position_estimator_inav - first working version

10 files changed, 135 insertions, 135 deletions

diff --git a/apps/position_estimator_inav/Makefile b/apps/position_estimator_inav/Makefile
index e5f3b4b42..192ec1825 100644
--- a/apps/position_estimator_inav/Makefile
+++ b/apps/position_estimator_inav/Makefile
@@ -42,7 +42,6 @@ STACKSIZE	 = 4096
 CSRCS		 = position_estimator_inav_main.c \
 			   position_estimator_inav_params.c \
 			   kalman_filter_inertial.c \
-			   acceleration_transform.c \
-			   sounds.c
+			   acceleration_transform.c
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/position_estimator_inav/acceleration_transform.c b/apps/position_estimator_inav/acceleration_transform.c
index 9080c4e20..bd933cab4 100644
--- a/apps/position_estimator_inav/acceleration_transform.c
+++ b/apps/position_estimator_inav/acceleration_transform.c
@@ -1,8 +1,8 @@
 /*
  * acceleration_transform.c
  *
- *  Created on: 30.03.2013
- *      Author: Anton Babushkin
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  *
  * Transform acceleration vector to true orientation and scale
  *
diff --git a/apps/position_estimator_inav/acceleration_transform.h b/apps/position_estimator_inav/acceleration_transform.h
index 3692da77e..26bf0d68f 100644
--- a/apps/position_estimator_inav/acceleration_transform.h
+++ b/apps/position_estimator_inav/acceleration_transform.h
@@ -1,8 +1,8 @@
 /*
  * acceleration_transform.h
  *
- *  Created on: 30.03.2013
- *      Author: ton
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  */
 
 #ifndef ACCELERATION_TRANSFORM_H_
diff --git a/apps/position_estimator_inav/kalman_filter_inertial.c b/apps/position_estimator_inav/kalman_filter_inertial.c
index 7de06cb44..64031ee7b 100644
--- a/apps/position_estimator_inav/kalman_filter_inertial.c
+++ b/apps/position_estimator_inav/kalman_filter_inertial.c
@@ -1,3 +1,10 @@
+/*
+ * kalman_filter_inertial.c
+ *
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ */
+
 #include "kalman_filter_inertial.h"
 
 void kalman_filter_inertial_predict(float dt, float x[3]) {
@@ -7,10 +14,9 @@ void kalman_filter_inertial_predict(float dt, float x[3]) {
 
 void kalman_filter_inertial_update(float x[3], float z[2], float k[3][2], bool use[2]) {
 	float y[2];
-	// y = z - x
-	for (int i = 0; i < 2; i++) {
-		y[i] = z[i] - x[i];
-	}
+	// y = z - H x
+	y[0] = z[0] - x[0];
+	y[1] = z[1] - x[2];
 	// x = x + K * y
 	for (int i = 0; i < 3; i++) {		// Row
 		for (int j = 0; j < 2; j++) {	// Column
diff --git a/apps/position_estimator_inav/kalman_filter_inertial.h b/apps/position_estimator_inav/kalman_filter_inertial.h
index e6bbf1315..3e5134c33 100644
--- a/apps/position_estimator_inav/kalman_filter_inertial.h
+++ b/apps/position_estimator_inav/kalman_filter_inertial.h
@@ -1,3 +1,10 @@
+/*
+ * kalman_filter_inertial.h
+ *
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ */
+
 #include <stdbool.h>
 
 void kalman_filter_inertial_predict(float dt, float x[3]);
diff --git a/apps/position_estimator_inav/position_estimator_inav_main.c b/apps/position_estimator_inav/position_estimator_inav_main.c
index 1c6d21ded..b8ef1f76a 100644
--- a/apps/position_estimator_inav/position_estimator_inav_main.c
+++ b/apps/position_estimator_inav/position_estimator_inav_main.c
@@ -1,9 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger	<daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
- * 				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -67,15 +65,13 @@
 #include <drivers/drv_hrt.h>
 
 #include "position_estimator_inav_params.h"
-//#include <uORB/topics/debug_key_value.h>
-#include "sounds.h"
-#include <drivers/drv_tone_alarm.h>
 #include "kalman_filter_inertial.h"
 #include "acceleration_transform.h"
 
 static bool thread_should_exit = false; /**< Deamon exit flag */
 static bool thread_running = false; /**< Deamon status flag */
 static int position_estimator_inav_task; /**< Handle of deamon task / thread */
+static bool verbose_mode = false;
 
 __EXPORT int position_estimator_inav_main(int argc, char *argv[]);
 
@@ -89,7 +85,7 @@ static void usage(const char *reason) {
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 	fprintf(stderr,
-			"usage: position_estimator_inav {start|stop|status} [-p <additional params>]\n\n");
+			"usage: position_estimator_inav {start|stop|status} [-v]\n\n");
 	exit(1);
 }
 
@@ -106,12 +102,14 @@ int position_estimator_inav_main(int argc, char *argv[]) {
 		usage("missing command");
 
 	if (!strcmp(argv[1], "start")) {
-
 		if (thread_running) {
 			printf("position_estimator_inav already running\n");
 			/* this is not an error */
 			exit(0);
 		}
+		if (argc > 1)
+			if (!strcmp(argv[2], "-v"))
+				verbose_mode = true;
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn("position_estimator_inav",
@@ -148,17 +146,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 	mavlink_log_info(mavlink_fd, "[position_estimator_inav] started");
 
-	/* kalman filter K for simulation parameters:
-	 * rate_accel = 200 Hz
-	 * rate_baro = 100 Hz
-	 * err_accel = 1.0 m/s^2
-	 * err_baro = 0.2 m
-	 */
-	static float k[3][2] = {
-			{ 0.0262f, 0.00001f },
-			{ 0.0349f, 0.00191f },
-			{ 0.000259f, 0.618f }
-	};
 	/* initialize values */
 	static float x_est[3] = { 0.0f, 0.0f, 0.0f };
 	static float y_est[3] = { 0.0f, 0.0f, 0.0f };
@@ -213,14 +200,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 	parameters_update(&pos_inav_param_handles, &pos_inav_params);
 	/* END FIRST PARAMETER UPDATE */
 
-	// TODO implement calibration procedure, now put dummy values
-	int16_t accel_offs[3] = { 0, 0, 0 };
-	float accel_T[3][3] = {
-			{ 1.0f, 0.0f, 0.0f },
-			{ 0.0f, 1.0f, 0.0f },
-			{ 0.0f, 0.0f, 1.0f }
-	};
-
 	/* wait until gps signal turns valid, only then can we initialize the projection */
 	if (use_gps) {
 		struct pollfd fds_init[1] = { { .fd = vehicle_gps_position_sub,
@@ -270,11 +249,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 	uint16_t baro_updates = 0;
 	hrt_abstime updates_counter_start = hrt_absolute_time();
 	uint32_t updates_counter_len = 1000000;
-	hrt_abstime pub_last = 0;
+	hrt_abstime pub_last = hrt_absolute_time();
 	uint32_t pub_interval = 5000;	// limit publish rate to 200 Hz
 
 	/* main loop */
-	struct pollfd fds[3] = {
+	struct pollfd fds[5] = {
 			{ .fd = parameter_update_sub, .events = POLLIN },
 			{ .fd = vehicle_status_sub, .events = POLLIN },
 			{ .fd = vehicle_attitude_sub, .events = POLLIN },
@@ -288,7 +267,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 		int ret = poll(fds, 5, 10); // wait maximal this 10 ms = 100 Hz minimum rate
 		if (ret < 0) {
 			/* poll error */
-			printf("[position_estimator_inav] subscriptions poll error\n", ret);
+			if (verbose_mode)
+				printf("[position_estimator_inav] subscriptions poll error\n");
 		} else if (ret > 0) {
 			/* parameter update */
 			if (fds[0].revents & POLLIN) {
@@ -359,7 +339,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 		last_time = t;
 		/* calculate corrected acceleration vector in UAV frame */
 		float accel_corr[3];
-		acceleration_correct(accel_corr, sensor.accelerometer_raw, accel_T, accel_offs);
+		acceleration_correct(accel_corr, sensor.accelerometer_raw, pos_inav_params.acc_T, pos_inav_params.acc_offs);
 		/* transform acceleration vector from UAV frame to NED frame */
 		float accel_NED[3];
 		for (int i = 0; i < 3; i++) {
@@ -384,34 +364,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) {
 		}
 		if (use_z[0] || use_z[1]) {
 			/* correction */
-			kalman_filter_inertial_update(z_est, z_meas, k, use_z);
-		}
-		if (t - updates_counter_start > updates_counter_len) {
-			float updates_dt = (t - updates_counter_start) * 0.000001f;
-			printf("[position_estimator_inav] accelerometer_updates_rate = %.1/s, baro_updates_rate = %.1f/s\n", accelerometer_updates / updates_dt, baro_updates / updates_dt);
-			updates_counter_start = t;
+			kalman_filter_inertial_update(z_est, z_meas, pos_inav_params.k, use_z);
 		}
-		if (printatt_counter == 100) {
-			printatt_counter = 0;
-			printf("[position_estimator_inav] dt = %.6f\n", dt);
-			printf("[position_estimator_inav] pitch = %.3f, roll = %.3f, yaw = %.3f\n",
-					att.pitch, att.roll, att.yaw);
-			printf("[position_estimator_inav] accel_UAV = %.3f, %.3f, %.3f\n",
-					sensor.accelerometer_m_s2[0],
-					sensor.accelerometer_m_s2[1],
-					sensor.accelerometer_m_s2[2]);
-			printf("[position_estimator_inav] accel_NED = %.3f, %.3f, %.3f\n",
-					accel_NED[0], accel_NED[1], accel_NED[2]);
-			printf("[position_estimator_inav] z = %.2f, vz = %.2f, az = %.2f\n",
-					z_est[0], z_est[1], z_est[2]);
+		if (verbose_mode) {
+			/* print updates rate */
+			if (t - updates_counter_start > updates_counter_len) {
+				float updates_dt = (t - updates_counter_start) * 0.000001f;
+				printf("[position_estimator_inav] accelerometer_updates_rate = %.1/s, baro_updates_rate = %.1f/s\n", accelerometer_updates / updates_dt, baro_updates / updates_dt);
+				updates_counter_start = t;
+				accelerometer_updates = 0;
+				baro_updates = 0;
+			}
 		}
-		printatt_counter++;
 		if (t - pub_last > pub_interval) {
 			pub_last = t;
-			local_pos_est.x = 0.0;
-			local_pos_est.vx = 0.0;
-			local_pos_est.y = 0.0;
-			local_pos_est.vy = 0.0;
+			local_pos_est.x = 0.0f;
+			local_pos_est.vx = 0.0f;
+			local_pos_est.y = 0.0f;
+			local_pos_est.vy = 0.0f;
 			local_pos_est.z = z_est[0];
 			local_pos_est.vz = z_est[1];
 			local_pos_est.timestamp = hrt_absolute_time();
diff --git a/apps/position_estimator_inav/position_estimator_inav_params.c b/apps/position_estimator_inav/position_estimator_inav_params.c
index 5567fd2cf..fb082fbcb 100644
--- a/apps/position_estimator_inav/position_estimator_inav_params.c
+++ b/apps/position_estimator_inav/position_estimator_inav_params.c
@@ -1,9 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,16 +42,73 @@
 
 /* Kalman Filter covariances */
 /* gps measurement noise standard deviation */
-PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_00, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_01, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_10, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_11, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_20, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_K_ALT_21, 0.0f);
+
+PARAM_DEFINE_INT32(INAV_ACC_OFFS_0, 0);
+PARAM_DEFINE_INT32(INAV_ACC_OFFS_1, 0);
+PARAM_DEFINE_INT32(INAV_ACC_OFFS_2, 0);
+
+PARAM_DEFINE_FLOAT(INAV_ACC_T_00, 0.0021f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_01, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_02, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_10, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_11, 0.0021f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_12, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_20, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_21, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_ACC_T_22, 0.0021f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
-	h->r = param_find("POS_EST_R");
+	h->k_alt_00 = param_find("INAV_K_ALT_00");
+	h->k_alt_01 = param_find("INAV_K_ALT_01");
+	h->k_alt_10 = param_find("INAV_K_ALT_10");
+	h->k_alt_11 = param_find("INAV_K_ALT_11");
+	h->k_alt_20 = param_find("INAV_K_ALT_20");
+	h->k_alt_21 = param_find("INAV_K_ALT_21");
+
+	h->acc_offs_0 = param_find("INAV_ACC_OFFS_0");
+	h->acc_offs_1 = param_find("INAV_ACC_OFFS_1");
+	h->acc_offs_2 = param_find("INAV_ACC_OFFS_2");
+
+	h->acc_t_00 = param_find("INAV_ACC_T_00");
+	h->acc_t_01 = param_find("INAV_ACC_T_01");
+	h->acc_t_02 = param_find("INAV_ACC_T_02");
+	h->acc_t_10 = param_find("INAV_ACC_T_10");
+	h->acc_t_11 = param_find("INAV_ACC_T_11");
+	h->acc_t_12 = param_find("INAV_ACC_T_12");
+	h->acc_t_20 = param_find("INAV_ACC_T_20");
+	h->acc_t_21 = param_find("INAV_ACC_T_21");
+	h->acc_t_22 = param_find("INAV_ACC_T_22");
 	return OK;
 }
 
 int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p)
 {
-	param_get(h->r, &(p->r));
+	param_get(h->k_alt_00, &(p->k[0][0]));
+	param_get(h->k_alt_01, &(p->k[0][1]));
+	param_get(h->k_alt_10, &(p->k[1][0]));
+	param_get(h->k_alt_11, &(p->k[1][1]));
+	param_get(h->k_alt_20, &(p->k[2][0]));
+	param_get(h->k_alt_21, &(p->k[2][1]));
+
+	param_get(h->acc_offs_0, &(p->acc_offs[0]));
+	param_get(h->acc_offs_1, &(p->acc_offs[1]));
+	param_get(h->acc_offs_2, &(p->acc_offs[2]));
+
+	param_get(h->acc_t_00, &(p->acc_T[0][0]));
+	param_get(h->acc_t_01, &(p->acc_T[0][1]));
+	param_get(h->acc_t_02, &(p->acc_T[0][2]));
+	param_get(h->acc_t_10, &(p->acc_T[1][0]));
+	param_get(h->acc_t_11, &(p->acc_T[1][1]));
+	param_get(h->acc_t_12, &(p->acc_T[1][2]));
+	param_get(h->acc_t_20, &(p->acc_T[2][0]));
+	param_get(h->acc_t_21, &(p->acc_T[2][1]));
+	param_get(h->acc_t_22, &(p->acc_T[2][2]));
 	return OK;
 }
diff --git a/apps/position_estimator_inav/position_estimator_inav_params.h b/apps/position_estimator_inav/position_estimator_inav_params.h
index c45ca8135..694bf015b 100644
--- a/apps/position_estimator_inav/position_estimator_inav_params.h
+++ b/apps/position_estimator_inav/position_estimator_inav_params.h
@@ -1,9 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
- *				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,11 +41,32 @@
 #include <systemlib/param/param.h>
 
 struct position_estimator_inav_params {
-	float r;
+	float k[3][2];
+	int16_t acc_offs[3];
+	float acc_T[3][3];
 };
 
 struct position_estimator_inav_param_handles {
-	param_t r;
+	param_t k_alt_00;
+	param_t k_alt_01;
+	param_t k_alt_10;
+	param_t k_alt_11;
+	param_t k_alt_20;
+	param_t k_alt_21;
+
+	param_t acc_offs_0;
+	param_t acc_offs_1;
+	param_t acc_offs_2;
+
+	param_t acc_t_00;
+	param_t acc_t_01;
+	param_t acc_t_02;
+	param_t acc_t_10;
+	param_t acc_t_11;
+	param_t acc_t_12;
+	param_t acc_t_20;
+	param_t acc_t_21;
+	param_t acc_t_22;
 };
 
 /**
diff --git a/apps/position_estimator_inav/sounds.c b/apps/position_estimator_inav/sounds.c
deleted file mode 100644
index 4f7b05fea..000000000
--- a/apps/position_estimator_inav/sounds.c
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * sounds.c
- *
- *  Created on: Feb 26, 2013
- *      Author: samuezih
- */
-
-#include <sys/types.h>
-#include <fcntl.h>
-#include <drivers/drv_tone_alarm.h>
-
-
-static int buzzer;
-
-int sounds_init(void)
-{
-	buzzer = open("/dev/tone_alarm", O_WRONLY);
-
-	if (buzzer < 0) {
-		warnx("Buzzer: open fail\n");
-		return ERROR;
-	}
-
-	return 0;
-}
-
-void sounds_deinit(void)
-{
-	close(buzzer);
-}
-
-void tune_tetris(void)
-{
-	ioctl(buzzer, TONE_SET_ALARM, 6);
-}
-
-void tune_sonar(void)
-{
-	ioctl(buzzer, TONE_SET_ALARM, 7);
-}
diff --git a/apps/position_estimator_inav/sounds.h b/apps/position_estimator_inav/sounds.h
deleted file mode 100644
index 356e42169..000000000
--- a/apps/position_estimator_inav/sounds.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * sounds.h
- *
- *  Created on: Feb 26, 2013
- *      Author: samuezih
- */
-
-#ifndef SOUNDS_H_
-#define SOUNDS_H_
-
-int sounds_init(void);
-void sounds_deinit(void);
-void tune_tetris(void);
-void tune_sonar(void);
-
-#endif /* SOUNDS_H_ */