][9] = P[3][9] + P[0][9]*SF[4] + P[1][9]*SF[3] + P[2][9]*SF[6] + P[10][9]*SPP[4] - P[11][9]*SPP[5] - (P[12][9]*q0)/2 + dt*(P[3][6] + P[0][6]*SF[4] + P[1][6]*SF[3] + P[2][6]*SF[6] + P[10][6]*SPP[4] - P[11][6]*SPP[5] - (P[12][6]*q0)/2); + nextP[3][10] = P[3][10] + P[0][10]*SF[4] + P[1][10]*SF[3] + P[2][10]*SF[6] + P[10][10]*SPP[4] - P[11][10]*SPP[5] - (P[12][10]*q0)/2; + nextP[3][11] = P[3][11] + P[0][11]*SF[4] + P[1][11]*SF[3] + P[2][11]*SF[6] + P[10][11]*SPP[4] - P[11][11]*SPP[5] - (P[12][11]*q0)/2; + nextP[3][12] = P[3][12] + P[0][12]*SF[4] + P[1][12]*SF[3] + P[2][12]*SF[6] + P[10][12]*SPP[4] - P[11][12]*SPP[5] - (P[12][12]*q0)/2; + nextP[3][13] = P[3][13] + P[0][13]*SF[4] + P[1][13]*SF[3] + P[2][13]*SF[6] + P[10][13]*SPP[4] - P[11][13]*SPP[5] - (P[12][13]*q0)/2; + nextP[3][14] = P[3][14] + P[0][14]*SF[4] + P[1][14]*SF[3] + P[2][14]*SF[6] + P[10][14]*SPP[4] - P[11][14]*SPP[5] - (P[12][14]*q0)/2; + nextP[3][15] = P[3][15] + P[0][15]*SF[4] + P[1][15]*SF[3] + P[2][15]*SF[6] + P[10][15]*SPP[4] - P[11][15]*SPP[5] - (P[12][15]*q0)/2; + nextP[3][16] = P[3][16] + P[0][16]*SF[4] + P[1][16]*SF[3] + P[2][16]*SF[6] + P[10][16]*SPP[4] - P[11][16]*SPP[5] - (P[12][16]*q0)/2; + nextP[3][17] = P[3][17] + P[0][17]*SF[4] + P[1][17]*SF[3] + P[2][17]*SF[6] + P[10][17]*SPP[4] - P[11][17]*SPP[5] - (P[12][17]*q0)/2; + nextP[3][18] = P[3][18] + P[0][18]*SF[4] + P[1][18]*SF[3] + P[2][18]*SF[6] + P[10][18]*SPP[4] - P[11][18]*SPP[5] - (P[12][18]*q0)/2; + nextP[3][19] = P[3][19] + P[0][19]*SF[4] + P[1][19]*SF[3] + P[2][19]*SF[6] + P[10][19]*SPP[4] - P[11][19]*SPP[5] - (P[12][19]*q0)/2; + nextP[3][20] = P[3][20] + P[0][20]*SF[4] + P[1][20]*SF[3] + P[2][20]*SF[6] + P[10][20]*SPP[4] - P[11][20]*SPP[5] - (P[12][20]*q0)/2; + nextP[4][0] = P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2] + SF[6]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]) + SPP[7]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]) + SPP[6]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) + SPP[5]*(P[4][10] + P[0][10]*SF[2] + P[1][10]*SF[0] + P[2][10]*SPP[0] - P[3][10]*SPP[2]) + SPP[4]*(P[4][11] + P[0][11]*SF[2] + P[1][11]*SF[0] + P[2][11]*SPP[0] - P[3][11]*SPP[2]) + SPP[3]*(P[4][12] + P[0][12]*SF[2] + P[1][12]*SF[0] + P[2][12]*SPP[0] - P[3][12]*SPP[2]); + nextP[4][1] = P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2] + SF[5]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) + SF[4]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]) + SPP[7]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) + SPP[3]*(P[4][11] + P[0][11]*SF[2] + P[1][11]*SF[0] + P[2][11]*SPP[0] - P[3][11]*SPP[2]) - SPP[4]*(P[4][12] + P[0][12]*SF[2] + P[1][12]*SF[0] + P[2][12]*SPP[0] - P[3][12]*SPP[2]) - (q0*(P[4][10] + P[0][10]*SF[2] + P[1][10]*SF[0] + P[2][10]*SPP[0] - P[3][10]*SPP[2]))/2; + nextP[4][2] = P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2] + SF[3]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) + SF[5]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) + SPP[6]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]) - SPP[3]*(P[4][10] + P[0][10]*SF[2] + P[1][10]*SF[0] + P[2][10]*SPP[0] - P[3][10]*SPP[2]) + SPP[5]*(P[4][12] + P[0][12]*SF[2] + P[1][12]*SF[0] + P[2][12]*SPP[0] - P[3][12]*SPP[2]) - (q0*(P[4][11] + P[0][11]*SF[2] + P[1][11]*SF[0] + P[2][11]*SPP[0] - P[3][11]*SPP[2]))/2; + nextP[4][3] = P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2] + SF[4]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) + SF[3]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]) + SF[6]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]) + SPP[4]*(P[4][10] + P[0][10]*SF[2] + P[1][10]*SF[0] + P[2][10]*SPP[0] - P[3][10]*SPP[2]) - SPP[5]*(P[4][11] + P[0][11]*SF[2] + P[1][11]*SF[0] + P[2][11]*SPP[0] - P[3][11]*SPP[2]) - (q0*(P[4][12] + P[0][12]*SF[2] + P[1][12]*SF[0] + P[2][12]*SPP[0] - P[3][12]*SPP[2]))/2; + nextP[4][4] = P[4][4] + P[0][4]*SF[2] + P[1][4]*SF[0] + P[2][4]*SPP[0] - P[3][4]*SPP[2] + dvyCov*sq(SG[7] - 2*q0*q3) + dvzCov*sq(SG[6] + 2*q0*q2) + SF[2]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) + SF[0]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]) + SPP[0]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]) - SPP[2]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) + dvxCov*sq(SG[1] + SG[2] - SG[3] - SG[4]); + nextP[4][5] = P[4][5] + SQ[2] + P[0][5]*SF[2] + P[1][5]*SF[0] + P[2][5]*SPP[0] - P[3][5]*SPP[2] + SF[1]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) + SF[0]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]) + SF[2]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) - SPP[0]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]); + nextP[4][6] = P[4][6] + SQ[1] + P[0][6]*SF[2] + P[1][6]*SF[0] + P[2][6]*SPP[0] - P[3][6]*SPP[2] + SF[1]*(P[4][1] + P[0][1]*SF[2] + P[1][1]*SF[0] + P[2][1]*SPP[0] - P[3][1]*SPP[2]) + SF[0]*(P[4][3] + P[0][3]*SF[2] + P[1][3]*SF[0] + P[2][3]*SPP[0] - P[3][3]*SPP[2]) + SPP[0]*(P[4][0] + P[0][0]*SF[2] + P[1][0]*SF[0] + P[2][0]*SPP[0] - P[3][0]*SPP[2]) - SPP[1]*(P[4][2] + P[0][2]*SF[2] + P[1][2]*SF[0] + P[2][2]*SPP[0] - P[3][2]*SPP[2]); + nextP[4][7] = P[4][7] + P[0][7]*SF[2] + P[1][7]*SF[0] + P[2][7]*SPP[0] - P[3][7]*SPP[2] + dt*(P[4][4] + P[0][4]*SF[2] + P[1][4]*SF[0] + P[2][4]*SPP[0] - P[3][4]*SPP[2]); + nextP[4][8] = P[4][8] + P[0][8]*SF[2] + P[1][8]*SF[0] + P[2][8]*SPP[0] - P[3][8]*SPP[2] + dt*(P[4][5] + P[0][5]*SF[2] + P[1][5]*SF[0] + P[2][5]*SPP[0] - P[3][5]*SPP[2]); + nextP[4][9] = P[4][9] + P[0][9]*SF[2] + P[1][9]*SF[0] + P[2][9]*SPP[0] - P[3][9]*SPP[2] + dt*(P[4][6] + P[0][6]*SF[2] + P[1][6]*SF[0] + P[2][6]*SPP[0] - P[3][6]*SPP[2]); + nextP[4][10] = P[4][10] + P[0][10]*SF[2] + P[1][10]*SF[0] + P[2][10]*SPP[0] - P[3][10]*SPP[2]; + nextP[4][11] = P[4][11] + P[0][11]*SF[2] + P[1][11]*SF[0] + P[2][11]*SPP[0] - P[3][11]*SPP[2]; + nextP[4][12] = P[4][12] + P[0][12]*SF[2] + P[1][12]*SF[0] + P[2][12]*SPP[0] - P[3][12]*SPP[2]; + nextP[4][13] = P[4][13] + P[0][13]*SF[2] + P[1][13]*SF[0] + P[2][13]*SPP[0] - P[3][13]*SPP[2]; + nextP[4][14] = P[4][14] + P[0][14]*SF[2] + P[1][14]*SF[0] + P[2][14]*SPP[0] - P[3][14]*SPP[2]; + nextP[4][15] = P[4][15] + P[0][15]*SF[2] + P[1][15]*SF[0] + P[2][15]*SPP[0] - P[3][15]*SPP[2]; + nextP[4][16] = P[4][16] + P[0][16]*SF[2] + P[1][16]*SF[0] + P[2][16]*SPP[0] - P[3][16]*SPP[2]; + nextP[4][17] = P[4][17] + P[0][17]*SF[2] + P[1][17]*SF[0] + P[2][17]*SPP[0] - P[3][17]*SPP[2]; + nextP[4][18] = P[4][18] + P[0][18]*SF[2] + P[1][18]*SF[0] + P[2][18]*SPP[0] - P[3][18]*SPP[2]; + nextP[4][19] = P[4][19] + P[0][19]*SF[2] + P[1][19]*SF[0] + P[2][19]*SPP[0] - P[3][19]*SPP[2]; + nextP[4][20] = P[4][20] + P[0][20]*SF[2] + P[1][20]*SF[0] + P[2][20]*SPP[0] - P[3][20]*SPP[2]; + nextP[5][0] = P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0] + SF[6]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) + SPP[7]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]) + SPP[6]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]) + SPP[5]*(P[5][10] + P[0][10]*SF[1] + P[2][10]*SF[0] + P[3][10]*SF[2] - P[1][10]*SPP[0]) + SPP[4]*(P[5][11] + P[0][11]*SF[1] + P[2][11]*SF[0] + P[3][11]*SF[2] - P[1][11]*SPP[0]) + SPP[3]*(P[5][12] + P[0][12]*SF[1] + P[2][12]*SF[0] + P[3][12]*SF[2] - P[1][12]*SPP[0]); + nextP[5][1] = P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0] + SF[5]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) + SF[4]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]) + SPP[7]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]) + SPP[3]*(P[5][11] + P[0][11]*SF[1] + P[2][11]*SF[0] + P[3][11]*SF[2] - P[1][11]*SPP[0]) - SPP[4]*(P[5][12] + P[0][12]*SF[1] + P[2][12]*SF[0] + P[3][12]*SF[2] - P[1][12]*SPP[0]) - (q0*(P[5][10] + P[0][10]*SF[1] + P[2][10]*SF[0] + P[3][10]*SF[2] - P[1][10]*SPP[0]))/2; + nextP[5][2] = P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0] + SF[3]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) + SF[5]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]) + SPP[6]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) - SPP[3]*(P[5][10] + P[0][10]*SF[1] + P[2][10]*SF[0] + P[3][10]*SF[2] - P[1][10]*SPP[0]) + SPP[5]*(P[5][12] + P[0][12]*SF[1] + P[2][12]*SF[0] + P[3][12]*SF[2] - P[1][12]*SPP[0]) - (q0*(P[5][11] + P[0][11]*SF[1] + P[2][11]*SF[0] + P[3][11]*SF[2] - P[1][11]*SPP[0]))/2; + nextP[5][3] = P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0] + SF[4]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) + SF[3]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) + SF[6]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]) + SPP[4]*(P[5][10] + P[0][10]*SF[1] + P[2][10]*SF[0] + P[3][10]*SF[2] - P[1][10]*SPP[0]) - SPP[5]*(P[5][11] + P[0][11]*SF[1] + P[2][11]*SF[0] + P[3][11]*SF[2] - P[1][11]*SPP[0]) - (q0*(P[5][12] + P[0][12]*SF[1] + P[2][12]*SF[0] + P[3][12]*SF[2] - P[1][12]*SPP[0]))/2; + nextP[5][4] = P[5][4] + SQ[2] + P[0][4]*SF[1] + P[2][4]*SF[0] + P[3][4]*SF[2] - P[1][4]*SPP[0] + SF[2]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) + SF[0]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) + SPP[0]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]) - SPP[2]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]); + nextP[5][5] = P[5][5] + P[0][5]*SF[1] + P[2][5]*SF[0] + P[3][5]*SF[2] - P[1][5]*SPP[0] + dvxCov*sq(SG[7] + 2*q0*q3) + dvzCov*sq(SG[5] - 2*q0*q1) + SF[1]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) + SF[0]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]) + SF[2]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]) - SPP[0]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) + dvyCov*sq(SG[1] - SG[2] + SG[3] - SG[4]); + nextP[5][6] = P[5][6] + SQ[0] + P[0][6]*SF[1] + P[2][6]*SF[0] + P[3][6]*SF[2] - P[1][6]*SPP[0] + SF[1]*(P[5][1] + P[0][1]*SF[1] + P[2][1]*SF[0] + P[3][1]*SF[2] - P[1][1]*SPP[0]) + SF[0]*(P[5][3] + P[0][3]*SF[1] + P[2][3]*SF[0] + P[3][3]*SF[2] - P[1][3]*SPP[0]) + SPP[0]*(P[5][0] + P[0][0]*SF[1] + P[2][0]*SF[0] + P[3][0]*SF[2] - P[1][0]*SPP[0]) - SPP[1]*(P[5][2] + P[0][2]*SF[1] + P[2][2]*SF[0] + P[3][2]*SF[2] - P[1][2]*SPP[0]); + nextP[5][7] = P[5][7] + P[0][7]*SF[1] + P[2][7]*SF[0] + P[3][7]*SF[2] - P[1][7]*SPP[0] + dt*(P[5][4] + P[0][4]*SF[1] + P[2][4]*SF[0] + P[3][4]*SF[2] - P[1][4]*SPP[0]); + nextP[5][8] = P[5][8] + P[0][8]*SF[1] + P[2][8]*SF[0] + P[3][8]*SF[2] - P[1][8]*SPP[0] + dt*(P[5][5] + P[0][5]*SF[1] + P[2][5]*SF[0] + P[3][5]*SF[2] - P[1][5]*SPP[0]); + nextP[5][9] = P[5][9] + P[0][9]*SF[1] + P[2][9]*SF[0] + P[3][9]*SF[2] - P[1][9]*SPP[0] + dt*(P[5][6] + P[0][6]*SF[1] + P[2][6]*SF[0] + P[3][6]*SF[2] - P[1][6]*SPP[0]); + nextP[5][10] = P[5][10] + P[0][10]*SF[1] + P[2][10]*SF[0] + P[3][10]*SF[2] - P[1][10]*SPP[0]; + nextP[5][11] = P[5][11] + P[0][11]*SF[1] + P[2][11]*SF[0] + P[3][11]*SF[2] - P[1][11]*SPP[0]; + nextP[5][12] = P[5][12] + P[0][12]*SF[1] + P[2][12]*SF[0] + P[3][12]*SF[2] - P[1][12]*SPP[0]; + nextP[5][13] = P[5][13] + P[0][13]*SF[1] + P[2][13]*SF[0] + P[3][13]*SF[2] - P[1][13]*SPP[0]; + nextP[5][14] = P[5][14] + P[0][14]*SF[1] + P[2][14]*SF[0] + P[3][14]*SF[2] - P[1][14]*SPP[0]; + nextP[5][15] = P[5][15] + P[0][15]*SF[1] + P[2][15]*SF[0] + P[3][15]*SF[2] - P[1][15]*SPP[0]; + nextP[5][16] = P[5][16] + P[0][16]*SF[1] + P[2][16]*SF[0] + P[3][16]*SF[2] - P[1][16]*SPP[0]; + nextP[5][17] = P[5][17] + P[0][17]*SF[1] + P[2][17]*SF[0] + P[3][17]*SF[2] - P[1][17]*SPP[0]; + nextP[5][18] = P[5][18] + P[0][18]*SF[1] + P[2][18]*SF[0] + P[3][18]*SF[2] - P[1][18]*SPP[0]; + nextP[5][19] = P[5][19] + P[0][19]*SF[1] + P[2][19]*SF[0] + P[3][19]*SF[2] - P[1][19]*SPP[0]; + nextP[5][20] = P[5][20] + P[0][20]*SF[1] + P[2][20]*SF[0] + P[3][20]*SF[2] - P[1][20]*SPP[0]; + nextP[6][0] = P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1] + SF[6]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]) + SPP[7]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) + SPP[6]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]) + SPP[5]*(P[6][10] + P[1][10]*SF[1] + P[3][10]*SF[0] + P[0][10]*SPP[0] - P[2][10]*SPP[1]) + SPP[4]*(P[6][11] + P[1][11]*SF[1] + P[3][11]*SF[0] + P[0][11]*SPP[0] - P[2][11]*SPP[1]) + SPP[3]*(P[6][12] + P[1][12]*SF[1] + P[3][12]*SF[0] + P[0][12]*SPP[0] - P[2][12]*SPP[1]); + nextP[6][1] = P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1] + SF[5]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) + SF[4]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) + SPP[7]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]) + SPP[3]*(P[6][11] + P[1][11]*SF[1] + P[3][11]*SF[0] + P[0][11]*SPP[0] - P[2][11]*SPP[1]) - SPP[4]*(P[6][12] + P[1][12]*SF[1] + P[3][12]*SF[0] + P[0][12]*SPP[0] - P[2][12]*SPP[1]) - (q0*(P[6][10] + P[1][10]*SF[1] + P[3][10]*SF[0] + P[0][10]*SPP[0] - P[2][10]*SPP[1]))/2; + nextP[6][2] = P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1] + SF[3]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) + SF[5]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]) + SPP[6]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]) - SPP[3]*(P[6][10] + P[1][10]*SF[1] + P[3][10]*SF[0] + P[0][10]*SPP[0] - P[2][10]*SPP[1]) + SPP[5]*(P[6][12] + P[1][12]*SF[1] + P[3][12]*SF[0] + P[0][12]*SPP[0] - P[2][12]*SPP[1]) - (q0*(P[6][11] + P[1][11]*SF[1] + P[3][11]*SF[0] + P[0][11]*SPP[0] - P[2][11]*SPP[1]))/2; + nextP[6][3] = P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1] + SF[4]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) + SF[3]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]) + SF[6]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) + SPP[4]*(P[6][10] + P[1][10]*SF[1] + P[3][10]*SF[0] + P[0][10]*SPP[0] - P[2][10]*SPP[1]) - SPP[5]*(P[6][11] + P[1][11]*SF[1] + P[3][11]*SF[0] + P[0][11]*SPP[0] - P[2][11]*SPP[1]) - (q0*(P[6][12] + P[1][12]*SF[1] + P[3][12]*SF[0] + P[0][12]*SPP[0] - P[2][12]*SPP[1]))/2; + nextP[6][4] = P[6][4] + SQ[1] + P[1][4]*SF[1] + P[3][4]*SF[0] + P[0][4]*SPP[0] - P[2][4]*SPP[1] + SF[2]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) + SF[0]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]) + SPP[0]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) - SPP[2]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]); + nextP[6][5] = P[6][5] + SQ[0] + P[1][5]*SF[1] + P[3][5]*SF[0] + P[0][5]*SPP[0] - P[2][5]*SPP[1] + SF[1]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) + SF[0]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) + SF[2]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]) - SPP[0]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]); + nextP[6][6] = P[6][6] + P[1][6]*SF[1] + P[3][6]*SF[0] + P[0][6]*SPP[0] - P[2][6]*SPP[1] + dvxCov*sq(SG[6] - 2*q0*q2) + dvyCov*sq(SG[5] + 2*q0*q1) + SF[1]*(P[6][1] + P[1][1]*SF[1] + P[3][1]*SF[0] + P[0][1]*SPP[0] - P[2][1]*SPP[1]) + SF[0]*(P[6][3] + P[1][3]*SF[1] + P[3][3]*SF[0] + P[0][3]*SPP[0] - P[2][3]*SPP[1]) + SPP[0]*(P[6][0] + P[1][0]*SF[1] + P[3][0]*SF[0] + P[0][0]*SPP[0] - P[2][0]*SPP[1]) - SPP[1]*(P[6][2] + P[1][2]*SF[1] + P[3][2]*SF[0] + P[0][2]*SPP[0] - P[2][2]*SPP[1]) + dvzCov*sq(SG[1] - SG[2] - SG[3] + SG[4]); + nextP[6][7] = P[6][7] + P[1][7]*SF[1] + P[3][7]*SF[0] + P[0][7]*SPP[0] - P[2][7]*SPP[1] + dt*(P[6][4] + P[1][4]*SF[1] + P[3][4]*SF[0] + P[0][4]*SPP[0] - P[2][4]*SPP[1]); + nextP[6][8] = P[6][8] + P[1][8]*SF[1] + P[3][8]*SF[0] + P[0][8]*SPP[0] - P[2][8]*SPP[1] + dt*(P[6][5] + P[1][5]*SF[1] + P[3][5]*SF[0] + P[0][5]*SPP[0] - P[2][5]*SPP[1]); + nextP[6][9] = P[6][9] + P[1][9]*SF[1] + P[3][9]*SF[0] + P[0][9]*SPP[0] - P[2][9]*SPP[1] + dt*(P[6][6] + P[1][6]*SF[1] + P[3][6]*SF[0] + P[0][6]*SPP[0] - P[2][6]*SPP[1]); + nextP[6][10] = P[6][10] + P[1][10]*SF[1] + P[3][10]*SF[0] + P[0][10]*SPP[0] - P[2][10]*SPP[1]; + nextP[6][11] = P[6][11] + P[1][11]*SF[1] + P[3][11]*SF[0] + P[0][11]*SPP[0] - P[2][11]*SPP[1]; + nextP[6][12] = P[6][12] + P[1][12]*SF[1] + P[3][12]*SF[0] + P[0][12]*SPP[0] - P[2][12]*SPP[1]; + nextP[6][13] = P[6][13] + P[1][13]*SF[1] + P[3][13]*SF[0] + P[0][13]*SPP[0] - P[2][13]*SPP[1]; + nextP[6][14] = P[6][14] + P[1][14]*SF[1] + P[3][14]*SF[0] + P[0][14]*SPP[0] - P[2][14]*SPP[1]; + nextP[6][15] = P[6][15] + P[1][15]*SF[1] + P[3][15]*SF[0] + P[0][15]*SPP[0] - P[2][15]*SPP[1]; + nextP[6][16] = P[6][16] + P[1][16]*SF[1] + P[3][16]*SF[0] + P[0][16]*SPP[0] - P[2][16]*SPP[1]; + nextP[6][17] = P[6][17] + P[1][17]*SF[1] + P[3][17]*SF[0] + P[0][17]*SPP[0] - P[2][17]*SPP[1]; + nextP[6][18] = P[6][18] + P[1][18]*SF[1] + P[3][18]*SF[0] + P[0][18]*SPP[0] - P[2][18]*SPP[1]; + nextP[6][19] = P[6][19] + P[1][19]*SF[1] + P[3][19]*SF[0] + P[0][19]*SPP[0] - P[2][19]*SPP[1]; + nextP[6][20] = P[6][20] + P[1][20]*SF[1] + P[3][20]*SF[0] + P[0][20]*SPP[0] - P[2][20]*SPP[1]; + nextP[7][0] = P[7][0] + P[4][0]*dt + SF[6]*(P[7][1] + P[4][1]*dt) + SPP[7]*(P[7][2] + P[4][2]*dt) + SPP[6]*(P[7][3] + P[4][3]*dt) + SPP[5]*(P[7][10] + P[4][10]*dt) + SPP[4]*(P[7][11] + P[4][11]*dt) + SPP[3]*(P[7][12] + P[4][12]*dt); + nextP[7][1] = P[7][1] + P[4][1]*dt + SF[5]*(P[7][0] + P[4][0]*dt) + SF[4]*(P[7][2] + P[4][2]*dt) + SPP[7]*(P[7][3] + P[4][3]*dt) + SPP[3]*(P[7][11] + P[4][11]*dt) - SPP[4]*(P[7][12] + P[4][12]*dt) - (q0*(P[7][10] + P[4][10]*dt))/2; + nextP[7][2] = P[7][2] + P[4][2]*dt + SF[3]*(P[7][0] + P[4][0]*dt) + SF[5]*(P[7][3] + P[4][3]*dt) + SPP[6]*(P[7][1] + P[4][1]*dt) - SPP[3]*(P[7][10] + P[4][10]*dt) + SPP[5]*(P[7][12] + P[4][12]*dt) - (q0*(P[7][11] + P[4][11]*dt))/2; + nextP[7][3] = P[7][3] + P[4][3]*dt + SF[4]*(P[7][0] + P[4][0]*dt) + SF[3]*(P[7][1] + P[4][1]*dt) + SF[6]*(P[7][2] + P[4][2]*dt) + SPP[4]*(P[7][10] + P[4][10]*dt) - SPP[5]*(P[7][11] + P[4][11]*dt) - (q0*(P[7][12] + P[4][12]*dt))/2; + nextP[7][4] = P[7][4] + P[4][4]*dt + SF[0]*(P[7][1] + P[4][1]*dt) + SF[2]*(P[7][0] + P[4][0]*dt) + SPP[0]*(P[7][2] + P[4][2]*dt) - SPP[2]*(P[7][3] + P[4][3]*dt); + nextP[7][5] = P[7][5] + P[4][5]*dt + SF[1]*(P[7][0] + P[4][0]*dt) + SF[0]*(P[7][2] + P[4][2]*dt) + SF[2]*(P[7][3] + P[4][3]*dt) - SPP[0]*(P[7][1] + P[4][1]*dt); + nextP[7][6] = P[7][6] + P[4][6]*dt + SF[1]*(P[7][1] + P[4][1]*dt) + SF[0]*(P[7][3] + P[4][3]*dt) + SPP[0]*(P[7][0] + P[4][0]*dt) - SPP[1]*(P[7][2] + P[4][2]*dt); + nextP[7][7] = P[7][7] + P[4][7]*dt + dt*(P[7][4] + P[4][4]*dt); + nextP[7][8] = P[7][8] + P[4][8]*dt + dt*(P[7][5] + P[4][5]*dt); + nextP[7][9] = P[7][9] + P[4][9]*dt + dt*(P[7][6] + P[4][6]*dt); + nextP[7][10] = P[7][10] + P[4][10]*dt; + nextP[7][11] = P[7][11] + P[4][11]*dt; + nextP[7][12] = P[7][12] + P[4][12]*dt; + nextP[7][13] = P[7][13] + P[4][13]*dt; + nextP[7][14] = P[7][14] + P[4][14]*dt; + nextP[7][15] = P[7][15] + P[4][15]*dt; + nextP[7][16] = P[7][16] + P[4][16]*dt; + nextP[7][17] = P[7][17] + P[4][17]*dt; + nextP[7][18] = P[7][18] + P[4][18]*dt; + nextP[7][19] = P[7][19] + P[4][19]*dt; + nextP[7][20] = P[7][20] + P[4][20]*dt; + nextP[8][0] = P[8][0] + P[5][0]*dt + SF[6]*(P[8][1] + P[5][1]*dt) + SPP[7]*(P[8][2] + P[5][2]*dt) + SPP[6]*(P[8][3] + P[5][3]*dt) + SPP[5]*(P[8][10] + P[5][10]*dt) + SPP[4]*(P[8][11] + P[5][11]*dt) + SPP[3]*(P[8][12] + P[5][12]*dt); + nextP[8][1] = P[8][1] + P[5][1]*dt + SF[5]*(P[8][0] + P[5][0]*dt) + SF[4]*(P[8][2] + P[5][2]*dt) + SPP[7]*(P[8][3] + P[5][3]*dt) + SPP[3]*(P[8][11] + P[5][11]*dt) - SPP[4]*(P[8][12] + P[5][12]*dt) - (q0*(P[8][10] + P[5][10]*dt))/2; + nextP[8][2] = P[8][2] + P[5][2]*dt + SF[3]*(P[8][0] + P[5][0]*dt) + SF[5]*(P[8][3] + P[5][3]*dt) + SPP[6]*(P[8][1] + P[5][1]*dt) - SPP[3]*(P[8][10] + P[5][10]*dt) + SPP[5]*(P[8][12] + P[5][12]*dt) - (q0*(P[8][11] + P[5][11]*dt))/2; + nextP[8][3] = P[8][3] + P[5][3]*dt + SF[4]*(P[8][0] + P[5][0]*dt) + SF[3]*(P[8][1] + P[5][1]*dt) + SF[6]*(P[8][2] + P[5][2]*dt) + SPP[4]*(P[8][10] + P[5][10]*dt) - SPP[5]*(P[8][11] + P[5][11]*dt) - (q0*(P[8][12] + P[5][12]*dt))/2; + nextP[8][4] = P[8][4] + P[5][4]*dt + SF[0]*(P[8][1] + P[5][1]*dt) + SF[2]*(P[8][0] + P[5][0]*dt) + SPP[0]*(P[8][2] + P[5][2]*dt) - SPP[2]*(P[8][3] + P[5][3]*dt); + nextP[8][5] = P[8][5] + P[5][5]*dt + SF[1]*(P[8][0] + P[5][0]*dt) + SF[0]*(P[8][2] + P[5][2]*dt) + SF[2]*(P[8][3] + P[5][3]*dt) - SPP[0]*(P[8][1] + P[5][1]*dt); + nextP[8][6] = P[8][6] + P[5][6]*dt + SF[1]*(P[8][1] + P[5][1]*dt) + SF[0]*(P[8][3] + P[5][3]*dt) + SPP[0]*(P[8][0] + P[5][0]*dt) - SPP[1]*(P[8][2] + P[5][2]*dt); + nextP[8][7] = P[8][7] + P[5][7]*dt + dt*(P[8][4] + P[5][4]*dt); + nextP[8][8] = P[8][8] + P[5][8]*dt + dt*(P[8][5] + P[5][5]*dt); + nextP[8][9] = P[8][9] + P[5][9]*dt + dt*(P[8][6] + P[5][6]*dt); + nextP[8][10] = P[8][10] + P[5][10]*dt; + nextP[8][11] = P[8][11] + P[5][11]*dt; + nextP[8][12] = P[8][12] + P[5][12]*dt; + nextP[8][13] = P[8][13] + P[5][13]*dt; + nextP[8][14] = P[8][14] + P[5][14]*dt; + nextP[8][15] = P[8][15] + P[5][15]*dt; + nextP[8][16] = P[8][16] + P[5][16]*dt; + nextP[8][17] = P[8][17] + P[5][17]*dt; + nextP[8][18] = P[8][18] + P[5][18]*dt; + nextP[8][19] = P[8][19] + P[5][19]*dt; + nextP[8][20] = P[8][20] + P[5][20]*dt; + nextP[9][0] = P[9][0] + P[6][0]*dt + SF[6]*(P[9][1] + P[6][1]*dt) + SPP[7]*(P[9][2] + P[6][2]*dt) + SPP[6]*(P[9][3] + P[6][3]*dt) + SPP[5]*(P[9][10] + P[6][10]*dt) + SPP[4]*(P[9][11] + P[6][11]*dt) + SPP[3]*(P[9][12] + P[6][12]*dt); + nextP[9][1] = P[9][1] + P[6][1]*dt + SF[5]*(P[9][0] + P[6][0]*dt) + SF[4]*(P[9][2] + P[6][2]*dt) + SPP[7]*(P[9][3] + P[6][3]*dt) + SPP[3]*(P[9][11] + P[6][11]*dt) - SPP[4]*(P[9][12] + P[6][12]*dt) - (q0*(P[9][10] + P[6][10]*dt))/2; + nextP[9][2] = P[9][2] + P[6][2]*dt + SF[3]*(P[9][0] + P[6][0]*dt) + SF[5]*(P[9][3] + P[6][3]*dt) + SPP[6]*(P[9][1] + P[6][1]*dt) - SPP[3]*(P[9][10] + P[6][10]*dt) + SPP[5]*(P[9][12] + P[6][12]*dt) - (q0*(P[9][11] + P[6][11]*dt))/2; + nextP[9][3] = P[9][3] + P[6][3]*dt + SF[4]*(P[9][0] + P[6][0]*dt) + SF[3]*(P[9][1] + P[6][1]*dt) + SF[6]*(P[9][2] + P[6][2]*dt) + SPP[4]*(P[9][10] + P[6][10]*dt) - SPP[5]*(P[9][11] + P[6][11]*dt) - (q0*(P[9][12] + P[6][12]*dt))/2; + nextP[9][4] = P[9][4] + P[6][4]*dt + SF[0]*(P[9][1] + P[6][1]*dt) + SF[2]*(P[9][0] + P[6][0]*dt) + SPP[0]*(P[9][2] + P[6][2]*dt) - SPP[2]*(P[9][3] + P[6][3]*dt); + nextP[9][5] = P[9][5] + P[6][5]*dt + SF[1]*(P[9][0] + P[6][0]*dt) + SF[0]*(P[9][2] + P[6][2]*dt) + SF[2]*(P[9][3] + P[6][3]*dt) - SPP[0]*(P[9][1] + P[6][1]*dt); + nextP[9][6] = P[9][6] + P[6][6]*dt + SF[1]*(P[9][1] + P[6][1]*dt) + SF[0]*(P[9][3] + P[6][3]*dt) + SPP[0]*(P[9][0] + P[6][0]*dt) - SPP[1]*(P[9][2] + P[6][2]*dt); + nextP[9][7] = P[9][7] + P[6][7]*dt + dt*(P[9][4] + P[6][4]*dt); + nextP[9][8] = P[9][8] + P[6][8]*dt + dt*(P[9][5] + P[6][5]*dt); + nextP[9][9] = P[9][9] + P[6][9]*dt + dt*(P[9][6] + P[6][6]*dt); + nextP[9][10] = P[9][10] + P[6][10]*dt; + nextP[9][11] = P[9][11] + P[6][11]*dt; + nextP[9][12] = P[9][12] + P[6][12]*dt; + nextP[9][13] = P[9][13] + P[6][13]*dt; + nextP[9][14] = P[9][14] + P[6][14]*dt; + nextP[9][15] = P[9][15] + P[6][15]*dt; + nextP[9][16] = P[9][16] + P[6][16]*dt; + nextP[9][17] = P[9][17] + P[6][17]*dt; + nextP[9][18] = P[9][18] + P[6][18]*dt; + nextP[9][19] = P[9][19] + P[6][19]*dt; + nextP[9][20] = P[9][20] + P[6][20]*dt; + nextP[10][0] = P[10][0] + P[10][1]*SF[6] + P[10][2]*SPP[7] + P[10][3]*SPP[6] + P[10][10]*SPP[5] + P[10][11]*SPP[4] + P[10][12]*SPP[3]; + nextP[10][1] = P[10][1] + P[10][0]*SF[5] + P[10][2]*SF[4] + P[10][3]*SPP[7] + P[10][11]*SPP[3] - P[10][12]*SPP[4] - (P[10][10]*q0)/2; + nextP[10][2] = P[10][2] + P[10][0]*SF[3] + P[10][3]*SF[5] + P[10][1]*SPP[6] - P[10][10]*SPP[3] + P[10][12]*SPP[5] - (P[10][11]*q0)/2; + nextP[10][3] = P[10][3] + P[10][0]*SF[4] + P[10][1]*SF[3] + P[10][2]*SF[6] + P[10][10]*SPP[4] - P[10][11]*SPP[5] - (P[10][12]*q0)/2; + nextP[10][4] = P[10][4] + P[10][1]*SF[0] + P[10][0]*SF[2] + P[10][2]*SPP[0] - P[10][3]*SPP[2]; + nextP[10][5] = P[10][5] + P[10][0]*SF[1] + P[10][2]*SF[0] + P[10][3]*SF[2] - P[10][1]*SPP[0]; + nextP[10][6] = P[10][6] + P[10][1]*SF[1] + P[10][3]*SF[0] + P[10][0]*SPP[0] - P[10][2]*SPP[1]; + nextP[10][7] = P[10][7] + P[10][4]*dt; + nextP[10][8] = P[10][8] + P[10][5]*dt; + nextP[10][9] = P[10][9] + P[10][6]*dt; + nextP[10][10] = P[10][10]; + nextP[10][11] = P[10][11]; + nextP[10][12] = P[10][12]; + nextP[10][13] = P[10][13]; + nextP[10][14] = P[10][14]; + nextP[10][15] = P[10][15]; + nextP[10][16] = P[10][16]; + nextP[10][17] = P[10][17]; + nextP[10][18] = P[10][18]; + nextP[10][19] = P[10][19]; + nextP[10][20] = P[10][20]; + nextP[11][0] = P[11][0] + P[11][1]*SF[6] + P[11][2]*SPP[7] + P[11][3]*SPP[6] + P[11][10]*SPP[5] + P[11][11]*SPP[4] + P[11][12]*SPP[3]; + nextP[11][1] = P[11][1] + P[11][0]*SF[5] + P[11][2]*SF[4] + P[11][3]*SPP[7] + P[11][11]*SPP[3] - P[11][12]*SPP[4] - (P[11][10]*q0)/2; + nextP[11][2] = P[11][2] + P[11][0]*SF[3] + P[11][3]*SF[5] + P[11][1]*SPP[6] - P[11][10]*SPP[3] + P[11][12]*SPP[5] - (P[11][11]*q0)/2; + nextP[11][3] = P[11][3] + P[11][0]*SF[4] + P[11][1]*SF[3] + P[11][2]*SF[6] + P[11][10]*SPP[4] - P[11][11]*SPP[5] - (P[11][12]*q0)/2; + nextP[11][4] = P[11][4] + P[11][1]*SF[0] + P[11][0]*SF[2] + P[11][2]*SPP[0] - P[11][3]*SPP[2]; + nextP[11][5] = P[11][5] + P[11][0]*SF[1] + P[11][2]*SF[0] + P[11][3]*SF[2] - P[11][1]*SPP[0]; + nextP[11][6] = P[11][6] + P[11][1]*SF[1] + P[11][3]*SF[0] + P[11][0]*SPP[0] - P[11][2]*SPP[1]; + nextP[11][7] = P[11][7] + P[11][4]*dt; + nextP[11][8] = P[11][8] + P[11][5]*dt; + nextP[11][9] = P[11][9] + P[11][6]*dt; + nextP[11][10] = P[11][10]; + nextP[11][11] = P[11][11]; + nextP[11][12] = P[11][12]; + nextP[11][13] = P[11][13]; + nextP[11][14] = P[11][14]; + nextP[11][15] = P[11][15]; + nextP[11][16] = P[11][16]; + nextP[11][17] = P[11][17]; + nextP[11][18] = P[11][18]; + nextP[11][19] = P[11][19]; + nextP[11][20] = P[11][20]; + nextP[12][0] = P[12][0] + P[12][1]*SF[6] + P[12][2]*SPP[7] + P[12][3]*SPP[6] + P[12][10]*SPP[5] + P[12][11]*SPP[4] + P[12][12]*SPP[3]; + nextP[12][1] = P[12][1] + P[12][0]*SF[5] + P[12][2]*SF[4] + P[12][3]*SPP[7] + P[12][11]*SPP[3] - P[12][12]*SPP[4] - (P[12][10]*q0)/2; + nextP[12][2] = P[12][2] + P[12][0]*SF[3] + P[12][3]*SF[5] + P[12][1]*SPP[6] - P[12][10]*SPP[3] + P[12][12]*SPP[5] - (P[12][11]*q0)/2; + nextP[12][3] = P[12][3] + P[12][0]*SF[4] + P[12][1]*SF[3] + P[12][2]*SF[6] + P[12][10]*SPP[4] - P[12][11]*SPP[5] - (P[12][12]*q0)/2; + nextP[12][4] = P[12][4] + P[12][1]*SF[0] + P[12][0]*SF[2] + P[12][2]*SPP[0] - P[12][3]*SPP[2]; + nextP[12][5] = P[12][5] + P[12][0]*SF[1] + P[12][2]*SF[0] + P[12][3]*SF[2] - P[12][1]*SPP[0]; + nextP[12][6] = P[12][6] + P[12][1]*SF[1] + P[12][3]*SF[0] + P[12][0]*SPP[0] - P[12][2]*SPP[1]; + nextP[12][7] = P[12][7] + P[12][4]*dt; + nextP[12][8] = P[12][8] + P[12][5]*dt; + nextP[12][9] = P[12][9] + P[12][6]*dt; + nextP[12][10] = P[12][10]; + nextP[12][11] = P[12][11]; + nextP[12][12] = P[12][12]; + nextP[12][13] = P[12][13]; + nextP[12][14] = P[12][14]; + nextP[12][15] = P[12][15]; + nextP[12][16] = P[12][16]; + nextP[12][17] = P[12][17]; + nextP[12][18] = P[12][18]; + nextP[12][19] = P[12][19]; + nextP[12][20] = P[12][20]; + nextP[13][0] = P[13][0] + P[13][1]*SF[6] + P[13][2]*SPP[7] + P[13][3]*SPP[6] + P[13][10]*SPP[5] + P[13][11]*SPP[4] + P[13][12]*SPP[3]; + nextP[13][1] = P[13][1] + P[13][0]*SF[5] + P[13][2]*SF[4] + P[13][3]*SPP[7] + P[13][11]*SPP[3] - P[13][12]*SPP[4] - (P[13][10]*q0)/2; + nextP[13][2] = P[13][2] + P[13][0]*SF[3] + P[13][3]*SF[5] + P[13][1]*SPP[6] - P[13][10]*SPP[3] + P[13][12]*SPP[5] - (P[13][11]*q0)/2; + nextP[13][3] = P[13][3] + P[13][0]*SF[4] + P[13][1]*SF[3] + P[13][2]*SF[6] + P[13][10]*SPP[4] - P[13][11]*SPP[5] - (P[13][12]*q0)/2; + nextP[13][4] = P[13][4] + P[13][1]*SF[0] + P[13][0]*SF[2] + P[13][2]*SPP[0] - P[13][3]*SPP[2]; + nextP[13][5] = P[13][5] + P[13][0]*SF[1] + P[13][2]*SF[0] + P[13][3]*SF[2] - P[13][1]*SPP[0]; + nextP[13][6] = P[13][6] + P[13][1]*SF[1] + P[13][3]*SF[0] + P[13][0]*SPP[0] - P[13][2]*SPP[1]; + nextP[13][7] = P[13][7] + P[13][4]*dt; + nextP[13][8] = P[13][8] + P[13][5]*dt; + nextP[13][9] = P[13][9] + P[13][6]*dt; + nextP[13][10] = P[13][10]; + nextP[13][11] = P[13][11]; + nextP[13][12] = P[13][12]; + nextP[13][13] = P[13][13]; + nextP[13][14] = P[13][14]; + nextP[13][15] = P[13][15]; + nextP[13][16] = P[13][16]; + nextP[13][17] = P[13][17]; + nextP[13][18] = P[13][18]; + nextP[13][19] = P[13][19]; + nextP[13][20] = P[13][20]; + nextP[14][0] = P[14][0] + P[14][1]*SF[6] + P[14][2]*SPP[7] + P[14][3]*SPP[6] + P[14][10]*SPP[5] + P[14][11]*SPP[4] + P[14][12]*SPP[3]; + nextP[14][1] = P[14][1] + P[14][0]*SF[5] + P[14][2]*SF[4] + P[14][3]*SPP[7] + P[14][11]*SPP[3] - P[14][12]*SPP[4] - (P[14][10]*q0)/2; + nextP[14][2] = P[14][2] + P[14][0]*SF[3] + P[14][3]*SF[5] + P[14][1]*SPP[6] - P[14][10]*SPP[3] + P[14][12]*SPP[5] - (P[14][11]*q0)/2; + nextP[14][3] = P[14][3] + P[14][0]*SF[4] + P[14][1]*SF[3] + P[14][2]*SF[6] + P[14][10]*SPP[4] - P[14][11]*SPP[5] - (P[14][12]*q0)/2; + nextP[14][4] = P[14][4] + P[14][1]*SF[0] + P[14][0]*SF[2] + P[14][2]*SPP[0] - P[14][3]*SPP[2]; + nextP[14][5] = P[14][5] + P[14][0]*SF[1] + P[14][2]*SF[0] + P[14][3]*SF[2] - P[14][1]*SPP[0]; + nextP[14][6] = P[14][6] + P[14][1]*SF[1] + P[14][3]*SF[0] + P[14][0]*SPP[0] - P[14][2]*SPP[1]; + nextP[14][7] = P[14][7] + P[14][4]*dt; + nextP[14][8] = P[14][8] + P[14][5]*dt; + nextP[14][9] = P[14][9] + P[14][6]*dt; + nextP[14][10] = P[14][10]; + nextP[14][11] = P[14][11]; + nextP[14][12] = P[14][12]; + nextP[14][13] = P[14][13]; + nextP[14][14] = P[14][14]; + nextP[14][15] = P[14][15]; + nextP[14][16] = P[14][16]; + nextP[14][17] = P[14][17]; + nextP[14][18] = P[14][18]; + nextP[14][19] = P[14][19]; + nextP[14][20] = P[14][20]; + nextP[15][0] = P[15][0] + P[15][1]*SF[6] + P[15][2]*SPP[7] + P[15][3]*SPP[6] + P[15][10]*SPP[5] + P[15][11]*SPP[4] + P[15][12]*SPP[3]; + nextP[15][1] = P[15][1] + P[15][0]*SF[5] + P[15][2]*SF[4] + P[15][3]*SPP[7] + P[15][11]*SPP[3] - P[15][12]*SPP[4] - (P[15][10]*q0)/2; + nextP[15][2] = P[15][2] + P[15][0]*SF[3] + P[15][3]*SF[5] + P[15][1]*SPP[6] - P[15][10]*SPP[3] + P[15][12]*SPP[5] - (P[15][11]*q0)/2; + nextP[15][3] = P[15][3] + P[15][0]*SF[4] + P[15][1]*SF[3] + P[15][2]*SF[6] + P[15][10]*SPP[4] - P[15][11]*SPP[5] - (P[15][12]*q0)/2; + nextP[15][4] = P[15][4] + P[15][1]*SF[0] + P[15][0]*SF[2] + P[15][2]*SPP[0] - P[15][3]*SPP[2]; + nextP[15][5] = P[15][5] + P[15][0]*SF[1] + P[15][2]*SF[0] + P[15][3]*SF[2] - P[15][1]*SPP[0]; + nextP[15][6] = P[15][6] + P[15][1]*SF[1] + P[15][3]*SF[0] + P[15][0]*SPP[0] - P[15][2]*SPP[1]; + nextP[15][7] = P[15][7] + P[15][4]*dt; + nextP[15][8] = P[15][8] + P[15][5]*dt; + nextP[15][9] = P[15][9] + P[15][6]*dt; + nextP[15][10] = P[15][10]; + nextP[15][11] = P[15][11]; + nextP[15][12] = P[15][12]; + nextP[15][13] = P[15][13]; + nextP[15][14] = P[15][14]; + nextP[15][15] = P[15][15]; + nextP[15][16] = P[15][16]; + nextP[15][17] = P[15][17]; + nextP[15][18] = P[15][18]; + nextP[15][19] = P[15][19]; + nextP[15][20] = P[15][20]; + nextP[16][0] = P[16][0] + P[16][1]*SF[6] + P[16][2]*SPP[7] + P[16][3]*SPP[6] + P[16][10]*SPP[5] + P[16][11]*SPP[4] + P[16][12]*SPP[3]; + nextP[16][1] = P[16][1] + P[16][0]*SF[5] + P[16][2]*SF[4] + P[16][3]*SPP[7] + P[16][11]*SPP[3] - P[16][12]*SPP[4] - (P[16][10]*q0)/2; + nextP[16][2] = P[16][2] + P[16][0]*SF[3] + P[16][3]*SF[5] + P[16][1]*SPP[6] - P[16][10]*SPP[3] + P[16][12]*SPP[5] - (P[16][11]*q0)/2; + nextP[16][3] = P[16][3] + P[16][0]*SF[4] + P[16][1]*SF[3] + P[16][2]*SF[6] + P[16][10]*SPP[4] - P[16][11]*SPP[5] - (P[16][12]*q0)/2; + nextP[16][4] = P[16][4] + P[16][1]*SF[0] + P[16][0]*SF[2] + P[16][2]*SPP[0] - P[16][3]*SPP[2]; + nextP[16][5] = P[16][5] + P[16][0]*SF[1] + P[16][2]*SF[0] + P[16][3]*SF[2] - P[16][1]*SPP[0]; + nextP[16][6] = P[16][6] + P[16][1]*SF[1] + P[16][3]*SF[0] + P[16][0]*SPP[0] - P[16][2]*SPP[1]; + nextP[16][7] = P[16][7] + P[16][4]*dt; + nextP[16][8] = P[16][8] + P[16][5]*dt; + nextP[16][9] = P[16][9] + P[16][6]*dt; + nextP[16][10] = P[16][10]; + nextP[16][11] = P[16][11]; + nextP[16][12] = P[16][12]; + nextP[16][13] = P[16][13]; + nextP[16][14] = P[16][14]; + nextP[16][15] = P[16][15]; + nextP[16][16] = P[16][16]; + nextP[16][17] = P[16][17]; + nextP[16][18] = P[16][18]; + nextP[16][19] = P[16][19]; + nextP[16][20] = P[16][20]; + nextP[17][0] = P[17][0] + P[17][1]*SF[6] + P[17][2]*SPP[7] + P[17][3]*SPP[6] + P[17][10]*SPP[5] + P[17][11]*SPP[4] + P[17][12]*SPP[3]; + nextP[17][1] = P[17][1] + P[17][0]*SF[5] + P[17][2]*SF[4] + P[17][3]*SPP[7] + P[17][11]*SPP[3] - P[17][12]*SPP[4] - (P[17][10]*q0)/2; + nextP[17][2] = P[17][2] + P[17][0]*SF[3] + P[17][3]*SF[5] + P[17][1]*SPP[6] - P[17][10]*SPP[3] + P[17][12]*SPP[5] - (P[17][11]*q0)/2; + nextP[17][3] = P[17][3] + P[17][0]*SF[4] + P[17][1]*SF[3] + P[17][2]*SF[6] + P[17][10]*SPP[4] - P[17][11]*SPP[5] - (P[17][12]*q0)/2; + nextP[17][4] = P[17][4] + P[17][1]*SF[0] + P[17][0]*SF[2] + P[17][2]*SPP[0] - P[17][3]*SPP[2]; + nextP[17][5] = P[17][5] + P[17][0]*SF[1] + P[17][2]*SF[0] + P[17][3]*SF[2] - P[17][1]*SPP[0]; + nextP[17][6] = P[17][6] + P[17][1]*SF[1] + P[17][3]*SF[0] + P[17][0]*SPP[0] - P[17][2]*SPP[1]; + nextP[17][7] = P[17][7] + P[17][4]*dt; + nextP[17][8] = P[17][8] + P[17][5]*dt; + nextP[17][9] = P[17][9] + P[17][6]*dt; + nextP[17][10] = P[17][10]; + nextP[17][11] = P[17][11]; + nextP[17][12] = P[17][12]; + nextP[17][13] = P[17][13]; + nextP[17][14] = P[17][14]; + nextP[17][15] = P[17][15]; + nextP[17][16] = P[17][16]; + nextP[17][17] = P[17][17]; + nextP[17][18] = P[17][18]; + nextP[17][19] = P[17][19]; + nextP[17][20] = P[17][20]; + nextP[18][0] = P[18][0] + P[18][1]*SF[6] + P[18][2]*SPP[7] + P[18][3]*SPP[6] + P[18][10]*SPP[5] + P[18][11]*SPP[4] + P[18][12]*SPP[3]; + nextP[18][1] = P[18][1] + P[18][0]*SF[5] + P[18][2]*SF[4] + P[18][3]*SPP[7] + P[18][11]*SPP[3] - P[18][12]*SPP[4] - (P[18][10]*q0)/2; + nextP[18][2] = P[18][2] + P[18][0]*SF[3] + P[18][3]*SF[5] + P[18][1]*SPP[6] - P[18][10]*SPP[3] + P[18][12]*SPP[5] - (P[18][11]*q0)/2; + nextP[18][3] = P[18][3] + P[18][0]*SF[4] + P[18][1]*SF[3] + P[18][2]*SF[6] + P[18][10]*SPP[4] - P[18][11]*SPP[5] - (P[18][12]*q0)/2; + nextP[18][4] = P[18][4] + P[18][1]*SF[0] + P[18][0]*SF[2] + P[18][2]*SPP[0] - P[18][3]*SPP[2]; + nextP[18][5] = P[18][5] + P[18][0]*SF[1] + P[18][2]*SF[0] + P[18][3]*SF[2] - P[18][1]*SPP[0]; + nextP[18][6] = P[18][6] + P[18][1]*SF[1] + P[18][3]*SF[0] + P[18][0]*SPP[0] - P[18][2]*SPP[1]; + nextP[18][7] = P[18][7] + P[18][4]*dt; + nextP[18][8] = P[18][8] + P[18][5]*dt; + nextP[18][9] = P[18][9] + P[18][6]*dt; + nextP[18][10] = P[18][10]; + nextP[18][11] = P[18][11]; + nextP[18][12] = P[18][12]; + nextP[18][13] = P[18][13]; + nextP[18][14] = P[18][14]; + nextP[18][15] = P[18][15]; + nextP[18][16] = P[18][16]; + nextP[18][17] = P[18][17]; + nextP[18][18] = P[18][18]; + nextP[18][19] = P[18][19]; + nextP[18][20] = P[18][20]; + nextP[19][0] = P[19][0] + P[19][1]*SF[6] + P[19][2]*SPP[7] + P[19][3]*SPP[6] + P[19][10]*SPP[5] + P[19][11]*SPP[4] + P[19][12]*SPP[3]; + nextP[19][1] = P[19][1] + P[19][0]*SF[5] + P[19][2]*SF[4] + P[19][3]*SPP[7] + P[19][11]*SPP[3] - P[19][12]*SPP[4] - (P[19][10]*q0)/2; + nextP[19][2] = P[19][2] + P[19][0]*SF[3] + P[19][3]*SF[5] + P[19][1]*SPP[6] - P[19][10]*SPP[3] + P[19][12]*SPP[5] - (P[19][11]*q0)/2; + nextP[19][3] = P[19][3] + P[19][0]*SF[4] + P[19][1]*SF[3] + P[19][2]*SF[6] + P[19][10]*SPP[4] - P[19][11]*SPP[5] - (P[19][12]*q0)/2; + nextP[19][4] = P[19][4] + P[19][1]*SF[0] + P[19][0]*SF[2] + P[19][2]*SPP[0] - P[19][3]*SPP[2]; + nextP[19][5] = P[19][5] + P[19][0]*SF[1] + P[19][2]*SF[0] + P[19][3]*SF[2] - P[19][1]*SPP[0]; + nextP[19][6] = P[19][6] + P[19][1]*SF[1] + P[19][3]*SF[0] + P[19][0]*SPP[0] - P[19][2]*SPP[1]; + nextP[19][7] = P[19][7] + P[19][4]*dt; + nextP[19][8] = P[19][8] + P[19][5]*dt; + nextP[19][9] = P[19][9] + P[19][6]*dt; + nextP[19][10] = P[19][10]; + nextP[19][11] = P[19][11]; + nextP[19][12] = P[19][12]; + nextP[19][13] = P[19][13]; + nextP[19][14] = P[19][14]; + nextP[19][15] = P[19][15]; + nextP[19][16] = P[19][16]; + nextP[19][17] = P[19][17]; + nextP[19][18] = P[19][18]; + nextP[19][19] = P[19][19]; + nextP[19][20] = P[19][20]; + nextP[20][0] = P[20][0] + P[20][1]*SF[6] + P[20][2]*SPP[7] + P[20][3]*SPP[6] + P[20][10]*SPP[5] + P[20][11]*SPP[4] + P[20][12]*SPP[3]; + nextP[20][1] = P[20][1] + P[20][0]*SF[5] + P[20][2]*SF[4] + P[20][3]*SPP[7] + P[20][11]*SPP[3] - P[20][12]*SPP[4] - (P[20][10]*q0)/2; + nextP[20][2] = P[20][2] + P[20][0]*SF[3] + P[20][3]*SF[5] + P[20][1]*SPP[6] - P[20][10]*SPP[3] + P[20][12]*SPP[5] - (P[20][11]*q0)/2; + nextP[20][3] = P[20][3] + P[20][0]*SF[4] + P[20][1]*SF[3] + P[20][2]*SF[6] + P[20][10]*SPP[4] - P[20][11]*SPP[5] - (P[20][12]*q0)/2; + nextP[20][4] = P[20][4] + P[20][1]*SF[0] + P[20][0]*SF[2] + P[20][2]*SPP[0] - P[20][3]*SPP[2]; + nextP[20][5] = P[20][5] + P[20][0]*SF[1] + P[20][2]*SF[0] + P[20][3]*SF[2] - P[20][1]*SPP[0]; + nextP[20][6] = P[20][6] + P[20][1]*SF[1] + P[20][3]*SF[0] + P[20][0]*SPP[0] - P[20][2]*SPP[1]; + nextP[20][7] = P[20][7] + P[20][4]*dt; + nextP[20][8] = P[20][8] + P[20][5]*dt; + nextP[20][9] = P[20][9] + P[20][6]*dt; + nextP[20][10] = P[20][10]; + nextP[20][11] = P[20][11]; + nextP[20][12] = P[20][12]; + nextP[20][13] = P[20][13]; + nextP[20][14] = P[20][14]; + nextP[20][15] = P[20][15]; + nextP[20][16] = P[20][16]; + nextP[20][17] = P[20][17]; + nextP[20][18] = P[20][18]; + nextP[20][19] = P[20][19]; + nextP[20][20] = P[20][20]; + + for (unsigned i = 0; i < n_states; i++) + { + nextP[i][i] = nextP[i][i] + processNoise[i]; + } + + // If on ground or no magnetometer fitted, inhibit magnetometer bias updates by + // setting the coresponding covariance terms to zero. + if (onGround || !useCompass) + { + zeroRows(nextP,15,20); + zeroCols(nextP,15,20); + } + + // If on ground or not using airspeed sensing, inhibit wind velocity + // covariance growth. + if (onGround || !useAirspeed) + { + zeroRows(nextP,13,14); + zeroCols(nextP,13,14); + } + + // If the total position variance exceds 1E6 (1000m), then stop covariance + // growth by setting the predicted to the previous values + // This prevent an ill conditioned matrix from occurring for long periods + // without GPS + if ((P[7][7] + P[8][8]) > 1E6f) + { + for (uint8_t i=7; i<=8; i++) + { + for (unsigned j = 0; j < n_states; j++) + { + nextP[i][j] = P[i][j]; + nextP[j][i] = P[j][i]; + } + } + } + + if (onGround || staticMode) { + // copy the portion of the variances we want to + // propagate + for (unsigned i = 0; i < 14; i++) { + P[i][i] = nextP[i][i]; + + // force symmetry for observable states + // force zero for non-observable states + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + if ((i > 12) || (j > 12)) { + P[i][j] = 0.0f; + } else { + P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]); + } + P[j][i] = P[i][j]; + } + } + } + + } else { + + // Copy covariance + for (unsigned i = 0; i < n_states; i++) { + P[i][i] = nextP[i][i]; + } + + // force symmetry for observable states + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]); + P[j][i] = P[i][j]; + } + } + + } + + ConstrainVariances(); +} + +void AttPosEKF::FuseVelposNED() +{ + +// declare variables used by fault isolation logic + uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure + uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available + uint32_t hgtRetryTime = 5000; // height measurement retry time + uint32_t horizRetryTime; + +// declare variables used to check measurement errors + float velInnov[3] = {0.0f,0.0f,0.0f}; + float posInnov[2] = {0.0f,0.0f}; + float hgtInnov = 0.0f; + +// declare variables used to control access to arrays + bool fuseData[6] = {false,false,false,false,false,false}; + uint8_t stateIndex; + uint8_t obsIndex; + uint8_t indexLimit; + +// declare variables used by state and covariance update calculations + float velErr; + float posErr; + float R_OBS[6]; + float observation[6]; + float SK; + float quatMag; + +// Perform sequential fusion of GPS measurements. This assumes that the +// errors in the different velocity and position components are +// uncorrelated which is not true, however in the absence of covariance +// data from the GPS receiver it is the only assumption we can make +// so we might as well take advantage of the computational efficiencies +// associated with sequential fusion + if (fuseVelData || fusePosData || fuseHgtData) + { + // set the GPS data timeout depending on whether airspeed data is present + if (useAirspeed) horizRetryTime = gpsRetryTime; + else horizRetryTime = gpsRetryTimeNoTAS; + + // Form the observation vector + for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i]; + for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3]; + observation[5] = -(hgtMea); + + // Estimate the GPS Velocity, GPS horiz position and height measurement variances. + velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring + posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring + R_OBS[0] = 0.04f + sq(velErr); + R_OBS[1] = R_OBS[0]; + R_OBS[2] = 0.08f + sq(velErr); + R_OBS[3] = R_OBS[2]; + R_OBS[4] = 4.0f + sq(posErr); + R_OBS[5] = 4.0f; + + // Set innovation variances to zero default + for (uint8_t i = 0; i<=5; i++) + { + varInnovVelPos[i] = 0.0f; + } + // calculate innovations and check GPS data validity using an innovation consistency check + if (fuseVelData) + { + // test velocity measurements + uint8_t imax = 2; + if (fusionModeGPS == 1) imax = 1; + for (uint8_t i = 0; i<=imax; i++) + { + velInnov[i] = statesAtVelTime[i+4] - velNED[i]; + stateIndex = 4 + i; + varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i]; + } + // apply a 5-sigma threshold + current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]); + current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime; + if (current_ekf_state.velHealth || current_ekf_state.velTimeout) + { + current_ekf_state.velHealth = true; + current_ekf_state.velFailTime = millis(); + } + else + { + current_ekf_state.velHealth = false; + } + } + if (fusePosData) + { + // test horizontal position measurements + posInnov[0] = statesAtPosTime[7] - posNE[0]; + posInnov[1] = statesAtPosTime[8] - posNE[1]; + varInnovVelPos[3] = P[7][7] + R_OBS[3]; + varInnovVelPos[4] = P[8][8] + R_OBS[4]; + // apply a 10-sigma threshold + current_ekf_state.posHealth = (sq(posInnov[0]) + sq(posInnov[1])) < 100.0f*(varInnovVelPos[3] + varInnovVelPos[4]); + current_ekf_state.posTimeout = (millis() - current_ekf_state.posFailTime) > horizRetryTime; + if (current_ekf_state.posHealth || current_ekf_state.posTimeout) + { + current_ekf_state.posHealth = true; + current_ekf_state.posFailTime = millis(); + } + else + { + current_ekf_state.posHealth = false; + } + } + // test height measurements + if (fuseHgtData) + { + hgtInnov = statesAtHgtTime[9] + hgtMea; + varInnovVelPos[5] = P[9][9] + R_OBS[5]; + // apply a 10-sigma threshold + current_ekf_state.hgtHealth = sq(hgtInnov) < 100.0f*varInnovVelPos[5]; + current_ekf_state.hgtTimeout = (millis() - current_ekf_state.hgtFailTime) > hgtRetryTime; + if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout) + { + current_ekf_state.hgtHealth = true; + current_ekf_state.hgtFailTime = millis(); + } + else + { + current_ekf_state.hgtHealth = false; + } + } + // Set range for sequential fusion of velocity and position measurements depending + // on which data is available and its health + if (fuseVelData && fusionModeGPS == 0 && current_ekf_state.velHealth) + { + fuseData[0] = true; + fuseData[1] = true; + fuseData[2] = true; + } + if (fuseVelData && fusionModeGPS == 1 && current_ekf_state.velHealth) + { + fuseData[0] = true; + fuseData[1] = true; + } + if (fusePosData && fusionModeGPS <= 2 && current_ekf_state.posHealth) + { + fuseData[3] = true; + fuseData[4] = true; + } + if (fuseHgtData && current_ekf_state.hgtHealth) + { + fuseData[5] = true; + } + // Limit range of states modified when on ground + if(!onGround) + { + indexLimit = 20; + } + else + { + indexLimit = 12; + } + // Fuse measurements sequentially + for (obsIndex=0; obsIndex<=5; obsIndex++) + { + if (fuseData[obsIndex]) + { + stateIndex = 4 + obsIndex; + // Calculate the measurement innovation, using states from a + // different time coordinate if fusing height data + if (obsIndex >= 0 && obsIndex <= 2) + { + innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex]; + } + else if (obsIndex == 3 || obsIndex == 4) + { + innovVelPos[obsIndex] = statesAtPosTime[stateIndex] - observation[obsIndex]; + } + else if (obsIndex == 5) + { + innovVelPos[obsIndex] = statesAtHgtTime[stateIndex] - observation[obsIndex]; + } + // Calculate the Kalman Gain + // Calculate innovation variances - also used for data logging + varInnovVelPos[obsIndex] = P[stateIndex][stateIndex] + R_OBS[obsIndex]; + SK = 1.0/varInnovVelPos[obsIndex]; + for (uint8_t i= 0; i<=indexLimit; i++) + { + Kfusion[i] = P[i][stateIndex]*SK; + } + // Calculate state corrections and re-normalise the quaternions + for (uint8_t i = 0; i<=indexLimit; i++) + { + states[i] = states[i] - Kfusion[i] * innovVelPos[obsIndex]; + } + quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12f) // divide by 0 protection + { + for (uint8_t i = 0; i<=3; i++) + { + states[i] = states[i] / quatMag; + } + } + // Update the covariance - take advantage of direct observation of a + // single state at index = stateIndex to reduce computations + // Optimised implementation of standard equation P = (I - K*H)*P; + for (uint8_t i= 0; i<=indexLimit; i++) + { + for (uint8_t j= 0; j<=indexLimit; j++) + { + KHP[i][j] = Kfusion[i] * P[stateIndex][j]; + } + } + for (uint8_t i= 0; i<=indexLimit; i++) + { + for (uint8_t j= 0; j<=indexLimit; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + } + } + + ForceSymmetry(); + ConstrainVariances(); + + //printf("velh: %s, posh: %s, hgth: %s\n", ((velHealth) ? "OK" : "FAIL"), ((posHealth) ? "OK" : "FAIL"), ((hgtHealth) ? "OK" : "FAIL")); +} + +void AttPosEKF::FuseMagnetometer() +{ + uint8_t obsIndex; + uint8_t indexLimit; + float DCM[3][3] = + { + {1.0f,0.0f,0.0f} , + {0.0f,1.0f,0.0f} , + {0.0f,0.0f,1.0f} + }; + float MagPred[3] = {0.0f,0.0f,0.0f}; + float SK_MX[6]; + float SK_MY[5]; + float SK_MZ[6]; + float SH_MAG[9] = {0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f}; + +// Perform sequential fusion of Magnetometer measurements. +// This assumes that the errors in the different components are +// uncorrelated which is not true, however in the absence of covariance +// data fit is the only assumption we can make +// so we might as well take advantage of the computational efficiencies +// associated with sequential fusion + if (useCompass && (fuseMagData || obsIndex == 1 || obsIndex == 2)) + { + // Limit range of states modified when on ground + if(!onGround) + { + indexLimit = 20; + } + else + { + indexLimit = 12; + } + + static float q0 = 0.0f; + static float q1 = 0.0f; + static float q2 = 0.0f; + static float q3 = 1.0f; + static float magN = 0.4f; + static float magE = 0.0f; + static float magD = 0.3f; + + static float R_MAG = 0.0025f; + + float H_MAG[21] = {0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f}; + + // Sequential fusion of XYZ components to spread processing load across + // three prediction time steps. + + // Calculate observation jacobians and Kalman gains + if (fuseMagData) + { + static float magXbias = 0.0f; + static float magYbias = 0.0f; + static float magZbias = 0.0f; + + // Copy required states to local variable names + q0 = statesAtMagMeasTime[0]; + q1 = statesAtMagMeasTime[1]; + q2 = statesAtMagMeasTime[2]; + q3 = statesAtMagMeasTime[3]; + magN = statesAtMagMeasTime[15]; + magE = statesAtMagMeasTime[16]; + magD = statesAtMagMeasTime[17]; + magXbias = statesAtMagMeasTime[18]; + magYbias = statesAtMagMeasTime[19]; + magZbias = statesAtMagMeasTime[20]; + + // rotate predicted earth components into body axes and calculate + // predicted measurments + DCM[0][0] = q0*q0 + q1*q1 - q2*q2 - q3*q3; + DCM[0][1] = 2*(q1*q2 + q0*q3); + DCM[0][2] = 2*(q1*q3-q0*q2); + DCM[1][0] = 2*(q1*q2 - q0*q3); + DCM[1][1] = q0*q0 - q1*q1 + q2*q2 - q3*q3; + DCM[1][2] = 2*(q2*q3 + q0*q1); + DCM[2][0] = 2*(q1*q3 + q0*q2); + DCM[2][1] = 2*(q2*q3 - q0*q1); + DCM[2][2] = q0*q0 - q1*q1 - q2*q2 + q3*q3; + MagPred[0] = DCM[0][0]*magN + DCM[0][1]*magE + DCM[0][2]*magD + magXbias; + MagPred[1] = DCM[1][0]*magN + DCM[1][1]*magE + DCM[1][2]*magD + magYbias; + MagPred[2] = DCM[2][0]*magN + DCM[2][1]*magE + DCM[2][2]*magD + magZbias; + + // scale magnetometer observation error with total angular rate + R_MAG = 0.0025f + sq(0.05f*dAngIMU.length()/dtIMU); + + // Calculate observation jacobians + SH_MAG[0] = 2*magD*q3 + 2*magE*q2 + 2*magN*q1; + SH_MAG[1] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2; + SH_MAG[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3; + SH_MAG[3] = sq(q3); + SH_MAG[4] = sq(q2); + SH_MAG[5] = sq(q1); + SH_MAG[6] = sq(q0); + SH_MAG[7] = 2*magN*q0; + SH_MAG[8] = 2*magE*q3; + + for (uint8_t i=0; i<=20; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + H_MAG[1] = SH_MAG[0]; + H_MAG[2] = 2*magE*q1 - 2*magD*q0 - 2*magN*q2; + H_MAG[3] = SH_MAG[2]; + H_MAG[15] = SH_MAG[5] - SH_MAG[4] - SH_MAG[3] + SH_MAG[6]; + H_MAG[16] = 2*q0*q3 + 2*q1*q2; + H_MAG[17] = 2*q1*q3 - 2*q0*q2; + H_MAG[18] = 1.0f; + + // Calculate Kalman gain + SK_MX[0] = 1/(P[18][18] + R_MAG + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[15][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[18][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[15][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][2]*(2*q0*q3 + 2*q1*q2) - P[17][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[18][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[15][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][0]*(2*q0*q3 + 2*q1*q2) - P[17][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[18][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[15][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][1]*(2*q0*q3 + 2*q1*q2) - P[17][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[18][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[15][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][3]*(2*q0*q3 + 2*q1*q2) - P[17][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[18][15] + P[1][15]*SH_MAG[0] + P[3][15]*SH_MAG[2] - P[15][15]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][15]*(2*q0*q3 + 2*q1*q2) - P[17][15]*(2*q0*q2 - 2*q1*q3) - P[2][15]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][15]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][18]*(2*q0*q3 + 2*q1*q2) - P[17][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[18][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[15][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][16]*(2*q0*q3 + 2*q1*q2) - P[17][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[18][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[15][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[16][17]*(2*q0*q3 + 2*q1*q2) - P[17][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]; + SK_MX[2] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2; + SK_MX[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MX[4] = 2*q0*q2 - 2*q1*q3; + SK_MX[5] = 2*q0*q3 + 2*q1*q2; + Kfusion[0] = SK_MX[0]*(P[0][18] + P[0][1]*SH_MAG[0] + P[0][3]*SH_MAG[2] + P[0][0]*SK_MX[3] - P[0][2]*SK_MX[2] - P[0][15]*SK_MX[1] + P[0][16]*SK_MX[5] - P[0][17]*SK_MX[4]); + Kfusion[1] = SK_MX[0]*(P[1][18] + P[1][1]*SH_MAG[0] + P[1][3]*SH_MAG[2] + P[1][0]*SK_MX[3] - P[1][2]*SK_MX[2] - P[1][15]*SK_MX[1] + P[1][16]*SK_MX[5] - P[1][17]*SK_MX[4]); + Kfusion[2] = SK_MX[0]*(P[2][18] + P[2][1]*SH_MAG[0] + P[2][3]*SH_MAG[2] + P[2][0]*SK_MX[3] - P[2][2]*SK_MX[2] - P[2][15]*SK_MX[1] + P[2][16]*SK_MX[5] - P[2][17]*SK_MX[4]); + Kfusion[3] = SK_MX[0]*(P[3][18] + P[3][1]*SH_MAG[0] + P[3][3]*SH_MAG[2] + P[3][0]*SK_MX[3] - P[3][2]*SK_MX[2] - P[3][15]*SK_MX[1] + P[3][16]*SK_MX[5] - P[3][17]*SK_MX[4]); + Kfusion[4] = SK_MX[0]*(P[4][18] + P[4][1]*SH_MAG[0] + P[4][3]*SH_MAG[2] + P[4][0]*SK_MX[3] - P[4][2]*SK_MX[2] - P[4][15]*SK_MX[1] + P[4][16]*SK_MX[5] - P[4][17]*SK_MX[4]); + Kfusion[5] = SK_MX[0]*(P[5][18] + P[5][1]*SH_MAG[0] + P[5][3]*SH_MAG[2] + P[5][0]*SK_MX[3] - P[5][2]*SK_MX[2] - P[5][15]*SK_MX[1] + P[5][16]*SK_MX[5] - P[5][17]*SK_MX[4]); + Kfusion[6] = SK_MX[0]*(P[6][18] + P[6][1]*SH_MAG[0] + P[6][3]*SH_MAG[2] + P[6][0]*SK_MX[3] - P[6][2]*SK_MX[2] - P[6][15]*SK_MX[1] + P[6][16]*SK_MX[5] - P[6][17]*SK_MX[4]); + Kfusion[7] = SK_MX[0]*(P[7][18] + P[7][1]*SH_MAG[0] + P[7][3]*SH_MAG[2] + P[7][0]*SK_MX[3] - P[7][2]*SK_MX[2] - P[7][15]*SK_MX[1] + P[7][16]*SK_MX[5] - P[7][17]*SK_MX[4]); + Kfusion[8] = SK_MX[0]*(P[8][18] + P[8][1]*SH_MAG[0] + P[8][3]*SH_MAG[2] + P[8][0]*SK_MX[3] - P[8][2]*SK_MX[2] - P[8][15]*SK_MX[1] + P[8][16]*SK_MX[5] - P[8][17]*SK_MX[4]); + Kfusion[9] = SK_MX[0]*(P[9][18] + P[9][1]*SH_MAG[0] + P[9][3]*SH_MAG[2] + P[9][0]*SK_MX[3] - P[9][2]*SK_MX[2] - P[9][15]*SK_MX[1] + P[9][16]*SK_MX[5] - P[9][17]*SK_MX[4]); + Kfusion[10] = SK_MX[0]*(P[10][18] + P[10][1]*SH_MAG[0] + P[10][3]*SH_MAG[2] + P[10][0]*SK_MX[3] - P[10][2]*SK_MX[2] - P[10][15]*SK_MX[1] + P[10][16]*SK_MX[5] - P[10][17]*SK_MX[4]); + Kfusion[11] = SK_MX[0]*(P[11][18] + P[11][1]*SH_MAG[0] + P[11][3]*SH_MAG[2] + P[11][0]*SK_MX[3] - P[11][2]*SK_MX[2] - P[11][15]*SK_MX[1] + P[11][16]*SK_MX[5] - P[11][17]*SK_MX[4]); + Kfusion[12] = SK_MX[0]*(P[12][18] + P[12][1]*SH_MAG[0] + P[12][3]*SH_MAG[2] + P[12][0]*SK_MX[3] - P[12][2]*SK_MX[2] - P[12][15]*SK_MX[1] + P[12][16]*SK_MX[5] - P[12][17]*SK_MX[4]); + Kfusion[13] = SK_MX[0]*(P[13][18] + P[13][1]*SH_MAG[0] + P[13][3]*SH_MAG[2] + P[13][0]*SK_MX[3] - P[13][2]*SK_MX[2] - P[13][15]*SK_MX[1] + P[13][16]*SK_MX[5] - P[13][17]*SK_MX[4]); + Kfusion[14] = SK_MX[0]*(P[14][18] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][15]*SK_MX[1] + P[14][16]*SK_MX[5] - P[14][17]*SK_MX[4]); + Kfusion[15] = SK_MX[0]*(P[15][18] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][15]*SK_MX[1] + P[15][16]*SK_MX[5] - P[15][17]*SK_MX[4]); + Kfusion[16] = SK_MX[0]*(P[16][18] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][15]*SK_MX[1] + P[16][16]*SK_MX[5] - P[16][17]*SK_MX[4]); + Kfusion[17] = SK_MX[0]*(P[17][18] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][15]*SK_MX[1] + P[17][16]*SK_MX[5] - P[17][17]*SK_MX[4]); + Kfusion[18] = SK_MX[0]*(P[18][18] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][15]*SK_MX[1] + P[18][16]*SK_MX[5] - P[18][17]*SK_MX[4]); + Kfusion[19] = SK_MX[0]*(P[19][18] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][15]*SK_MX[1] + P[19][16]*SK_MX[5] - P[19][17]*SK_MX[4]); + Kfusion[20] = SK_MX[0]*(P[20][18] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][15]*SK_MX[1] + P[20][16]*SK_MX[5] - P[20][17]*SK_MX[4]); + varInnovMag[0] = 1.0f/SK_MX[0]; + innovMag[0] = MagPred[0] - magData.x; + + // reset the observation index to 0 (we start by fusing the X + // measurement) + obsIndex = 0; + } + else if (obsIndex == 1) // we are now fusing the Y measurement + { + // Calculate observation jacobians + for (unsigned int i=0; i<n_states; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[2]; + H_MAG[1] = SH_MAG[1]; + H_MAG[2] = SH_MAG[0]; + H_MAG[3] = 2*magD*q2 - SH_MAG[8] - SH_MAG[7]; + H_MAG[15] = 2*q1*q2 - 2*q0*q3; + H_MAG[16] = SH_MAG[4] - SH_MAG[3] - SH_MAG[5] + SH_MAG[6]; + H_MAG[17] = 2*q0*q1 + 2*q2*q3; + H_MAG[19] = 1; + + // Calculate Kalman gain + SK_MY[0] = 1/(P[19][19] + R_MAG + P[0][19]*SH_MAG[2] + P[1][19]*SH_MAG[1] + P[2][19]*SH_MAG[0] - P[16][19]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[19][15] + P[0][15]*SH_MAG[2] + P[1][15]*SH_MAG[1] + P[2][15]*SH_MAG[0] - P[16][15]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][15]*(2*q0*q3 - 2*q1*q2) + P[17][15]*(2*q0*q1 + 2*q2*q3) - P[3][15]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[19][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[16][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][17]*(2*q0*q3 - 2*q1*q2) + P[17][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[16][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][3]*(2*q0*q3 - 2*q1*q2) + P[17][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[15][19]*(2*q0*q3 - 2*q1*q2) + P[17][19]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[19][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[16][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][0]*(2*q0*q3 - 2*q1*q2) + P[17][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[19][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[16][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][1]*(2*q0*q3 - 2*q1*q2) + P[17][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[16][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][2]*(2*q0*q3 - 2*q1*q2) + P[17][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[16][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[15][16]*(2*q0*q3 - 2*q1*q2) + P[17][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]; + SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MY[3] = 2*q0*q3 - 2*q1*q2; + SK_MY[4] = 2*q0*q1 + 2*q2*q3; + Kfusion[0] = SK_MY[0]*(P[0][19] + P[0][0]*SH_MAG[2] + P[0][1]*SH_MAG[1] + P[0][2]*SH_MAG[0] - P[0][3]*SK_MY[2] - P[0][16]*SK_MY[1] - P[0][15]*SK_MY[3] + P[0][17]*SK_MY[4]); + Kfusion[1] = SK_MY[0]*(P[1][19] + P[1][0]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[1][2]*SH_MAG[0] - P[1][3]*SK_MY[2] - P[1][16]*SK_MY[1] - P[1][15]*SK_MY[3] + P[1][17]*SK_MY[4]); + Kfusion[2] = SK_MY[0]*(P[2][19] + P[2][0]*SH_MAG[2] + P[2][1]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[2][3]*SK_MY[2] - P[2][16]*SK_MY[1] - P[2][15]*SK_MY[3] + P[2][17]*SK_MY[4]); + Kfusion[3] = SK_MY[0]*(P[3][19] + P[3][0]*SH_MAG[2] + P[3][1]*SH_MAG[1] + P[3][2]*SH_MAG[0] - P[3][3]*SK_MY[2] - P[3][16]*SK_MY[1] - P[3][15]*SK_MY[3] + P[3][17]*SK_MY[4]); + Kfusion[4] = SK_MY[0]*(P[4][19] + P[4][0]*SH_MAG[2] + P[4][1]*SH_MAG[1] + P[4][2]*SH_MAG[0] - P[4][3]*SK_MY[2] - P[4][16]*SK_MY[1] - P[4][15]*SK_MY[3] + P[4][17]*SK_MY[4]); + Kfusion[5] = SK_MY[0]*(P[5][19] + P[5][0]*SH_MAG[2] + P[5][1]*SH_MAG[1] + P[5][2]*SH_MAG[0] - P[5][3]*SK_MY[2] - P[5][16]*SK_MY[1] - P[5][15]*SK_MY[3] + P[5][17]*SK_MY[4]); + Kfusion[6] = SK_MY[0]*(P[6][19] + P[6][0]*SH_MAG[2] + P[6][1]*SH_MAG[1] + P[6][2]*SH_MAG[0] - P[6][3]*SK_MY[2] - P[6][16]*SK_MY[1] - P[6][15]*SK_MY[3] + P[6][17]*SK_MY[4]); + Kfusion[7] = SK_MY[0]*(P[7][19] + P[7][0]*SH_MAG[2] + P[7][1]*SH_MAG[1] + P[7][2]*SH_MAG[0] - P[7][3]*SK_MY[2] - P[7][16]*SK_MY[1] - P[7][15]*SK_MY[3] + P[7][17]*SK_MY[4]); + Kfusion[8] = SK_MY[0]*(P[8][19] + P[8][0]*SH_MAG[2] + P[8][1]*SH_MAG[1] + P[8][2]*SH_MAG[0] - P[8][3]*SK_MY[2] - P[8][16]*SK_MY[1] - P[8][15]*SK_MY[3] + P[8][17]*SK_MY[4]); + Kfusion[9] = SK_MY[0]*(P[9][19] + P[9][0]*SH_MAG[2] + P[9][1]*SH_MAG[1] + P[9][2]*SH_MAG[0] - P[9][3]*SK_MY[2] - P[9][16]*SK_MY[1] - P[9][15]*SK_MY[3] + P[9][17]*SK_MY[4]); + Kfusion[10] = SK_MY[0]*(P[10][19] + P[10][0]*SH_MAG[2] + P[10][1]*SH_MAG[1] + P[10][2]*SH_MAG[0] - P[10][3]*SK_MY[2] - P[10][16]*SK_MY[1] - P[10][15]*SK_MY[3] + P[10][17]*SK_MY[4]); + Kfusion[11] = SK_MY[0]*(P[11][19] + P[11][0]*SH_MAG[2] + P[11][1]*SH_MAG[1] + P[11][2]*SH_MAG[0] - P[11][3]*SK_MY[2] - P[11][16]*SK_MY[1] - P[11][15]*SK_MY[3] + P[11][17]*SK_MY[4]); + Kfusion[12] = SK_MY[0]*(P[12][19] + P[12][0]*SH_MAG[2] + P[12][1]*SH_MAG[1] + P[12][2]*SH_MAG[0] - P[12][3]*SK_MY[2] - P[12][16]*SK_MY[1] - P[12][15]*SK_MY[3] + P[12][17]*SK_MY[4]); + Kfusion[13] = SK_MY[0]*(P[13][19] + P[13][0]*SH_MAG[2] + P[13][1]*SH_MAG[1] + P[13][2]*SH_MAG[0] - P[13][3]*SK_MY[2] - P[13][16]*SK_MY[1] - P[13][15]*SK_MY[3] + P[13][17]*SK_MY[4]); + Kfusion[14] = SK_MY[0]*(P[14][19] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][16]*SK_MY[1] - P[14][15]*SK_MY[3] + P[14][17]*SK_MY[4]); + Kfusion[15] = SK_MY[0]*(P[15][19] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][16]*SK_MY[1] - P[15][15]*SK_MY[3] + P[15][17]*SK_MY[4]); + Kfusion[16] = SK_MY[0]*(P[16][19] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][16]*SK_MY[1] - P[16][15]*SK_MY[3] + P[16][17]*SK_MY[4]); + Kfusion[17] = SK_MY[0]*(P[17][19] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][16]*SK_MY[1] - P[17][15]*SK_MY[3] + P[17][17]*SK_MY[4]); + Kfusion[18] = SK_MY[0]*(P[18][19] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][16]*SK_MY[1] - P[18][15]*SK_MY[3] + P[18][17]*SK_MY[4]); + Kfusion[19] = SK_MY[0]*(P[19][19] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][16]*SK_MY[1] - P[19][15]*SK_MY[3] + P[19][17]*SK_MY[4]); + Kfusion[20] = SK_MY[0]*(P[20][19] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][16]*SK_MY[1] - P[20][15]*SK_MY[3] + P[20][17]*SK_MY[4]); + varInnovMag[1] = 1.0f/SK_MY[0]; + innovMag[1] = MagPred[1] - magData.y; + } + else if (obsIndex == 2) // we are now fusing the Z measurement + { + // Calculate observation jacobians + for (uint8_t i=0; i<=20; i++) H_MAG[i] = 0; + H_MAG[0] = SH_MAG[1]; + H_MAG[1] = 2*magN*q3 - 2*magE*q0 - 2*magD*q1; + H_MAG[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + H_MAG[3] = SH_MAG[0]; + H_MAG[15] = 2*q0*q2 + 2*q1*q3; + H_MAG[16] = 2*q2*q3 - 2*q0*q1; + H_MAG[17] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]; + H_MAG[20] = 1; + + // Calculate Kalman gain + SK_MZ[0] = 1/(P[20][20] + R_MAG + P[0][20]*SH_MAG[1] + P[3][20]*SH_MAG[0] + P[17][20]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[20][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[17][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][1]*(2*q0*q2 + 2*q1*q3) - P[16][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[17][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][2]*(2*q0*q2 + 2*q1*q3) - P[16][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[17][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][0]*(2*q0*q2 + 2*q1*q3) - P[16][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[17][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][3]*(2*q0*q2 + 2*q1*q3) - P[16][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[17][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][17]*(2*q0*q2 + 2*q1*q3) - P[16][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[15][20]*(2*q0*q2 + 2*q1*q3) - P[16][20]*(2*q0*q1 - 2*q2*q3) - P[1][20]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[20][15] + P[0][15]*SH_MAG[1] + P[3][15]*SH_MAG[0] + P[17][15]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][15]*(2*q0*q2 + 2*q1*q3) - P[16][15]*(2*q0*q1 - 2*q2*q3) - P[1][15]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][15]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[20][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[17][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[15][16]*(2*q0*q2 + 2*q1*q3) - P[16][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)); + SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]; + SK_MZ[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3; + SK_MZ[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2; + SK_MZ[4] = 2*q0*q1 - 2*q2*q3; + SK_MZ[5] = 2*q0*q2 + 2*q1*q3; + Kfusion[0] = SK_MZ[0]*(P[0][20] + P[0][0]*SH_MAG[1] + P[0][3]*SH_MAG[0] - P[0][1]*SK_MZ[2] + P[0][2]*SK_MZ[3] + P[0][17]*SK_MZ[1] + P[0][15]*SK_MZ[5] - P[0][16]*SK_MZ[4]); + Kfusion[1] = SK_MZ[0]*(P[1][20] + P[1][0]*SH_MAG[1] + P[1][3]*SH_MAG[0] - P[1][1]*SK_MZ[2] + P[1][2]*SK_MZ[3] + P[1][17]*SK_MZ[1] + P[1][15]*SK_MZ[5] - P[1][16]*SK_MZ[4]); + Kfusion[2] = SK_MZ[0]*(P[2][20] + P[2][0]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[2][1]*SK_MZ[2] + P[2][2]*SK_MZ[3] + P[2][17]*SK_MZ[1] + P[2][15]*SK_MZ[5] - P[2][16]*SK_MZ[4]); + Kfusion[3] = SK_MZ[0]*(P[3][20] + P[3][0]*SH_MAG[1] + P[3][3]*SH_MAG[0] - P[3][1]*SK_MZ[2] + P[3][2]*SK_MZ[3] + P[3][17]*SK_MZ[1] + P[3][15]*SK_MZ[5] - P[3][16]*SK_MZ[4]); + Kfusion[4] = SK_MZ[0]*(P[4][20] + P[4][0]*SH_MAG[1] + P[4][3]*SH_MAG[0] - P[4][1]*SK_MZ[2] + P[4][2]*SK_MZ[3] + P[4][17]*SK_MZ[1] + P[4][15]*SK_MZ[5] - P[4][16]*SK_MZ[4]); + Kfusion[5] = SK_MZ[0]*(P[5][20] + P[5][0]*SH_MAG[1] + P[5][3]*SH_MAG[0] - P[5][1]*SK_MZ[2] + P[5][2]*SK_MZ[3] + P[5][17]*SK_MZ[1] + P[5][15]*SK_MZ[5] - P[5][16]*SK_MZ[4]); + Kfusion[6] = SK_MZ[0]*(P[6][20] + P[6][0]*SH_MAG[1] + P[6][3]*SH_MAG[0] - P[6][1]*SK_MZ[2] + P[6][2]*SK_MZ[3] + P[6][17]*SK_MZ[1] + P[6][15]*SK_MZ[5] - P[6][16]*SK_MZ[4]); + Kfusion[7] = SK_MZ[0]*(P[7][20] + P[7][0]*SH_MAG[1] + P[7][3]*SH_MAG[0] - P[7][1]*SK_MZ[2] + P[7][2]*SK_MZ[3] + P[7][17]*SK_MZ[1] + P[7][15]*SK_MZ[5] - P[7][16]*SK_MZ[4]); + Kfusion[8] = SK_MZ[0]*(P[8][20] + P[8][0]*SH_MAG[1] + P[8][3]*SH_MAG[0] - P[8][1]*SK_MZ[2] + P[8][2]*SK_MZ[3] + P[8][17]*SK_MZ[1] + P[8][15]*SK_MZ[5] - P[8][16]*SK_MZ[4]); + Kfusion[9] = SK_MZ[0]*(P[9][20] + P[9][0]*SH_MAG[1] + P[9][3]*SH_MAG[0] - P[9][1]*SK_MZ[2] + P[9][2]*SK_MZ[3] + P[9][17]*SK_MZ[1] + P[9][15]*SK_MZ[5] - P[9][16]*SK_MZ[4]); + Kfusion[10] = SK_MZ[0]*(P[10][20] + P[10][0]*SH_MAG[1] + P[10][3]*SH_MAG[0] - P[10][1]*SK_MZ[2] + P[10][2]*SK_MZ[3] + P[10][17]*SK_MZ[1] + P[10][15]*SK_MZ[5] - P[10][16]*SK_MZ[4]); + Kfusion[11] = SK_MZ[0]*(P[11][20] + P[11][0]*SH_MAG[1] + P[11][3]*SH_MAG[0] - P[11][1]*SK_MZ[2] + P[11][2]*SK_MZ[3] + P[11][17]*SK_MZ[1] + P[11][15]*SK_MZ[5] - P[11][16]*SK_MZ[4]); + Kfusion[12] = SK_MZ[0]*(P[12][20] + P[12][0]*SH_MAG[1] + P[12][3]*SH_MAG[0] - P[12][1]*SK_MZ[2] + P[12][2]*SK_MZ[3] + P[12][17]*SK_MZ[1] + P[12][15]*SK_MZ[5] - P[12][16]*SK_MZ[4]); + Kfusion[13] = SK_MZ[0]*(P[13][20] + P[13][0]*SH_MAG[1] + P[13][3]*SH_MAG[0] - P[13][1]*SK_MZ[2] + P[13][2]*SK_MZ[3] + P[13][17]*SK_MZ[1] + P[13][15]*SK_MZ[5] - P[13][16]*SK_MZ[4]); + Kfusion[14] = SK_MZ[0]*(P[14][20] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][17]*SK_MZ[1] + P[14][15]*SK_MZ[5] - P[14][16]*SK_MZ[4]); + Kfusion[15] = SK_MZ[0]*(P[15][20] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][17]*SK_MZ[1] + P[15][15]*SK_MZ[5] - P[15][16]*SK_MZ[4]); + Kfusion[16] = SK_MZ[0]*(P[16][20] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][17]*SK_MZ[1] + P[16][15]*SK_MZ[5] - P[16][16]*SK_MZ[4]); + Kfusion[17] = SK_MZ[0]*(P[17][20] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][17]*SK_MZ[1] + P[17][15]*SK_MZ[5] - P[17][16]*SK_MZ[4]); + Kfusion[18] = SK_MZ[0]*(P[18][20] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][17]*SK_MZ[1] + P[18][15]*SK_MZ[5] - P[18][16]*SK_MZ[4]); + Kfusion[19] = SK_MZ[0]*(P[19][20] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][17]*SK_MZ[1] + P[19][15]*SK_MZ[5] - P[19][16]*SK_MZ[4]); + Kfusion[20] = SK_MZ[0]*(P[20][20] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][17]*SK_MZ[1] + P[20][15]*SK_MZ[5] - P[20][16]*SK_MZ[4]); + varInnovMag[2] = 1.0f/SK_MZ[0]; + innovMag[2] = MagPred[2] - magData.z; + + } + + // Check the innovation for consistency and don't fuse if > 5Sigma + if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0) + { + // correct the state vector + for (uint8_t j= 0; j<=indexLimit; j++) + { + states[j] = states[j] - Kfusion[j] * innovMag[obsIndex]; + } + // normalise the quaternion states + float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12) + { + for (uint8_t j= 0; j<=3; j++) + { + float quatMagInv = 1.0f/quatMag; + states[j] = states[j] * quatMagInv; + } + } + // correct the covariance P = (I - K*H)*P + // take advantage of the empty columns in KH to reduce the + // number of operations + for (uint8_t i = 0; i<=indexLimit; i++) + { + for (uint8_t j = 0; j<=3; j++) + { + KH[i][j] = Kfusion[i] * H_MAG[j]; + } + for (uint8_t j = 4; j<=17; j++) KH[i][j] = 0.0f; + if (!onGround) + { + for (uint8_t j = 15; j<=20; j++) + { + KH[i][j] = Kfusion[i] * H_MAG[j]; + } + } + else + { + for (uint8_t j = 15; j<=20; j++) + { + KH[i][j] = 0.0f; + } + } + } + for (uint8_t i = 0; i<=indexLimit; i++) + { + for (uint8_t j = 0; j<=indexLimit; j++) + { + KHP[i][j] = 0.0f; + for (uint8_t k = 0; k<=3; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + if (!onGround) + { + for (uint8_t k = 15; k<=20; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + } + } + } + } + for (uint8_t i = 0; i<=indexLimit; i++) + { + for (uint8_t j = 0; j<=indexLimit; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + obsIndex = obsIndex + 1; + + ForceSymmetry(); + ConstrainVariances(); +} + +void AttPosEKF::FuseAirspeed() +{ + float vn; + float ve; + float vd; + float vwn; + float vwe; + const float R_TAS = 2.0f; + float SH_TAS[3]; + float Kfusion[21]; + float VtasPred; + + // Copy required states to local variable names + vn = statesAtVtasMeasTime[4]; + ve = statesAtVtasMeasTime[5]; + vd = statesAtVtasMeasTime[6]; + vwn = statesAtVtasMeasTime[13]; + vwe = statesAtVtasMeasTime[14]; + + // Need to check that it is flying before fusing airspeed data + // Calculate the predicted airspeed + VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd); + // Perform fusion of True Airspeed measurement + if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f)) + { + // Calculate observation jacobians + SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd))); + SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f; + SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f; + + float H_TAS[21]; + for (uint8_t i=0; i<=20; i++) H_TAS[i] = 0.0f; + H_TAS[4] = SH_TAS[2]; + H_TAS[5] = SH_TAS[1]; + H_TAS[6] = vd*SH_TAS[0]; + H_TAS[13] = -SH_TAS[2]; + H_TAS[14] = -SH_TAS[1]; + + // Calculate Kalman gains + float SK_TAS = 1.0f/(R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[13][4]*SH_TAS[2] - P[14][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[13][5]*SH_TAS[2] - P[14][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][13]*SH_TAS[2] + P[5][13]*SH_TAS[1] - P[13][13]*SH_TAS[2] - P[14][13]*SH_TAS[1] + P[6][13]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[13][14]*SH_TAS[2] - P[14][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[13][6]*SH_TAS[2] - P[14][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0])); + Kfusion[0] = SK_TAS*(P[0][4]*SH_TAS[2] - P[0][13]*SH_TAS[2] + P[0][5]*SH_TAS[1] - P[0][14]*SH_TAS[1] + P[0][6]*vd*SH_TAS[0]); + Kfusion[1] = SK_TAS*(P[1][4]*SH_TAS[2] - P[1][13]*SH_TAS[2] + P[1][5]*SH_TAS[1] - P[1][14]*SH_TAS[1] + P[1][6]*vd*SH_TAS[0]); + Kfusion[2] = SK_TAS*(P[2][4]*SH_TAS[2] - P[2][13]*SH_TAS[2] + P[2][5]*SH_TAS[1] - P[2][14]*SH_TAS[1] + P[2][6]*vd*SH_TAS[0]); + Kfusion[3] = SK_TAS*(P[3][4]*SH_TAS[2] - P[3][13]*SH_TAS[2] + P[3][5]*SH_TAS[1] - P[3][14]*SH_TAS[1] + P[3][6]*vd*SH_TAS[0]); + Kfusion[4] = SK_TAS*(P[4][4]*SH_TAS[2] - P[4][13]*SH_TAS[2] + P[4][5]*SH_TAS[1] - P[4][14]*SH_TAS[1] + P[4][6]*vd*SH_TAS[0]); + Kfusion[5] = SK_TAS*(P[5][4]*SH_TAS[2] - P[5][13]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[5][14]*SH_TAS[1] + P[5][6]*vd*SH_TAS[0]); + Kfusion[6] = SK_TAS*(P[6][4]*SH_TAS[2] - P[6][13]*SH_TAS[2] + P[6][5]*SH_TAS[1] - P[6][14]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]); + Kfusion[7] = SK_TAS*(P[7][4]*SH_TAS[2] - P[7][13]*SH_TAS[2] + P[7][5]*SH_TAS[1] - P[7][14]*SH_TAS[1] + P[7][6]*vd*SH_TAS[0]); + Kfusion[8] = SK_TAS*(P[8][4]*SH_TAS[2] - P[8][13]*SH_TAS[2] + P[8][5]*SH_TAS[1] - P[8][14]*SH_TAS[1] + P[8][6]*vd*SH_TAS[0]); + Kfusion[9] = SK_TAS*(P[9][4]*SH_TAS[2] - P[9][13]*SH_TAS[2] + P[9][5]*SH_TAS[1] - P[9][14]*SH_TAS[1] + P[9][6]*vd*SH_TAS[0]); + Kfusion[10] = SK_TAS*(P[10][4]*SH_TAS[2] - P[10][13]*SH_TAS[2] + P[10][5]*SH_TAS[1] - P[10][14]*SH_TAS[1] + P[10][6]*vd*SH_TAS[0]); + Kfusion[11] = SK_TAS*(P[11][4]*SH_TAS[2] - P[11][13]*SH_TAS[2] + P[11][5]*SH_TAS[1] - P[11][14]*SH_TAS[1] + P[11][6]*vd*SH_TAS[0]); + Kfusion[12] = SK_TAS*(P[12][4]*SH_TAS[2] - P[12][13]*SH_TAS[2] + P[12][5]*SH_TAS[1] - P[12][14]*SH_TAS[1] + P[12][6]*vd*SH_TAS[0]); + Kfusion[13] = SK_TAS*(P[13][4]*SH_TAS[2] - P[13][13]*SH_TAS[2] + P[13][5]*SH_TAS[1] - P[13][14]*SH_TAS[1] + P[13][6]*vd*SH_TAS[0]); + Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][13]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][14]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]); + Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][13]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][14]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]); + Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][13]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][14]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]); + Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][13]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][14]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]); + Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][13]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][14]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]); + Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][13]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][14]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]); + Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][13]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][14]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]); + varInnovVtas = 1.0f/SK_TAS; + + // Calculate the measurement innovation + innovVtas = VtasPred - VtasMeas; + // Check the innovation for consistency and don't fuse if > 5Sigma + if ((innovVtas*innovVtas*SK_TAS) < 25.0) + { + // correct the state vector + for (uint8_t j=0; j<=20; j++) + { + states[j] = states[j] - Kfusion[j] * innovVtas; + } + // normalise the quaternion states + float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); + if (quatMag > 1e-12f) + { + for (uint8_t j= 0; j<=3; j++) + { + float quatMagInv = 1.0f/quatMag; + states[j] = states[j] * quatMagInv; + } + } + // correct the covariance P = (I - K*H)*P + // take advantage of the empty columns in H to reduce the + // number of operations + for (uint8_t i = 0; i<=20; i++) + { + for (uint8_t j = 0; j<=3; j++) KH[i][j] = 0.0; + for (uint8_t j = 4; j<=6; j++) + { + KH[i][j] = Kfusion[i] * H_TAS[j]; + } + for (uint8_t j = 7; j<=12; j++) KH[i][j] = 0.0; + for (uint8_t j = 13; j<=14; j++) + { + KH[i][j] = Kfusion[i] * H_TAS[j]; + } + for (uint8_t j = 15; j<=20; j++) KH[i][j] = 0.0; + } + for (uint8_t i = 0; i<=20; i++) + { + for (uint8_t j = 0; j<=20; j++) + { + KHP[i][j] = 0.0; + for (uint8_t k = 4; k<=6; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + for (uint8_t k = 13; k<=14; k++) + { + KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j]; + } + } + } + for (uint8_t i = 0; i<=20; i++) + { + for (uint8_t j = 0; j<=20; j++) + { + P[i][j] = P[i][j] - KHP[i][j]; + } + } + } + } + + ForceSymmetry(); + ConstrainVariances(); +} + +void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last) +{ + uint8_t row; + uint8_t col; + for (row=first; row<=last; row++) + { + for (col=0; col<n_states; col++) + { + covMat[row][col] = 0.0; + } + } +} + +void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last) +{ + uint8_t row; + uint8_t col; + for (col=first; col<=last; col++) + { + for (row=0; row < n_states; row++) + { + covMat[row][col] = 0.0; + } + } +} + +float AttPosEKF::sq(float valIn) +{ + return valIn*valIn; +} + +// Store states in a history array along with time stamp +void AttPosEKF::StoreStates(uint64_t timestamp_ms) +{ + for (unsigned i=0; i<n_states; i++) + storedStates[i][storeIndex] = states[i]; + statetimeStamp[storeIndex] = timestamp_ms; + storeIndex++; + if (storeIndex == data_buffer_size) + storeIndex = 0; +} + +void AttPosEKF::ResetStoredStates() +{ + // reset all stored states + memset(&storedStates[0][0], 0, sizeof(storedStates)); + memset(&statetimeStamp[0], 0, sizeof(statetimeStamp)); + + // reset store index to first + storeIndex = 0; + + // overwrite all existing states + for (unsigned i = 0; i < n_states; i++) { + storedStates[i][storeIndex] = states[i]; + } + + statetimeStamp[storeIndex] = millis(); + + // increment to next storage index + storeIndex++; +} + +// Output the state vector stored at the time that best matches that specified by msec +int AttPosEKF::RecallStates(float statesForFusion[n_states], uint64_t msec) +{ + int ret = 0; + + // int64_t bestTimeDelta = 200; + // unsigned bestStoreIndex = 0; + // for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++) + // { + // // The time delta can also end up as negative number, + // // since we might compare future to past or past to future + // // therefore cast to int64. + // int64_t timeDelta = (int64_t)msec - (int64_t)statetimeStamp[storeIndex]; + // if (timeDelta < 0) { + // timeDelta = -timeDelta; + // } + + // if (timeDelta < bestTimeDelta) + // { + // bestStoreIndex = storeIndex; + // bestTimeDelta = timeDelta; + // } + // } + // if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error + // { + // for (uint8_t i=0; i < n_states; i++) { + // if (isfinite(storedStates[i][bestStoreIndex])) { + // statesForFusion[i] = storedStates[i][bestStoreIndex]; + // } else if (isfinite(states[i])) { + // statesForFusion[i] = states[i]; + // } else { + // // There is not much we can do here, except reporting the error we just + // // found. + // ret++; + // } + // } + // else // otherwise output current state + // { + for (uint8_t i=0; i < n_states; i++) { + if (isfinite(states[i])) { + statesForFusion[i] = states[i]; + } else { + ret++; + } + } + // } + + return ret; +} + +void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) +{ + // Calculate the nav to body cosine matrix + float q00 = sq(quat[0]); + float q11 = sq(quat[1]); + float q22 = sq(quat[2]); + float q33 = sq(quat[3]); + float q01 = quat[0]*quat[1]; + float q02 = quat[0]*quat[2]; + float q03 = quat[0]*quat[3]; + float q12 = quat[1]*quat[2]; + float q13 = quat[1]*quat[3]; + float q23 = quat[2]*quat[3]; + + Tnb.x.x = q00 + q11 - q22 - q33; + Tnb.y.y = q00 - q11 + q22 - q33; + Tnb.z.z = q00 - q11 - q22 + q33; + Tnb.y.x = 2*(q12 - q03); + Tnb.z.x = 2*(q13 + q02); + Tnb.x.y = 2*(q12 + q03); + Tnb.z.y = 2*(q23 - q01); + Tnb.x.z = 2*(q13 - q02); + Tnb.y.z = 2*(q23 + q01); +} + +void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4]) +{ + // Calculate the body to nav cosine matrix + float q00 = sq(quat[0]); + float q11 = sq(quat[1]); + float q22 = sq(quat[2]); + float q33 = sq(quat[3]); + float q01 = quat[0]*quat[1]; + float q02 = quat[0]*quat[2]; + float q03 = quat[0]*quat[3]; + float q12 = quat[1]*quat[2]; + float q13 = quat[1]*quat[3]; + float q23 = quat[2]*quat[3]; + + Tbn.x.x = q00 + q11 - q22 - q33; + Tbn.y.y = q00 - q11 + q22 - q33; + Tbn.z.z = q00 - q11 - q22 + q33; + Tbn.x.y = 2*(q12 - q03); + Tbn.x.z = 2*(q13 + q02); + Tbn.y.x = 2*(q12 + q03); + Tbn.y.z = 2*(q23 - q01); + Tbn.z.x = 2*(q13 - q02); + Tbn.z.y = 2*(q23 + q01); +} + +void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3]) +{ + float u1 = cos(0.5f*eul[0]); + float u2 = cos(0.5f*eul[1]); + float u3 = cos(0.5f*eul[2]); + float u4 = sin(0.5f*eul[0]); + float u5 = sin(0.5f*eul[1]); + float u6 = sin(0.5f*eul[2]); + quat[0] = u1*u2*u3+u4*u5*u6; + quat[1] = u4*u2*u3-u1*u5*u6; + quat[2] = u1*u5*u3+u4*u2*u6; + quat[3] = u1*u2*u6-u4*u5*u3; +} + +void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4]) +{ + y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3])); + y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2])); + y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3])); +} + +void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD) +{ + velNED[0] = gpsGndSpd*cosf(gpsCourse); + velNED[1] = gpsGndSpd*sinf(gpsCourse); + velNED[2] = gpsVelD; +} + +void AttPosEKF::calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef) +{ + posNED[0] = earthRadius * (lat - latRef); + posNED[1] = earthRadius * cos(latRef) * (lon - lonRef); + posNED[2] = -(hgt - hgtRef); +} + +void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef) +{ + lat = latRef + posNED[0] * earthRadiusInv; + lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef); + hgt = hgtRef - posNED[2]; +} + +void AttPosEKF::OnGroundCheck() +{ + onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f)); + if (staticMode) { + staticMode = !(GPSstatus > GPS_FIX_2D); + } +} + +void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude) +{ + //Define Earth rotation vector in the NED navigation frame + omega.x = earthRate*cosf(latitude); + omega.y = 0.0f; + omega.z = -earthRate*sinf(latitude); +} + +void AttPosEKF::CovarianceInit() +{ + // Calculate the initial covariance matrix P + P[0][0] = 0.25f * sq(1.0f*deg2rad); + P[1][1] = 0.25f * sq(1.0f*deg2rad); + P[2][2] = 0.25f * sq(1.0f*deg2rad); + P[3][3] = 0.25f * sq(10.0f*deg2rad); + P[4][4] = sq(0.7); + P[5][5] = P[4][4]; + P[6][6] = sq(0.7); + P[7][7] = sq(15.0); + P[8][8] = P[7][7]; + P[9][9] = sq(5.0); + P[10][10] = sq(0.1*deg2rad*dtIMU); + P[11][11] = P[10][10]; + P[12][12] = P[10][10]; + P[13][13] = sq(8.0f); + P[14][4] = P[13][13]; + P[15][15] = sq(0.02f); + P[16][16] = P[15][15]; + P[17][17] = P[15][15]; + P[18][18] = sq(0.02f); + P[19][19] = P[18][18]; + P[20][20] = P[18][18]; +} + +float AttPosEKF::ConstrainFloat(float val, float min, float max) +{ + return (val > max) ? max : ((val < min) ? min : val); +} + +void AttPosEKF::ConstrainVariances() +{ + if (!numericalProtection) { + return; + } + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) + + // Constrain quaternion variances + for (unsigned i = 0; i < 4; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + + // Constrain velocitie variances + for (unsigned i = 4; i < 7; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f); + } + + // Constrain position variances + for (unsigned i = 7; i < 10; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e6f); + } + + // Angle bias variances + for (unsigned i = 10; i < 13; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, sq(0.175f * dtIMU)); + } + + // Wind velocity variances + for (unsigned i = 13; i < 15; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f); + } + + // Earth magnetic field variances + for (unsigned i = 15; i < 18; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + + // Body magnetic field variances + for (unsigned i = 18; i < 21; i++) { + P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f); + } + +} + +void AttPosEKF::ConstrainStates() +{ + if (!numericalProtection) { + return; + } + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) + + + // Constrain quaternion + for (unsigned i = 0; i < 4; i++) { + states[i] = ConstrainFloat(states[i], -1.0f, 1.0f); + } + + // Constrain velocities to what GPS can do for us + for (unsigned i = 4; i < 7; i++) { + states[i] = ConstrainFloat(states[i], -5.0e2f, 5.0e2f); + } + + // Constrain position to a reasonable vehicle range (in meters) + for (unsigned i = 7; i < 9; i++) { + states[i] = ConstrainFloat(states[i], -1.0e6f, 1.0e6f); + } + + // Constrain altitude + states[9] = ConstrainFloat(states[9], -4.0e4f, 1.0e4f); + + // Angle bias limit - set to 8 degrees / sec + for (unsigned i = 10; i < 13; i++) { + states[i] = ConstrainFloat(states[i], -0.12f * dtIMU, 0.12f * dtIMU); + } + + // Wind velocity limits - assume 120 m/s max velocity + for (unsigned i = 13; i < 15; i++) { + states[i] = ConstrainFloat(states[i], -120.0f, 120.0f); + } + + // Earth magnetic field limits (in Gauss) + for (unsigned i = 15; i < 18; i++) { + states[i] = ConstrainFloat(states[i], -1.0f, 1.0f); + } + + // Body magnetic field variances (in Gauss). + // the max offset should be in this range. + for (unsigned i = 18; i < 21; i++) { + states[i] = ConstrainFloat(states[i], -0.5f, 0.5f); + } + +} + +void AttPosEKF::ForceSymmetry() +{ + if (!numericalProtection) { + return; + } + + // Force symmetry on the covariance matrix to prevent ill-conditioning + // of the matrix which would cause the filter to blow-up + for (unsigned i = 1; i < n_states; i++) + { + for (uint8_t j = 0; j < i; j++) + { + P[i][j] = 0.5f * (P[i][j] + P[j][i]); + P[j][i] = P[i][j]; + } + } +} + +bool AttPosEKF::FilterHealthy() +{ + if (!statesInitialised) { + return false; + } + + // XXX Check state vector for NaNs and ill-conditioning + + // Check if any of the major inputs timed out + if (current_ekf_state.posTimeout || current_ekf_state.velTimeout || current_ekf_state.hgtTimeout) { + return false; + } + + // Nothing fired, return ok. + return true; +} + +/** + * Reset the filter position states + * + * This resets the position to the last GPS measurement + * or to zero in case of static position. + */ +void AttPosEKF::ResetPosition(void) +{ + if (staticMode) { + states[7] = 0; + states[8] = 0; + } else if (GPSstatus >= GPS_FIX_3D) { + + // reset the states from the GPS measurements + states[7] = posNE[0]; + states[8] = posNE[1]; + } +} + +/** + * Reset the height state. + * + * This resets the height state with the last altitude measurements + */ +void AttPosEKF::ResetHeight(void) +{ + // write to the state vector + states[9] = -hgtMea; +} + +/** + * Reset the velocity state. + */ +void AttPosEKF::ResetVelocity(void) +{ + if (staticMode) { + states[4] = 0.0f; + states[5] = 0.0f; + states[6] = 0.0f; + } else if (GPSstatus >= GPS_FIX_3D) { + + states[4] = velNED[0]; // north velocity from last reading + states[5] = velNED[1]; // east velocity from last reading + states[6] = velNED[2]; // down velocity from last reading + } +} + + +void AttPosEKF::FillErrorReport(struct ekf_status_report *err) +{ + for (int i = 0; i < n_states; i++) + { + err->states[i] = states[i]; + } + + err->velHealth = current_ekf_state.velHealth; + err->posHealth = current_ekf_state.posHealth; + err->hgtHealth = current_ekf_state.hgtHealth; + err->velTimeout = current_ekf_state.velTimeout; + err->posTimeout = current_ekf_state.posTimeout; + err->hgtTimeout = current_ekf_state.hgtTimeout; +} + +bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { + bool err = false; + + // check all states and covariance matrices + for (unsigned i = 0; i < n_states; i++) { + for (unsigned j = 0; j < n_states; j++) { + if (!isfinite(KH[i][j])) { + + err_report->covarianceNaN = true; + err = true; + } // intermediate result used for covariance updates + if (!isfinite(KHP[i][j])) { + + err_report->covarianceNaN = true; + err = true; + } // intermediate result used for covariance updates + if (!isfinite(P[i][j])) { + + err_report->covarianceNaN = true; + err = true; + } // covariance matrix + } + + if (!isfinite(Kfusion[i])) { + + err_report->kalmanGainsNaN = true; + err = true; + } // Kalman gains + + if (!isfinite(states[i])) { + + err_report->statesNaN = true; + err = true; + } // state matrix + } + + if (err) { + FillErrorReport(err_report); + } + + return err; + +} + +/** + * Check the filter inputs and bound its operational state + * + * This check will reset the filter states if required + * due to a failure of consistency or timeout checks. + * it should be run after the measurement data has been + * updated, but before any of the fusion steps are + * executed. + */ +int AttPosEKF::CheckAndBound() +{ + + // Store the old filter state + bool currStaticMode = staticMode; + + // Reset the filter if the states went NaN + if (StatesNaN(&last_ekf_error)) { + + InitializeDynamic(velNED); + + return 1; + } + + // Reset the filter if the IMU data is too old + if (dtIMU > 0.2f) { + + ResetVelocity(); + ResetPosition(); + ResetHeight(); + ResetStoredStates(); + + // that's all we can do here, return + return 2; + } + + // Check if we're on ground - this also sets static mode. + OnGroundCheck(); + + // Check if we switched between states + if (currStaticMode != staticMode) { + ResetVelocity(); + ResetPosition(); + ResetHeight(); + ResetStoredStates(); + + return 3; + } + + return 0; +} + +void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat) +{ + float initialRoll, initialPitch; + float cosRoll, sinRoll, cosPitch, sinPitch; + float magX, magY; + float initialHdg, cosHeading, sinHeading; + + initialRoll = atan2(-ay, -az); + initialPitch = atan2(ax, -az); + + cosRoll = cosf(initialRoll); + sinRoll = sinf(initialRoll); + cosPitch = cosf(initialPitch); + sinPitch = sinf(initialPitch); + + magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch; + + magY = my * cosRoll - mz * sinRoll; + + initialHdg = atan2f(-magY, magX); + + cosRoll = cosf(initialRoll * 0.5f); + sinRoll = sinf(initialRoll * 0.5f); + + cosPitch = cosf(initialPitch * 0.5f); + sinPitch = sinf(initialPitch * 0.5f); + + cosHeading = cosf(initialHdg * 0.5f); + sinHeading = sinf(initialHdg * 0.5f); + + initQuat[0] = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading; + initQuat[1] = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading; + initQuat[2] = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading; + initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading; +} + +void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) +{ + + // Clear the init flag + statesInitialised = false; + + ZeroVariables(); + + // Calculate initial filter quaternion states from raw measurements + float initQuat[4]; + Vector3f initMagXYZ; + initMagXYZ = magData - magBias; + AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat); + + // Calculate initial Tbn matrix and rotate Mag measurements into NED + // to set initial NED magnetic field states + Mat3f DCM; + quat2Tbn(DCM, initQuat); + Vector3f initMagNED; + initMagXYZ = magData - magBias; + initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z; + initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z; + initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z; + + + + // write to state vector + for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions + for (uint8_t j=0; j<=2; j++) states[j+4] = initvelNED[j]; // velocities + for (uint8_t j=0; j<=7; j++) states[j+7] = 0.0f; // positiions, dAngBias, windVel + states[15] = initMagNED.x; // Magnetic Field North + states[16] = initMagNED.y; // Magnetic Field East + states[17] = initMagNED.z; // Magnetic Field Down + states[18] = magBias.x; // Magnetic Field Bias X + states[19] = magBias.y; // Magnetic Field Bias Y + states[20] = magBias.z; // Magnetic Field Bias Z + + statesInitialised = true; + + // initialise the covariance matrix + CovarianceInit(); + + //Define Earth rotation vector in the NED navigation frame + calcEarthRateNED(earthRateNED, latRef); + + //Initialise summed variables used by covariance prediction + summedDelAng.x = 0.0f; + summedDelAng.y = 0.0f; + summedDelAng.z = 0.0f; + summedDelVel.x = 0.0f; + summedDelVel.y = 0.0f; + summedDelVel.z = 0.0f; +} + +void AttPosEKF::InitialiseFilter(float (&initvelNED)[3]) +{ + //store initial lat,long and height + latRef = gpsLat; + lonRef = gpsLon; + hgtRef = gpsHgt; + + memset(&last_ekf_error, 0, sizeof(last_ekf_error)); + + InitializeDynamic(initvelNED); +} + +void AttPosEKF::ZeroVariables() +{ + // Do the data structure init + for (unsigned i = 0; i < n_states; i++) { + for (unsigned j = 0; j < n_states; j++) { + KH[i][j] = 0.0f; // intermediate result used for covariance updates + KHP[i][j] = 0.0f; // intermediate result used for covariance updates + P[i][j] = 0.0f; // covariance matrix + } + + Kfusion[i] = 0.0f; // Kalman gains + states[i] = 0.0f; // state matrix + } + + for (unsigned i = 0; i < data_buffer_size; i++) { + + for (unsigned j = 0; j < n_states; j++) { + storedStates[j][i] = 0.0f; + } + + statetimeStamp[i] = 0; + } + + memset(¤t_ekf_state, 0, sizeof(current_ekf_state)); +} + +void AttPosEKF::GetFilterState(struct ekf_status_report *state) +{ + memcpy(state, ¤t_ekf_state, sizeof(state)); +} + +void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error) +{ + memcpy(last_error, &last_ekf_error, sizeof(last_error)); +} diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h new file mode 100644 index 000000000..e62f1a98a --- /dev/null +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -0,0 +1,259 @@ +#include <math.h> +#include <stdint.h> + +#pragma once + +#define GRAVITY_MSS 9.80665f +#define deg2rad 0.017453292f +#define rad2deg 57.295780f +#define pi 3.141592657f +#define earthRate 0.000072921f +#define earthRadius 6378145.0f +#define earthRadiusInv 1.5678540e-7f + +class Vector3f +{ +private: +public: + float x; + float y; + float z; + + float length(void) const; + Vector3f zero(void) const; +}; + +class Mat3f +{ +private: +public: + Vector3f x; + Vector3f y; + Vector3f z; + + Mat3f(); + + Mat3f transpose(void) const; +}; + +Vector3f operator*(float sclIn1, Vector3f vecIn1); +Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*( Mat3f matIn, Vector3f vecIn); +Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); +Vector3f operator*(Vector3f vecIn1, float sclIn1); + +void swap_var(float &d1, float &d2); + +const unsigned int n_states = 21; +const unsigned int data_buffer_size = 50; + +const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions +const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions + +// extern bool staticMode; + +enum GPS_FIX { + GPS_FIX_NOFIX = 0, + GPS_FIX_2D = 2, + GPS_FIX_3D = 3 +}; + +struct ekf_status_report { + bool velHealth; + bool posHealth; + bool hgtHealth; + bool velTimeout; + bool posTimeout; + bool hgtTimeout; + uint32_t velFailTime; + uint32_t posFailTime; + uint32_t hgtFailTime; + float states[n_states]; + bool statesNaN; + bool covarianceNaN; + bool kalmanGainsNaN; +}; + +class AttPosEKF { + +public: + + AttPosEKF(); + ~AttPosEKF(); + + // Global variables + float KH[n_states][n_states]; // intermediate result used for covariance updates + float KHP[n_states][n_states]; // intermediate result used for covariance updates + float P[n_states][n_states]; // covariance matrix + float Kfusion[n_states]; // Kalman gains + float states[n_states]; // state matrix + float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps + uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored + + float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements + float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements + float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement + float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time + float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time + + Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) + Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) + Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) + Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) + float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2) + Vector3f earthRateNED; // earths angular rate vector in NED (rad/s) + Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s) + Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2) + Vector3f dVelIMU; + Vector3f dAngIMU; + float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) + uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity + float innovVelPos[6]; // innovation output + float varInnovVelPos[6]; // innovation variance output + + float velNED[3]; // North, East, Down velocity obs (m/s) + float posNE[2]; // North, East position obs (m) + float hgtMea; // measured height (m) + float posNED[3]; // North, East Down position (m) + + float innovMag[3]; // innovation output + float varInnovMag[3]; // innovation variance output + Vector3f magData; // magnetometer flux radings in X,Y,Z body axes + float innovVtas; // innovation output + float varInnovVtas; // innovation variance output + float VtasMeas; // true airspeed measurement (m/s) + float latRef; // WGS-84 latitude of reference point (rad) + float lonRef; // WGS-84 longitude of reference point (rad) + float hgtRef; // WGS-84 height of reference point (m) + Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes + uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction + float EAS2TAS; // ratio f true to equivalent airspeed + + // GPS input data variables + float gpsCourse; + float gpsVelD; + float gpsLat; + float gpsLon; + float gpsHgt; + uint8_t GPSstatus; + + // Baro input + float baroHgt; + + bool statesInitialised; + + bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused + bool fusePosData; // this boolean causes the posNE and velNED obs to be fused + bool fuseHgtData; // this boolean causes the hgtMea obs to be fused + bool fuseMagData; // boolean true when magnetometer data is to be fused + bool fuseVtasData; // boolean true when airspeed data is to be fused + + bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) + bool staticMode; ///< boolean true if no position feedback is fused + bool useAirspeed; ///< boolean true if airspeed data is being used + bool useCompass; ///< boolean true if magnetometer data is being used + + struct ekf_status_report current_ekf_state; + struct ekf_status_report last_ekf_error; + + bool numericalProtection; + + unsigned storeIndex; + + +void UpdateStrapdownEquationsNED(); + +void CovariancePrediction(float dt); + +void FuseVelposNED(); + +void FuseMagnetometer(); + +void FuseAirspeed(); + +void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); + +void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); + +void quatNorm(float (&quatOut)[4], const float quatIn[4]); + +// store staes along with system time stamp in msces +void StoreStates(uint64_t timestamp_ms); + +/** + * Recall the state vector. + * + * Recalls the vector stored at closest time to the one specified by msec + * + * @return zero on success, integer indicating the number of invalid states on failure. + * Does only copy valid states, if the statesForFusion vector was initialized + * correctly by the caller, the result can be safely used, but is a mixture + * time-wise where valid states were updated and invalid remained at the old + * value. + */ +int RecallStates(float statesForFusion[n_states], uint64_t msec); + +void ResetStoredStates(); + +void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]); + +void calcEarthRateNED(Vector3f &omega, float latitude); + +static void eul2quat(float (&quat)[4], const float (&eul)[3]); + +static void quat2eul(float (&eul)[3], const float (&quat)[4]); + +static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD); + +static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); + +static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); + +static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); + +static float sq(float valIn); + +void OnGroundCheck(); + +void CovarianceInit(); + +void InitialiseFilter(float (&initvelNED)[3]); + +float ConstrainFloat(float val, float min, float max); + +void ConstrainVariances(); + +void ConstrainStates(); + +void ForceSymmetry(); + +int CheckAndBound(); + +void ResetPosition(); + +void ResetVelocity(); + +void ZeroVariables(); + +void GetFilterState(struct ekf_status_report *state); + +void GetLastErrorState(struct ekf_status_report *last_error); + +bool StatesNaN(struct ekf_status_report *err_report); +void FillErrorReport(struct ekf_status_report *err); + +void InitializeDynamic(float (&initvelNED)[3]); + +protected: + +bool FilterHealthy(); + +void ResetHeight(void); + +void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat); + +}; + +uint32_t millis(); + diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp new file mode 100644 index 000000000..840cd585e --- /dev/null +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -0,0 +1,1273 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 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. + * + ****************************************************************************/ + +/** + * @file fw_att_pos_estimator_main.cpp + * Implementation of the attitude and position estimator. + * + * @author Paul Riseborough <p_riseborough@live.com.au> + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#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> + +#define SENSOR_COMBINED_SUB + + +#include <drivers/drv_gyro.h> +#include <drivers/drv_accel.h> +#include <drivers/drv_mag.h> +#include <drivers/drv_baro.h> +#ifdef SENSOR_COMBINED_SUB +#include <uORB/topics/sensor_combined.h> +#endif +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/estimator_status.h> +#include <uORB/topics/actuator_armed.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <geo/geo.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> +#include <mathlib/mathlib.h> +#include <mavlink/mavlink_log.h> + +#include "estimator.h" + + + +/** + * estimator app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]); + +__EXPORT uint32_t millis(); + +static uint64_t last_run = 0; +static uint64_t IMUmsec = 0; + +uint32_t millis() +{ + return IMUmsec; +} + +static void print_status(); + +class FixedwingEstimator +{ +public: + /** + * Constructor + */ + FixedwingEstimator(); + + /** + * Destructor, also kills the sensors task. + */ + ~FixedwingEstimator(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + int start(); + + /** + * Print the current status. + */ + void print_status(); + + /** + * Trip the filter by feeding it NaN values. + */ + int trip_nan(); + +private: + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _estimator_task; /**< task handle for sensor task */ +#ifndef SENSOR_COMBINED_SUB + int _gyro_sub; /**< gyro sensor subscription */ + int _accel_sub; /**< accel sensor subscription */ + int _mag_sub; /**< mag sensor subscription */ +#else + int _sensor_combined_sub; +#endif + int _airspeed_sub; /**< airspeed subscription */ + int _baro_sub; /**< barometer subscription */ + int _gps_sub; /**< GPS subscription */ + int _vstatus_sub; /**< vehicle status subscription */ + int _params_sub; /**< notification of parameter updates */ + int _manual_control_sub; /**< notification of manual control updates */ + int _mission_sub; + + orb_advert_t _att_pub; /**< vehicle attitude */ + orb_advert_t _global_pos_pub; /**< global position */ + orb_advert_t _local_pos_pub; /**< position in local frame */ + orb_advert_t _estimator_status_pub; /**< status of the estimator */ + + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct gyro_report _gyro; + struct accel_report _accel; + struct mag_report _mag; + struct airspeed_s _airspeed; /**< airspeed */ + struct baro_report _baro; /**< baro readings */ + struct vehicle_status_s _vstatus; /**< vehicle status */ + struct vehicle_global_position_s _global_pos; /**< global vehicle position */ + struct vehicle_local_position_s _local_pos; /**< local vehicle position */ + struct vehicle_gps_position_s _gps; /**< GPS position */ + + struct gyro_scale _gyro_offsets; + struct accel_scale _accel_offsets; + struct mag_scale _mag_offsets; + +#ifdef SENSOR_COMBINED_SUB + struct sensor_combined_s _sensor_combined; +#endif + + float _baro_ref; /**< barometer reference altitude */ + float _baro_gps_offset; /**< offset between GPS and baro */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + perf_counter_t _perf_gyro; ///<local performance counter for gyro updates + perf_counter_t _perf_accel; ///<local performance counter for accel updates + perf_counter_t _perf_mag; ///<local performance counter for mag updates + perf_counter_t _perf_gps; ///<local performance counter for gps updates + perf_counter_t _perf_baro; ///<local performance counter for baro updates + perf_counter_t _perf_airspeed; ///<local performance counter for airspeed updates + + bool _initialized; + bool _gps_initialized; + + int _mavlink_fd; + + struct { + int32_t vel_delay_ms; + int32_t pos_delay_ms; + int32_t height_delay_ms; + int32_t mag_delay_ms; + int32_t tas_delay_ms; + } _parameters; /**< local copies of interesting parameters */ + + struct { + param_t vel_delay_ms; + param_t pos_delay_ms; + param_t height_delay_ms; + param_t mag_delay_ms; + param_t tas_delay_ms; + } _parameter_handles; /**< handles for interesting parameters */ + + AttPosEKF *_ekf; + + /** + * Update our local parameter cache. + */ + int parameters_update(); + + /** + * Update control outputs + * + */ + void control_update(); + + /** + * Check for changes in vehicle status. + */ + void vehicle_status_poll(); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * Main sensor collection task. + */ + void task_main() __attribute__((noreturn)); +}; + +namespace estimator +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +FixedwingEstimator *g_estimator; +} + +FixedwingEstimator::FixedwingEstimator() : + + _task_should_exit(false), + _estimator_task(-1), + +/* subscriptions */ +#ifndef SENSOR_COMBINED_SUB + _gyro_sub(-1), + _accel_sub(-1), + _mag_sub(-1), +#else + _sensor_combined_sub(-1), +#endif + _airspeed_sub(-1), + _baro_sub(-1), + _gps_sub(-1), + _vstatus_sub(-1), + _params_sub(-1), + _manual_control_sub(-1), + +/* publications */ + _att_pub(-1), + _global_pos_pub(-1), + _local_pos_pub(-1), + _estimator_status_pub(-1), + + _baro_ref(0.0f), + _baro_gps_offset(0.0f), + +/* performance counters */ + _loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")), + _perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")), + _perf_accel(perf_alloc(PC_COUNT, "fw_ekf_accel_upd")), + _perf_mag(perf_alloc(PC_COUNT, "fw_ekf_mag_upd")), + _perf_gps(perf_alloc(PC_COUNT, "fw_ekf_gps_upd")), + _perf_baro(perf_alloc(PC_COUNT, "fw_ekf_baro_upd")), + _perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")), + +/* states */ + _initialized(false), + _gps_initialized(false), + _mavlink_fd(-1), + _ekf(nullptr) +{ + + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + _parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS"); + _parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS"); + _parameter_handles.height_delay_ms = param_find("PE_HGT_DELAY_MS"); + _parameter_handles.mag_delay_ms = param_find("PE_MAG_DELAY_MS"); + _parameter_handles.tas_delay_ms = param_find("PE_TAS_DELAY_MS"); + + /* fetch initial parameter values */ + parameters_update(); + + /* get offsets */ + + int fd, res; + + fd = open(GYRO_DEVICE_PATH, O_RDONLY); + + if (fd > 0) { + res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets); + close(fd); + } + + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd > 0) { + res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets); + close(fd); + } + + fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd > 0) { + res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets); + close(fd); + } +} + +FixedwingEstimator::~FixedwingEstimator() +{ + if (_estimator_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_estimator_task); + break; + } + } while (_estimator_task != -1); + } + + estimator::g_estimator = nullptr; +} + +int +FixedwingEstimator::parameters_update() +{ + + param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms)); + param_get(_parameter_handles.pos_delay_ms, &(_parameters.pos_delay_ms)); + param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms)); + param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms)); + param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms)); + + return OK; +} + +void +FixedwingEstimator::vehicle_status_poll() +{ + bool vstatus_updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_vstatus_sub, &vstatus_updated); + + if (vstatus_updated) { + + orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); + } +} + +void +FixedwingEstimator::task_main_trampoline(int argc, char *argv[]) +{ + estimator::g_estimator->task_main(); +} + +float dt = 0.0f; // time lapsed since last covariance prediction + +void +FixedwingEstimator::task_main() +{ + + _ekf = new AttPosEKF(); + + if (!_ekf) { + errx(1, "failed allocating EKF filter - out of RAM!"); + } + + /* + * do subscriptions + */ + _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vstatus_sub, 200); + +#ifndef SENSOR_COMBINED_SUB + + _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); + _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); + _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); + + /* rate limit gyro updates to 50 Hz */ + /* XXX remove this!, BUT increase the data buffer size! */ + orb_set_interval(_gyro_sub, 4); +#else + _sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + /* XXX remove this!, BUT increase the data buffer size! */ + orb_set_interval(_sensor_combined_sub, 4); +#endif + + parameters_update(); + + /* set initial filter state */ + _ekf->fuseVelData = false; + _ekf->fusePosData = false; + _ekf->fuseHgtData = false; + _ekf->fuseMagData = false; + _ekf->fuseVtasData = false; + _ekf->statesInitialised = false; + + /* initialize measurement data */ + _ekf->VtasMeas = 0.0f; + Vector3f lastAngRate = {0.0f, 0.0f, 0.0f}; + Vector3f lastAccel = {0.0f, 0.0f, -9.81f}; + _ekf->dVelIMU.x = 0.0f; + _ekf->dVelIMU.y = 0.0f; + _ekf->dVelIMU.z = 0.0f; + _ekf->dAngIMU.x = 0.0f; + _ekf->dAngIMU.y = 0.0f; + _ekf->dAngIMU.z = 0.0f; + + /* wakeup source(s) */ + struct pollfd fds[2]; + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; +#ifndef SENSOR_COMBINED_SUB + fds[1].fd = _gyro_sub; + fds[1].events = POLLIN; +#else + fds[1].fd = _sensor_combined_sub; + fds[1].events = POLLIN; +#endif + + hrt_abstime start_time = hrt_absolute_time(); + + bool newDataGps = false; + bool newAdsData = false; + bool newDataMag = false; + + while (!_task_should_exit) { + + /* wait for up to 500ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* 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), _params_sub, &update); + + /* update parameters from storage */ + parameters_update(); + } + + /* only run estimator if gyro updated */ + if (fds[1].revents & POLLIN) { + + /* check vehicle status for changes to publication state */ + vehicle_status_poll(); + + bool accel_updated; + bool mag_updated; + + perf_count(_perf_gyro); + + /** + * PART ONE: COLLECT ALL DATA + **/ + + hrt_abstime last_sensor_timestamp; + + /* load local copies */ +#ifndef SENSOR_COMBINED_SUB + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro); + + + orb_check(_accel_sub, &accel_updated); + + if (accel_updated) { + perf_count(_perf_accel); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); + } + + last_sensor_timestamp = _gyro.timestamp; + _ekf.IMUmsec = _gyro.timestamp / 1e3f; + + float deltaT = (_gyro.timestamp - last_run) / 1e6f; + last_run = _gyro.timestamp; + + /* guard against too large deltaT's */ + if (deltaT > 1.0f) + deltaT = 0.01f; + + + // Always store data, independent of init status + /* fill in last data set */ + _ekf->dtIMU = deltaT; + + _ekf->angRate.x = _gyro.x; + _ekf->angRate.y = _gyro.y; + _ekf->angRate.z = _gyro.z; + + _ekf->accel.x = _accel.x; + _ekf->accel.y = _accel.y; + _ekf->accel.z = _accel.z; + + _ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU; + _ekf->lastAngRate = angRate; + _ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU; + _ekf->lastAccel = accel; + + +#else + orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); + + static hrt_abstime last_accel = 0; + static hrt_abstime last_mag = 0; + + if (last_accel != _sensor_combined.accelerometer_timestamp) { + accel_updated = true; + } + + last_accel = _sensor_combined.accelerometer_timestamp; + + + // Copy gyro and accel + last_sensor_timestamp = _sensor_combined.timestamp; + IMUmsec = _sensor_combined.timestamp / 1e3f; + + float deltaT = (_sensor_combined.timestamp - last_run) / 1e6f; + last_run = _sensor_combined.timestamp; + + /* guard against too large deltaT's */ + if (deltaT > 1.0f || deltaT < 0.000001f) + deltaT = 0.01f; + + // Always store data, independent of init status + /* fill in last data set */ + _ekf->dtIMU = deltaT; + + _ekf->angRate.x = _sensor_combined.gyro_rad_s[0]; + _ekf->angRate.y = _sensor_combined.gyro_rad_s[1]; + _ekf->angRate.z = _sensor_combined.gyro_rad_s[2]; + + _ekf->accel.x = _sensor_combined.accelerometer_m_s2[0]; + _ekf->accel.y = _sensor_combined.accelerometer_m_s2[1]; + _ekf->accel.z = _sensor_combined.accelerometer_m_s2[2]; + + _ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU; + lastAngRate = _ekf->angRate; + _ekf->dVelIMU = 0.5f * (_ekf->accel + lastAccel) * _ekf->dtIMU; + lastAccel = _ekf->accel; + + if (last_mag != _sensor_combined.magnetometer_timestamp) { + mag_updated = true; + newDataMag = true; + + } else { + newDataMag = false; + } + + last_mag = _sensor_combined.magnetometer_timestamp; + +#endif + + bool airspeed_updated; + orb_check(_airspeed_sub, &airspeed_updated); + + if (airspeed_updated) { + orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); + perf_count(_perf_airspeed); + + _ekf->VtasMeas = _airspeed.true_airspeed_m_s; + newAdsData = true; + + } else { + newAdsData = false; + } + + bool gps_updated; + orb_check(_gps_sub, &gps_updated); + + if (gps_updated) { + + uint64_t last_gps = _gps.timestamp_position; + + orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps); + perf_count(_perf_gps); + + if (_gps.fix_type < 3) { + gps_updated = false; + newDataGps = false; + + } else { + + /* check if we had a GPS outage for a long time */ + if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) { + _ekf->ResetPosition(); + _ekf->ResetVelocity(); + _ekf->ResetStoredStates(); + } + + /* fuse GPS updates */ + + //_gps.timestamp / 1e3; + _ekf->GPSstatus = _gps.fix_type; + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + + // warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]); + + _ekf->gpsLat = math::radians(_gps.lat / (double)1e7); + _ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI; + _ekf->gpsHgt = _gps.alt / 1e3f; + newDataGps = true; + + } + + } + + bool baro_updated; + orb_check(_baro_sub, &baro_updated); + + if (baro_updated) { + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + + _ekf->baroHgt = _baro.altitude - _baro_ref; + + // Could use a blend of GPS and baro alt data if desired + _ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt; + } + +#ifndef SENSOR_COMBINED_SUB + orb_check(_mag_sub, &mag_updated); +#endif + + if (mag_updated) { + + perf_count(_perf_mag); + +#ifndef SENSOR_COMBINED_SUB + orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag); + + // XXX we compensate the offsets upfront - should be close to zero. + // 0.001f + _ekf->magData.x = _mag.x; + _ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset + + _ekf->magData.y = _mag.y; + _ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset + + _ekf->magData.z = _mag.z; + _ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset + +#else + + // XXX we compensate the offsets upfront - should be close to zero. + // 0.001f + _ekf->magData.x = _sensor_combined.magnetometer_ga[0]; + _ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset + + _ekf->magData.y = _sensor_combined.magnetometer_ga[1]; + _ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset + + _ekf->magData.z = _sensor_combined.magnetometer_ga[2]; + _ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset + +#endif + + newDataMag = true; + + } else { + newDataMag = false; + } + + + /** + * CHECK IF THE INPUT DATA IS SANE + */ + int check = _ekf->CheckAndBound(); + + switch (check) { + case 0: + /* all ok */ + break; + case 1: + { + const char* str = "NaN in states, resetting"; + warnx(str); + mavlink_log_critical(_mavlink_fd, str); + break; + } + case 2: + { + const char* str = "stale IMU data, resetting"; + warnx(str); + mavlink_log_critical(_mavlink_fd, str); + break; + } + case 3: + { + const char* str = "switching dynamic / static state"; + warnx(str); + mavlink_log_critical(_mavlink_fd, str); + break; + } + } + + // If non-zero, we got a problem + if (check) { + + struct ekf_status_report ekf_report; + + _ekf->GetLastErrorState(&ekf_report); + + struct estimator_status_report rep; + memset(&rep, 0, sizeof(rep)); + rep.timestamp = hrt_absolute_time(); + + rep.states_nan = ekf_report.statesNaN; + rep.covariance_nan = ekf_report.covarianceNaN; + rep.kalman_gain_nan = ekf_report.kalmanGainsNaN; + + // Copy all states or at least all that we can fit + int i = 0; + unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0])); + unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0])); + rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states; + + while ((i < ekf_n_states) && (i < max_states)) { + + rep.states[i] = ekf_report.states[i]; + i++; + } + + if (_estimator_status_pub > 0) { + orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep); + } else { + _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep); + } + } + + + /** + * PART TWO: EXECUTE THE FILTER + **/ + + // Wait long enough to ensure all sensors updated once + // XXX we rather want to check all updated + + + if (hrt_elapsed_time(&start_time) > 100000) { + + if (!_gps_initialized && (_ekf->GPSstatus == 3)) { + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + + double lat = _gps.lat * 1e-7; + double lon = _gps.lon * 1e-7; + float alt = _gps.alt * 1e-3; + + _ekf->InitialiseFilter(_ekf->velNED); + + // Initialize projection + _local_pos.ref_lat = _gps.lat; + _local_pos.ref_lon = _gps.lon; + _local_pos.ref_alt = alt; + _local_pos.ref_timestamp = _gps.timestamp_position; + + // Store + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + _baro_ref = _baro.altitude; + _ekf->baroHgt = _baro.altitude - _baro_ref; + _baro_gps_offset = _baro_ref - _local_pos.ref_alt; + + // XXX this is not multithreading safe + map_projection_init(lat, lon); + mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); + + _gps_initialized = true; + + } else if (!_ekf->statesInitialised) { + _ekf->velNED[0] = 0.0f; + _ekf->velNED[1] = 0.0f; + _ekf->velNED[2] = 0.0f; + _ekf->posNED[0] = 0.0f; + _ekf->posNED[1] = 0.0f; + _ekf->posNED[2] = 0.0f; + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + _ekf->InitialiseFilter(_ekf->velNED); + } + } + + // If valid IMU data and states initialised, predict states and covariances + if (_ekf->statesInitialised) { + // Run the strapdown INS equations every IMU update + _ekf->UpdateStrapdownEquationsNED(); +#if 0 + // debug code - could be tunred into a filter mnitoring/watchdog function + float tempQuat[4]; + + for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; + + quat2eul(eulerEst, tempQuat); + + for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; + + if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; + + if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; + +#endif + // store the predicted states for subsequent use by measurement fusion + _ekf->StoreStates(IMUmsec); + // Check if on ground - status is used by covariance prediction + _ekf->OnGroundCheck(); + // sum delta angles and time used by covariance prediction + _ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng; + _ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU; + dt += _ekf->dtIMU; + + // perform a covariance prediction if the total delta angle has exceeded the limit + // or the time limit will be exceeded at the next IMU update + if ((dt >= (covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > covDelAngMax)) { + _ekf->CovariancePrediction(dt); + _ekf->summedDelAng = _ekf->summedDelAng.zero(); + _ekf->summedDelVel = _ekf->summedDelVel.zero(); + dt = 0.0f; + } + + _initialized = true; + } + + // Fuse GPS Measurements + if (newDataGps && _gps_initialized) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + _ekf->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef); + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else if (_ekf->statesInitialised) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = 0.0f; + _ekf->velNED[1] = 0.0f; + _ekf->velNED[2] = 0.0f; + _ekf->posNED[0] = 0.0f; + _ekf->posNED[1] = 0.0f; + _ekf->posNED[2] = 0.0f; + + _ekf->posNE[0] = _ekf->posNED[0]; + _ekf->posNE[1] = _ekf->posNED[1]; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else { + _ekf->fuseVelData = false; + _ekf->fusePosData = false; + } + + if (newAdsData && _ekf->statesInitialised) { + // Could use a blend of GPS and baro alt data if desired + _ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt; + _ekf->fuseHgtData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else { + _ekf->fuseHgtData = false; + } + + // Fuse Magnetometer Measurements + if (newDataMag && _ekf->statesInitialised) { + _ekf->fuseMagData = true; + _ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data + + } else { + _ekf->fuseMagData = false; + } + + if (_ekf->statesInitialised) _ekf->FuseMagnetometer(); + + // Fuse Airspeed Measurements + if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) { + _ekf->fuseVtasData = true; + _ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data + _ekf->FuseAirspeed(); + + } else { + _ekf->fuseVtasData = false; + } + + // Publish results + if (_initialized) { + + + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z) + + math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); + math::Matrix<3, 3> R = q.to_dcm(); + math::Vector<3> euler = R.to_euler(); + + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + _att.R[i][j] = R(i, j); + + _att.timestamp = last_sensor_timestamp; + _att.q[0] = _ekf->states[0]; + _att.q[1] = _ekf->states[1]; + _att.q[2] = _ekf->states[2]; + _att.q[3] = _ekf->states[3]; + _att.q_valid = true; + _att.R_valid = true; + + _att.timestamp = last_sensor_timestamp; + _att.roll = euler(0); + _att.pitch = euler(1); + _att.yaw = euler(2); + + _att.rollspeed = _ekf->angRate.x - _ekf->states[10]; + _att.pitchspeed = _ekf->angRate.y - _ekf->states[11]; + _att.yawspeed = _ekf->angRate.z - _ekf->states[12]; + // gyro offsets + _att.rate_offsets[0] = _ekf->states[10]; + _att.rate_offsets[1] = _ekf->states[11]; + _att.rate_offsets[2] = _ekf->states[12]; + + /* lazily publish the attitude only once available */ + if (_att_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att); + + } else { + /* advertise and publish */ + _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att); + } + } + + if (_gps_initialized) { + _local_pos.timestamp = last_sensor_timestamp; + _local_pos.x = _ekf->states[7]; + _local_pos.y = _ekf->states[8]; + _local_pos.z = _ekf->states[9]; + + _local_pos.vx = _ekf->states[4]; + _local_pos.vy = _ekf->states[5]; + _local_pos.vz = _ekf->states[6]; + + _local_pos.xy_valid = _gps_initialized; + _local_pos.z_valid = true; + _local_pos.v_xy_valid = _gps_initialized; + _local_pos.v_z_valid = true; + _local_pos.xy_global = true; + + _local_pos.z_global = false; + _local_pos.yaw = _att.yaw; + + /* lazily publish the local position only once available */ + if (_local_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); + + } else { + /* advertise and publish */ + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); + } + + _global_pos.timestamp = _local_pos.timestamp; + + _global_pos.baro_valid = true; + _global_pos.global_valid = true; + + if (_local_pos.xy_global) { + double est_lat, est_lon; + map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon); + _global_pos.lat = est_lat; + _global_pos.lon = est_lon; + _global_pos.time_gps_usec = _gps.time_gps_usec; + } + + /* set valid values even if position is not valid */ + if (_local_pos.v_xy_valid) { + _global_pos.vel_n = _local_pos.vx; + _global_pos.vel_e = _local_pos.vy; + } else { + _global_pos.vel_n = 0.0f; + _global_pos.vel_e = 0.0f; + } + + /* local pos alt is negative, change sign and add alt offset */ + _global_pos.alt = _local_pos.ref_alt + (-_local_pos.z); + + if (_local_pos.z_valid) { + _global_pos.baro_alt = _local_pos.ref_alt - _baro_gps_offset - _local_pos.z; + } + + if (_local_pos.v_z_valid) { + _global_pos.vel_d = _local_pos.vz; + } + + _global_pos.yaw = _local_pos.yaw; + + _global_pos.timestamp = _local_pos.timestamp; + + /* lazily publish the global position only once available */ + if (_global_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos); + + } else { + /* advertise and publish */ + _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos); + } + } + + } + + perf_end(_loop_perf); + } + + warnx("exiting.\n"); + + _estimator_task = -1; + _exit(0); +} + +int +FixedwingEstimator::start() +{ + ASSERT(_estimator_task == -1); + + /* start the task */ + _estimator_task = task_spawn_cmd("fw_att_pos_estimator", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 6000, + (main_t)&FixedwingEstimator::task_main_trampoline, + nullptr); + + if (_estimator_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +void +FixedwingEstimator::print_status() +{ + math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); + math::Matrix<3, 3> R = q.to_dcm(); + math::Vector<3> euler = R.to_euler(); + + printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n", + (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2))); + + // State vector: + // 0-3: quaternions (q0, q1, q2, q3) + // 4-6: Velocity - m/sec (North, East, Down) + // 7-9: Position - m (North, East, Down) + // 10-12: Delta Angle bias - rad (X,Y,Z) + // 13-14: Wind Vector - m/sec (North,East) + // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) + // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) + + printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", _ekf->dtIMU, dt, (int)IMUmsec); + printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z); + printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z); + printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]); + printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]); + printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]); + printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]); + printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]); + printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]); + printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]); + printf("states: %s %s %s %s %s %s %s %s %s %s\n", + (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT", + (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE", + (_ekf->fuseVelData) ? "FUSE_VEL" : "INH_VEL", + (_ekf->fusePosData) ? "FUSE_POS" : "INH_POS", + (_ekf->fuseHgtData) ? "FUSE_HGT" : "INH_HGT", + (_ekf->fuseMagData) ? "FUSE_MAG" : "INH_MAG", + (_ekf->fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS", + (_ekf->useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD", + (_ekf->useCompass) ? "USE_COMPASS" : "IGN_COMPASS", + (_ekf->staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE"); +} + +int FixedwingEstimator::trip_nan() { + + int ret = 0; + + // If system is not armed, inject a NaN value into the filter + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + + struct actuator_armed_s armed; + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + + if (armed.armed) { + warnx("ACTUATORS ARMED! NOT TRIPPING SYSTEM"); + ret = 1; + } else { + + float nan_val = 0.0f / 0.0f; + + warnx("system not armed, tripping state vector with NaN values"); + _ekf->states[5] = nan_val; + usleep(100000); + + // warnx("tripping covariance #1 with NaN values"); + // KH[2][2] = nan_val; // intermediate result used for covariance updates + // usleep(100000); + + // warnx("tripping covariance #2 with NaN values"); + // KHP[5][5] = nan_val; // intermediate result used for covariance updates + // usleep(100000); + + warnx("tripping covariance #3 with NaN values"); + _ekf->P[3][3] = nan_val; // covariance matrix + usleep(100000); + + warnx("tripping Kalman gains with NaN values"); + _ekf->Kfusion[0] = nan_val; // Kalman gains + usleep(100000); + + warnx("tripping stored states[0] with NaN values"); + _ekf->storedStates[0][0] = nan_val; + usleep(100000); + + warnx("\nDONE - FILTER STATE:"); + print_status(); + } + + close(armed_sub); + return ret; +} + +int fw_att_pos_estimator_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: fw_att_pos_estimator {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (estimator::g_estimator != nullptr) + errx(1, "already running"); + + estimator::g_estimator = new FixedwingEstimator; + + if (estimator::g_estimator == nullptr) + errx(1, "alloc failed"); + + if (OK != estimator::g_estimator->start()) { + delete estimator::g_estimator; + estimator::g_estimator = nullptr; + err(1, "start failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (estimator::g_estimator == nullptr) + errx(1, "not running"); + + delete estimator::g_estimator; + estimator::g_estimator = nullptr; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (estimator::g_estimator) { + warnx("running"); + + estimator::g_estimator->print_status(); + + exit(0); + + } else { + errx(1, "not running"); + } + } + + if (!strcmp(argv[1], "trip")) { + if (estimator::g_estimator) { + int ret = estimator::g_estimator->trip_nan(); + + exit(ret); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + return 1; +} diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c new file mode 100644 index 000000000..6138ef39c --- /dev/null +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c @@ -0,0 +1,117 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 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. + * + ****************************************************************************/ + +/** + * @file fw_att_pos_estimator_params.c + * + * Parameters defined by the attitude and position estimator task + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Estimator parameters, accessible via MAVLink + * + */ + +/** + * Velocity estimate delay + * + * The delay in milliseconds of the velocity estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230); + +/** + * Position estimate delay + * + * The delay in milliseconds of the position estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210); + +/** + * Height estimate delay + * + * The delay in milliseconds of the height estimate from the barometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350); + +/** + * Mag estimate delay + * + * The delay in milliseconds of the magnetic field estimate from + * the magnetometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30); + +/** + * True airspeeed estimate delay + * + * The delay in milliseconds of the airspeed estimate. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); + +/** + * GPS vs. barometric altitude update weight + * + * RE-CHECK this. + * + * @min 0.0 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); + diff --git a/src/modules/fw_att_pos_estimator/module.mk b/src/modules/fw_att_pos_estimator/module.mk new file mode 100644 index 000000000..c992959e0 --- /dev/null +++ b/src/modules/fw_att_pos_estimator/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2013, 2014 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. +# +############################################################################ + +# +# Main Attitude and Position Estimator for Fixed Wing Aircraft +# + +MODULE_COMMAND = fw_att_pos_estimator + +SRCS = fw_att_pos_estimator_main.cpp \ + fw_att_pos_estimator_params.c \ + estimator.cpp diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 4de722832..d432edd2b 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -88,6 +88,7 @@ MavlinkOrbSubscription::update(const hrt_abstime t) if (_updated) { orb_copy(_topic, _fd, _data); + _published = true; return true; } } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index d7e300670..3ec40ee0a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -222,12 +222,10 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) vcmd.source_component = msg->compid; vcmd.confirmation = cmd_mavlink.confirmation; - /* check if topic is advertised */ - if (_cmd_pub <= 0) { + if (_cmd_pub < 0) { _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { - /* publish */ orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); } } @@ -253,7 +251,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) f.quality = flow.quality; f.sensor_id = flow.sensor_id; - if (_flow_pub <= 0) { + if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { @@ -287,7 +285,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) vcmd.source_component = msg->compid; vcmd.confirmation = 1; - if (_cmd_pub <= 0) { + if (_cmd_pub < 0) { _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { @@ -312,7 +310,7 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) vicon_position.pitch = pos.pitch; vicon_position.yaw = pos.yaw; - if (_vicon_position_pub <= 0) { + if (_vicon_position_pub < 0) { _vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); } else { @@ -373,7 +371,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message offboard_control_sp.timestamp = hrt_absolute_time(); - if (_offboard_control_sp_pub <= 0) { + if (_offboard_control_sp_pub < 0) { _offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); } else { @@ -401,7 +399,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; - if (_telemetry_status_pub <= 0) { + if (_telemetry_status_pub < 0) { _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); } else { @@ -428,7 +426,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) rc.chan[2].scaled = man.r / 1000.0f; rc.chan[3].scaled = man.z / 1000.0f; - if (_rc_pub == 0) { + if (_rc_pub < 0) { _rc_pub = orb_advertise(ORB_ID(rc_channels), &rc); } else { @@ -450,7 +448,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.yaw = man.r / 1000.0f; manual.throttle = man.z / 1000.0f; - if (_manual_pub == 0) { + if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); } else { @@ -619,11 +617,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_sensors.differential_pressure_timestamp = timestamp; /* publish combined sensor topic */ - if (_sensors_pub > 0) { - orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors); + if (_sensors_pub < 0) { + _sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); } else { - _sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); + orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors); } } @@ -638,11 +636,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; - if (_battery_pub > 0) { - orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); + if (_battery_pub < 0) { + _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { - _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } @@ -694,11 +692,11 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.fix_type = gps.fix_type; hil_gps.satellites_visible = gps.satellites_visible; - if (_gps_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps); + if (_gps_pub < 0) { + _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); } else { - _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps); } } @@ -752,11 +750,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_attitude.pitchspeed = hil_state.pitchspeed; hil_attitude.yawspeed = hil_state.yawspeed; - if (_attitude_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude); + if (_attitude_pub < 0) { + _attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); } else { - _attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); + orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude); } } @@ -775,11 +773,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_global_pos.vel_d = hil_state.vz / 100.0f; hil_global_pos.yaw = hil_attitude.yaw; - if (_global_pos_pub > 0) { - orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); + if (_global_pos_pub < 0) { + _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); } else { - _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); } } @@ -816,11 +814,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? hil_local_pos.landed = landed; - if (_local_pos_pub > 0) { - orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos); + if (_local_pos_pub < 0) { + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); } else { - _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos); } } @@ -857,11 +855,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; - if (_battery_pub > 0) { - orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); + if (_battery_pub < 0) { + _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { - _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); + orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 0a5a1b5c7..8ccb2a035 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -120,7 +120,6 @@ private: mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; - int _manual_sub; orb_advert_t _global_pos_pub; orb_advert_t _local_pos_pub; orb_advert_t _attitude_pub; @@ -139,6 +138,7 @@ private: orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; + int _manual_sub; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c45cafc1b..5a94b6671 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1539,7 +1539,7 @@ Navigator::check_mission_item_reached() /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); - if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ + if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 941500f0d..56c5aa005 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -134,8 +134,6 @@ controls_tick() { perf_begin(c_gather_sbus); - bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); - bool sbus_failsafe, sbus_frame_drop; bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); @@ -201,94 +199,104 @@ controls_tick() { /* update RC-received timestamp */ system_state.rc_channels_timestamp_received = hrt_absolute_time(); - /* do not command anything in failsafe, kick in the RC loss counter */ - if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { - - /* update RC-received timestamp */ - system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; - - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { - - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - - uint16_t raw = r_raw_rc_values[i]; - - int16_t scaled; - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } - - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) - scaled = -scaled; + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { + + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + + uint16_t raw = r_raw_rc_values[i]; + + int16_t scaled; + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) { + scaled = -scaled; + } - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) { + /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + } + if (mapped == 3 && r_setup_rc_thr_failsafe) { + /* throttle failsafe detection */ + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } } + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } + } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) { + r_rc_values[i] = 0; } + } - /* set RC OK flag, as we got an update */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + /* set RC OK flag, as we got an update */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; - /* if we have enough channels (5) to control the vehicle, the mapping is ok */ - if (assigned_channels > 4) { - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; - } else { - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); - } + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } /* @@ -316,8 +324,13 @@ controls_tick() { * Handle losing RC input */ - /* this kicks in if the receiver is gone or the system went to failsafe */ - if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* if we are in failsafe, clear the override flag */ + if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); + } + + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ + if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | @@ -326,27 +339,24 @@ controls_tick() { /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; + /* Set raw channel count to zero */ + r_raw_rc_count = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; } - /* this kicks in if the receiver is completely gone */ - if (rc_input_lost) { - - /* Set channel count to zero */ - r_raw_rc_count = 0; - } - /* * Check for manual override. * * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. + * must have R/C input (NO FAILSAFE!). * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; @@ -369,10 +379,10 @@ controls_tick() { mixer_tick(); } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index d48c6c529..a978d483a 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -164,10 +164,10 @@ /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 -#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */ -#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ -#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -201,13 +201,15 @@ enum { /* DSM bind states */ dsm_bind_send_pulses, dsm_bind_reinit_uart }; - /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + /* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ -#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ -#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ -#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* 12 occupied by CRC */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ /* autopilot control values, -10000..10000 */ #define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ @@ -217,10 +219,10 @@ enum { /* DSM bind states */ #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_VALID 64 -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 52 diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 54c5663a5..4db948484 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -108,6 +108,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] #endif +#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] #define r_control_values (&r_page_controls[0]) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 97d25bbfa..6752e7b4b 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -169,6 +169,7 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_REBOOT_BL] = 0, [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, + [PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0, }; #ifdef CONFIG_ARCH_BOARD_PX4IO_V2 diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ad709d27d..e62b0fafc 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -83,6 +83,9 @@ #include <uORB/topics/rc_channels.h> #include <uORB/topics/esc_status.h> #include <uORB/topics/telemetry_status.h> +#include <uORB/topics/estimator_status.h> +#include <uORB/topics/system_power.h> +#include <uORB/topics/servorail_status.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -794,6 +797,9 @@ int sdlog2_thread_main(int argc, char *argv[]) struct battery_status_s battery; struct telemetry_status_s telemetry; struct range_finder_report range_finder; + struct estimator_status_report estimator_status; + struct system_power_s system_power; + struct servorail_status_s servorail_status; } buf; memset(&buf, 0, sizeof(buf)); @@ -825,6 +831,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; + struct log_ESTM_s log_ESTM; + struct log_PWR_s log_PWR; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -855,6 +863,9 @@ int sdlog2_thread_main(int argc, char *argv[]) int battery_sub; int telemetry_sub; int range_finder_sub; + int estimator_status_sub; + int system_power_sub; + int servorail_status_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -879,6 +890,9 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); + subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); + subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); thread_running = true; @@ -1179,6 +1193,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_AIRS_MSG; log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius; LOGBUFFER_WRITE_AND_COUNT(AIRS); } @@ -1221,6 +1236,24 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(BATT); } + /* --- SYSTEM POWER RAILS --- */ + if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) { + log_msg.msg_type = LOG_PWR_MSG; + log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v; + log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; + log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; + log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; + log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; + log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; + + /* copy servo rail status topic here too */ + orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); + log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v; + log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v; + + LOGBUFFER_WRITE_AND_COUNT(PWR); + } + /* --- TELEMETRY --- */ if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) { log_msg.msg_type = LOG_TELE_MSG; @@ -1243,6 +1276,19 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(DIST); } + /* --- ESTIMATOR STATUS --- */ + if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { + log_msg.msg_type = LOG_ESTM_MSG; + unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s); + memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s)); + memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy); + log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states; + log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan; + log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan; + log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan; + LOGBUFFER_WRITE_AND_COUNT(ESTM); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fe500ad5f..a1a5856bc 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -174,6 +174,7 @@ struct log_OUT0_s { struct log_AIRS_s { float indicated_airspeed; float true_airspeed; + float air_temperature_celsius; }; /* --- ARSP - ATTITUDE RATE SET POINT --- */ @@ -277,6 +278,29 @@ struct log_TELE_s { uint8_t txbuf; }; +/* --- ESTM - ESTIMATOR STATUS --- */ +#define LOG_ESTM_MSG 23 +struct log_ESTM_s { + float s[10]; + uint8_t n_states; + uint8_t states_nan; + uint8_t covariance_nan; + uint8_t kalman_gain_nan; +}; + +/* --- PWR - ONBOARD POWER SYSTEM --- */ +#define LOG_PWR_MSG 24 +struct log_PWR_s { + float peripherals_5v; + float servo_rail_5v; + float servo_rssi; + uint8_t usb_ok; + uint8_t brick_ok; + uint8_t servo_ok; + uint8_t low_power_rail_overcurrent; + uint8_t high_power_rail_overcurrent; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -315,7 +339,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), - LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), + LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), @@ -325,14 +349,16 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"), /* system-level messages, ID >= 0x80 */ - // FMT: don't write format of format message, it's useless + /* FMT: don't write format of format message, it's useless */ LOG_FORMAT(TIME, "Q", "StartTime"), LOG_FORMAT(VER, "NZ", "Arch,FwGit"), - LOG_FORMAT(PARM, "Nf", "Name,Value"), + LOG_FORMAT(PARM, "Nf", "Name,Value") }; -static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); +static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]); #endif /* SDLOG2_MESSAGES_H_ */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 288c6e00a..14f7ac812 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -668,33 +668,11 @@ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); - -/** - * Failsafe channel mapping. - * - * @min 0 - * @max 18 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_CH, 0); - -/** - * Failsafe channel mode. - * - * 0 = too low means signal loss, - * 1 = too high means signal loss - * - * @min 0 - * @max 1 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); - /** * Failsafe channel PWM threshold. * - * @min 0 - * @max 1 + * @min 800 + * @max 2200 * @group Radio Calibration */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); +PARAM_DEFINE_INT32(RC_FAILS_THR, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 91a8d5670..4083b8b4f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -36,6 +36,8 @@ * Sensor readout process. * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ #include <nuttx/config.h> @@ -261,9 +263,7 @@ private: float rc_scale_yaw; float rc_scale_flaps; - int rc_fs_ch; - int rc_fs_mode; - float rc_fs_thr; + int32_t rc_fs_thr; float battery_voltage_scaling; float battery_current_scaling; @@ -311,8 +311,6 @@ private: param_t rc_scale_yaw; param_t rc_scale_flaps; - param_t rc_fs_ch; - param_t rc_fs_mode; param_t rc_fs_thr; param_t battery_voltage_scaling; @@ -529,9 +527,7 @@ Sensors::Sensors() : _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); /* RC failsafe */ - _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); - _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); - _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + _parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -687,8 +683,6 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); - param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); - param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); /* update RC function mappings */ @@ -1031,10 +1025,13 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) raw.differential_pressure_timestamp = _diff_pres.timestamp; raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa; + float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + _airspeed.timestamp = _diff_pres.timestamp; _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa); _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f, - raw.baro_pres_mbar * 1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + raw.baro_pres_mbar * 1e2f, air_temperature_celsius); + _airspeed.air_temperature_celsius = air_temperature_celsius; /* announce the airspeed if needed, just publish else */ if (_airspeed_pub > 0) { @@ -1171,16 +1168,19 @@ Sensors::adc_poll(struct sensor_combined_s &raw) hrt_abstime t = hrt_absolute_time(); /* rate limit to 100 Hz */ if (t - _last_adc >= 10000) { - /* make space for a maximum of eight channels */ - struct adc_msg_s buf_adc[8]; + /* make space for a maximum of twelve channels (to ensure reading all channels at once) */ + struct adc_msg_s buf_adc[12]; /* read all channels available */ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); if (ret >= (int)sizeof(buf_adc[0])) { - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + /* Read add channels we got */ + for (unsigned i = 0; i < ret / sizeof(buf_adc[0]); i++) { /* Save raw voltage values */ - if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + if (i < (sizeof(raw.adc_voltage_v) / sizeof(raw.adc_voltage_v[0]))) { raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + raw.adc_mapping[i] = buf_adc[i].am_channel; } /* look for specific channels and process the raw voltage to measurement data */ @@ -1239,6 +1239,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw) _diff_pres.timestamp = t; _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.differential_pressure_filtered_pa = diff_pres_pa; + _diff_pres.temperature = -1000.0f; _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ @@ -1303,19 +1305,15 @@ Sensors::rc_poll() manual_control.aux5 = NAN; /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) + if (rc_input.channel_count < 4) { return; + } - /* failsafe check */ - if (_parameters.rc_fs_ch != 0) { - if (_parameters.rc_fs_mode == 0) { - if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) - return; - - } else if (_parameters.rc_fs_mode == 1) { - if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) - return; - } + /* check for failsafe */ + if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))))) { + /* do not publish manual control setpoints when there are none */ + return; } unsigned channel_limit = rc_input.channel_count; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index fb24de8d1..c8a589bb7 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -90,6 +90,9 @@ ORB_DEFINE(battery_status, struct battery_status_s); #include "topics/servorail_status.h" ORB_DEFINE(servorail_status, struct servorail_status_s); +#include "topics/system_power.h" +ORB_DEFINE(system_power, struct system_power_s); + #include "topics/vehicle_global_position.h" ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s); @@ -193,3 +196,6 @@ ORB_DEFINE(esc_status, struct esc_status_s); #include "topics/encoders.h" ORB_DEFINE(encoders, struct encoders_s); + +#include "topics/estimator_status.h" +ORB_DEFINE(estimator_status, struct estimator_status_report); diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h index a3da3758f..d2ee754cd 100644 --- a/src/modules/uORB/topics/airspeed.h +++ b/src/modules/uORB/topics/airspeed.h @@ -52,9 +52,10 @@ * Airspeed */ struct airspeed_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ - float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ + float air_temperature_celsius; /**< air temperature in degrees celsius, -1000 if unknown */ }; /** diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index 3592c023c..01e14cda9 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -52,13 +52,14 @@ * Differential pressure. */ struct differential_pressure_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ - uint64_t error_count; + uint64_t timestamp; /**< Microseconds since system boot, needed to integrate */ + uint64_t error_count; /**< Number of errors detected by driver */ float differential_pressure_pa; /**< Differential pressure reading */ + float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */ float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */ float max_differential_pressure_pa; /**< Maximum differential pressure reading */ - float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ - float temperature; /**< Temperature provided by sensor */ + float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ + float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */ }; diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 11332d7a7..628824efa 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -60,7 +60,7 @@ enum ESC_VENDOR { ESC_VENDOR_GENERIC = 0, /**< generic ESC */ ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */ - ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */ + ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */ }; enum ESC_CONNECTION_TYPE { @@ -79,16 +79,15 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. */ -struct esc_status_s -{ +struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - + uint8_t esc_count; /**< number of connected ESCs */ enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ - + struct { uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h new file mode 100644 index 000000000..5530cdb21 --- /dev/null +++ b/src/modules/uORB/topics/estimator_status.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (c) 2014 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. + * + ****************************************************************************/ + +/** + * @file estimator_status.h + * Definition of the estimator_status_report uORB topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#ifndef ESTIMATOR_STATUS_H_ +#define ESTIMATOR_STATUS_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Estimator status report. + * + * This is a generic status report struct which allows any of the onboard estimators + * to write the internal state to the system log. + * + */ +struct estimator_status_report { + + /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only */ + + uint64_t timestamp; /**< Timestamp in microseconds since boot */ + float states[32]; /**< Internal filter states */ + float n_states; /**< Number of states effectively used */ + bool states_nan; /**< If set to true, one of the states is NaN */ + bool covariance_nan; /**< If set to true, the covariance matrix went NaN */ + bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(estimator_status); + +#endif diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h index ab6de2613..c5d545542 100644 --- a/src/modules/uORB/topics/filtered_bottom_flow.h +++ b/src/modules/uORB/topics/filtered_bottom_flow.h @@ -53,8 +53,7 @@ /** * Filtered bottom flow in bodyframe. */ -struct filtered_bottom_flow_s -{ +struct filtered_bottom_flow_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ float sumx; /**< Integrated bodyframe x flow in meters */ diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 194e2ed0c..9594c4c6a 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -77,8 +77,7 @@ enum ORIGIN { * This is the position the MAV is heading towards. If it of type loiter, * the MAV is circling around it with the given loiter radius in meters. */ -struct mission_item_s -{ +struct mission_item_s { bool altitude_is_relative; /**< true if altitude is relative from start point */ double lat; /**< latitude in degrees */ double lon; /**< longitude in degrees */ diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h index 391756f99..7a5ae9891 100644 --- a/src/modules/uORB/topics/navigation_capabilities.h +++ b/src/modules/uORB/topics/navigation_capabilities.h @@ -52,12 +52,12 @@ * Airspeed */ struct navigation_capabilities_s { - float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ + float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ - /* Landing parameters: see fw_pos_control_l1/landingslope.h */ - float landing_horizontal_slope_displacement; - float landing_slope_angle_rad; - float landing_flare_length; + /* Landing parameters: see fw_pos_control_l1/landingslope.h */ + float landing_horizontal_slope_displacement; + float landing_slope_angle_rad; + float landing_flare_length; }; /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 7901b930a..68d3e494b 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -45,12 +45,11 @@ /** * Off-board control inputs. - * + * * Typically sent by a ground control station / joystick or by * some off-board controller via C or SIMULINK. */ -enum OFFBOARD_CONTROL_MODE -{ +enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index cf1ddfc38..34aaa30dd 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -54,24 +54,24 @@ enum SETPOINT_TYPE { - SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ - SETPOINT_TYPE_LOITER, /**< loiter setpoint */ - SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ }; struct position_setpoint_s { - bool valid; /**< true if setpoint is valid */ + bool valid; /**< true if setpoint is valid */ enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ - double lat; /**< latitude, in deg */ - double lon; /**< longitude, in deg */ - float alt; /**< altitude AMSL, in m */ - float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + double lat; /**< latitude, in deg */ + double lon; /**< longitude, in deg */ + float alt; /**< altitude AMSL, in m */ + float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ - float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ }; /** @@ -85,7 +85,7 @@ struct position_setpoint_triplet_s struct position_setpoint_s current; struct position_setpoint_s next; - nav_state_t nav_state; /**< navigation state */ + nav_state_t nav_state; /**< navigation state */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 086b2ef15..6eb20efd1 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -52,29 +52,28 @@ */ #define RC_CHANNELS_MAPPED_MAX 15 -/** +/** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of * the channel array chan[]. */ -enum RC_CHANNELS_FUNCTION -{ - THROTTLE = 0, - ROLL = 1, - PITCH = 2, - YAW = 3, - MODE = 4, - RETURN = 5, - ASSISTED = 6, - MISSION = 7, - OFFBOARD_MODE = 8, - FLAPS = 9, - AUX_1 = 10, - AUX_2 = 11, - AUX_3 = 12, - AUX_4 = 13, - AUX_5 = 14, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ +enum RC_CHANNELS_FUNCTION { + THROTTLE = 0, + ROLL = 1, + PITCH = 2, + YAW = 3, + MODE = 4, + RETURN = 5, + ASSISTED = 6, + MISSION = 7, + OFFBOARD_MODE = 8, + FLAPS = 9, + AUX_1 = 10, + AUX_2 = 11, + AUX_3 = 12, + AUX_4 = 13, + AUX_5 = 14, + RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ }; /** @@ -85,16 +84,16 @@ enum RC_CHANNELS_FUNCTION struct rc_channels_s { uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ + uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ + struct { + float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ + } chan[RC_CHANNELS_MAPPED_MAX]; + uint8_t chan_count; /**< number of valid channels */ - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ + /*String array to store the names of the functions*/ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; + int8_t function[RC_CHANNELS_FUNCTION_MAX]; + uint8_t rssi; /**< Overall receive signal strength */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index cc25a83c3..fa3367de9 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -98,7 +98,8 @@ struct sensor_combined_s { float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + unsigned adc_mapping[10]; /**< Channel indices of each of these values */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint64_t baro_timestamp; /**< Barometer timestamp */ diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h index cfe0bf69e..d3a7ce10d 100644 --- a/src/modules/uORB/topics/subsystem_info.h +++ b/src/modules/uORB/topics/subsystem_info.h @@ -50,8 +50,7 @@ #include <stdbool.h> #include "../uORB.h" -enum SUBSYSTEM_TYPE -{ +enum SUBSYSTEM_TYPE { SUBSYSTEM_TYPE_GYRO = 1, SUBSYSTEM_TYPE_ACC = 2, SUBSYSTEM_TYPE_MAG = 4, diff --git a/src/modules/uORB/topics/system_power.h b/src/modules/uORB/topics/system_power.h new file mode 100644 index 000000000..7763b6004 --- /dev/null +++ b/src/modules/uORB/topics/system_power.h @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file system_power.h + * + * Definition of the system_power voltage and power status uORB topic. + */ + +#ifndef SYSTEM_POWER_H_ +#define SYSTEM_POWER_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * voltage and power supply status + */ +struct system_power_s { + uint64_t timestamp; /**< microseconds since system boot */ + float voltage5V_v; /**< peripheral 5V rail voltage */ + uint8_t usb_connected:1; /**< USB is connected when 1 */ + uint8_t brick_valid:1; /**< brick power is good when 1 */ + uint8_t servo_valid:1; /**< servo power is good when 1 */ + uint8_t periph_5V_OC:1; /**< peripheral overcurrent when 1 */ + uint8_t hipower_5V_OC:1; /**< hi power peripheral overcurrent when 1 */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(system_power); + +#endif diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 5192d4d58..76693c46e 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -44,10 +44,10 @@ #include "../uORB.h" enum TELEMETRY_STATUS_RADIO_TYPE { - TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0, - TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO, - TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET, - TELEMETRY_STATUS_RADIO_TYPE_WIRE + TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0, + TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO, + TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET, + TELEMETRY_STATUS_RADIO_TYPE_WIRE }; /** @@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; - enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - uint8_t rssi; /**< local signal strength */ - uint8_t remote_rssi; /**< remote signal strength */ - uint16_t rxerrors; /**< receive errors */ - uint16_t fixed; /**< count of error corrected packets */ - uint8_t noise; /**< background noise level */ - uint8_t remote_noise; /**< remote background noise level */ - uint8_t txbuf; /**< how full the tx buffer is as a percentage */ + enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ + uint8_t rssi; /**< local signal strength */ + uint8_t remote_rssi; /**< remote signal strength */ + uint16_t rxerrors; /**< receive errors */ + uint16_t fixed; /**< count of error corrected packets */ + uint8_t noise; /**< background noise level */ + uint8_t remote_noise; /**< remote background noise level */ + uint8_t txbuf; /**< how full the tx buffer is as a percentage */ }; /** diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index 7596f944f..d526a8ff2 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -52,8 +52,7 @@ /** * vehicle attitude setpoint. */ -struct vehicle_attitude_setpoint_s -{ +struct vehicle_attitude_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ float roll_body; /**< body angle in NED frame */ diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h index fbfab09f3..fd1ade671 100644 --- a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h +++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h @@ -48,8 +48,7 @@ * @{ */ -struct vehicle_bodyframe_speed_setpoint_s -{ +struct vehicle_bodyframe_speed_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ float vx; /**< in m/s */ diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index e6e4743c6..c21a29b13 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -51,43 +51,42 @@ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM, * but can contain additional ones. */ -enum VEHICLE_CMD -{ - VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ - VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ - VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ - VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ - VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ - VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ - VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ - VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ - VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ - VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ - VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ - VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ - VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ - VEHICLE_CMD_ENUM_END=501, /* | */ +enum VEHICLE_CMD { + VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ + VEHICLE_CMD_ENUM_END = 501, /* | */ }; /** @@ -96,14 +95,13 @@ enum VEHICLE_CMD * Should contain all of MAVLink's VEHICLE_CMD_RESULT values * but can contain additional ones. */ -enum VEHICLE_CMD_RESULT -{ - VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */ - VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */ - VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */ - VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */ - VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */ - VEHICLE_CMD_RESULT_ENUM_END=5, /* | */ +enum VEHICLE_CMD_RESULT { + VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */ + VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */ + VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */ + VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */ + VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */ + VEHICLE_CMD_RESULT_ENUM_END = 5, /* | */ }; /** @@ -111,8 +109,7 @@ enum VEHICLE_CMD_RESULT * @{ */ -struct vehicle_command_s -{ +struct vehicle_command_s { float param1; /**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum. */ float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */ float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */ diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h index 6184284a4..2a45eaccc 100644 --- a/src/modules/uORB/topics/vehicle_control_debug.h +++ b/src/modules/uORB/topics/vehicle_control_debug.h @@ -47,8 +47,7 @@ * @addtogroup topics * @{ */ -struct vehicle_control_debug_s -{ +struct vehicle_control_debug_s { uint64_t timestamp; /**< in microseconds since system start */ float roll_p; /**< roll P control part */ @@ -77,9 +76,9 @@ struct vehicle_control_debug_s }; /**< vehicle_control_debug */ - /** - * @} - */ +/** +* @} +*/ /* register this as object request broker structure */ ORB_DECLARE(vehicle_control_debug); diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 7cbb37cd8..ea554006f 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -38,8 +34,13 @@ /** * @file vehicle_control_mode.h * Definition of the vehicle_control_mode uORB topic. - * + * * All control apps should depend their actions based on the flags set here. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef VEHICLE_CONTROL_MODE @@ -61,8 +62,7 @@ * Encodes the complete system state and is set by the commander app. */ -struct vehicle_control_mode_s -{ +struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ bool flag_armed; diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ff9e98e1c..adcd028f0 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -37,6 +34,10 @@ /** * @file vehicle_global_position.h * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef VEHICLE_GLOBAL_POSITION_T_H_ @@ -59,8 +60,7 @@ * estimator, which will take more sources of information into account than just GPS, * e.g. control inputs of the vehicle in a Kalman-filter implementation. */ -struct vehicle_global_position_s -{ +struct vehicle_global_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ bool global_valid; /**< true if position satisfies validity criteria of estimator */ diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h index 73961cdfe..5dac877d0 100644 --- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h +++ b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h @@ -47,8 +47,7 @@ * @{ */ -struct vehicle_global_velocity_setpoint_s -{ +struct vehicle_global_velocity_setpoint_s { float vx; /**< in m/s NED */ float vy; /**< in m/s NED */ float vz; /**< in m/s NED */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 1639a08c2..794c3f8bc 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -53,13 +53,12 @@ /** * GPS position in WGS84 coordinates. */ -struct vehicle_gps_position_s -{ +struct vehicle_gps_position_s { uint64_t timestamp_position; /**< Timestamp for position information */ int32_t lat; /**< Latitude in 1E-7 degrees */ int32_t lon; /**< Longitude in 1E-7 degrees */ int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */ - + uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ float p_variance_m; /**< position accuracy estimate m */ diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index d567f2e02..db9637cd9 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -52,8 +52,7 @@ /** * Fused local position in NED. */ -struct vehicle_local_position_s -{ +struct vehicle_local_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ bool xy_valid; /**< true if x and y are valid */ bool z_valid; /**< true if z is valid */ diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h index d24d81e3a..8988a0330 100644 --- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h @@ -49,8 +49,7 @@ * @{ */ -struct vehicle_local_position_setpoint_s -{ +struct vehicle_local_position_setpoint_s { float x; /**< in meters NED */ float y; /**< in meters NED */ float z; /**< in meters NED */ diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h index 46e62c4b7..9f8b412a7 100644 --- a/src/modules/uORB/topics/vehicle_rates_setpoint.h +++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h @@ -47,8 +47,7 @@ * @addtogroup topics * @{ */ -struct vehicle_rates_setpoint_s -{ +struct vehicle_rates_setpoint_s { uint64_t timestamp; /**< in microseconds since system start */ float roll; /**< body angular rates in NED frame */ @@ -58,9 +57,9 @@ struct vehicle_rates_setpoint_s }; /**< vehicle_rates_setpoint */ - /** - * @} - */ +/** +* @} +*/ /* register this as object request broker structure */ ORB_DECLARE(vehicle_rates_setpoint); diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 5d40554fd..56be4d241 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -131,31 +131,31 @@ enum VEHICLE_MODE_FLAG { * Should match 1:1 MAVLink's MAV_TYPE ENUM */ enum VEHICLE_TYPE { - VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */ - VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */ - VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */ - VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - VEHICLE_TYPE_ROCKET=9, /* Rocket | */ - VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */ - VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */ - VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */ - VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */ - VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */ - VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - VEHICLE_TYPE_KITE=17, /* Kite | */ - VEHICLE_TYPE_ENUM_END=18, /* | */ + VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */ + VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */ + VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */ + VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */ + VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */ + VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */ + VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */ + VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */ + VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */ + VEHICLE_TYPE_ROCKET = 9, /* Rocket | */ + VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */ + VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */ + VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */ + VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */ + VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */ + VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */ + VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */ + VEHICLE_TYPE_KITE = 17, /* Kite | */ + VEHICLE_TYPE_ENUM_END = 18, /* | */ }; enum VEHICLE_BATTERY_WARNING { - VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ - VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ - VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ + VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ }; /** @@ -168,8 +168,7 @@ enum VEHICLE_BATTERY_WARNING { * * Encodes the complete system state and is set by the commander app. */ -struct vehicle_status_s -{ +struct vehicle_status_s { /* use of a counter and timestamp recommended (but not necessary) */ uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ @@ -219,7 +218,7 @@ struct vehicle_status_s uint32_t onboard_control_sensors_present; uint32_t onboard_control_sensors_enabled; uint32_t onboard_control_sensors_health; - + float load; /**< processor load from 0 to 1 */ float battery_voltage; float battery_current; diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h index 0822fa89a..e19a34a5d 100644 --- a/src/modules/uORB/topics/vehicle_vicon_position.h +++ b/src/modules/uORB/topics/vehicle_vicon_position.h @@ -52,8 +52,7 @@ /** * Fused local position in NED. */ -struct vehicle_vicon_position_s -{ +struct vehicle_vicon_position_s { uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ bool valid; /**< true if position satisfies validity criteria of estimator */ diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c index 030ac6e23..03391b851 100644 --- a/src/systemcmds/tests/test_adc.c +++ b/src/systemcmds/tests/test_adc.c @@ -66,8 +66,8 @@ int test_adc(int argc, char *argv[]) } for (unsigned i = 0; i < 5; i++) { - /* make space for a maximum of eight channels */ - struct adc_msg_s data[8]; + /* make space for a maximum of twelve channels */ + struct adc_msg_s data[12]; /* read all channels available */ ssize_t count = read(fd, data, sizeof(data)); |