Finished conversion to C++

1 files changed, 0 insertions, 465 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
deleted file mode 100755
index bd972f03f..000000000
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ /dev/null
@@ -1,465 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file attitude_estimator_ekf_main.c
- *
- * Extended Kalman Filter for Attitude Estimation.
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <poll.h>
-#include <fcntl.h>
-#include <v1.0/common/mavlink.h>
-#include <float.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/debug_key_value.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/parameter_update.h>
-#include <drivers/drv_hrt.h>
-
-#include <systemlib/systemlib.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/err.h>
-
-#include "codegen/attitudeKalmanfilter_initialize.h"
-#include "codegen/attitudeKalmanfilter.h"
-#include "attitude_estimator_ekf_params.h"
-
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int attitude_estimator_ekf_task;				/**< Handle of deamon task / thread */
-
-/**
- * Mainloop of attitude_estimator_ekf.
- */
-int attitude_estimator_ekf_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The attitude_estimator_ekf app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int attitude_estimator_ekf_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("attitude_estimator_ekf already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
-					      SCHED_DEFAULT,
-					      SCHED_PRIORITY_MAX - 5,
-					      12400,
-					      attitude_estimator_ekf_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tattitude_estimator_ekf app is running\n");
-
-		} else {
-			printf("\tattitude_estimator_ekf app not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/*
- * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
- */
-
-/*
- * EKF Attitude Estimator main function.
- *
- * Estimates the attitude recursively once started.
- *
- * @param argc number of commandline arguments (plus command name)
- * @param argv strings containing the arguments
- */
-int attitude_estimator_ekf_thread_main(int argc, char *argv[])
-{
-
-const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
-
-	float dt = 0.005f;
-/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
-	float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f};					/**< Measurement vector */
-	float x_aposteriori_k[12];		/**< states */
-	float P_aposteriori_k[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
-				    }; /**< init: diagonal matrix with big values */
-
-	float x_aposteriori[12];
-	float P_aposteriori[144];
-
-	/* output euler angles */
-	float euler[3] = {0.0f, 0.0f, 0.0f};
-
-	float Rot_matrix[9] = {1.f,  0,  0,
-			      0,  1.f,  0,
-			      0,  0,  1.f
-			     };		/**< init: identity matrix */
-
-	// print text
-	printf("Extended Kalman Filter Attitude Estimator initialized..\n\n");
-	fflush(stdout);
-
-	int overloadcounter = 19;
-
-	/* Initialize filter */
-	attitudeKalmanfilter_initialize();
-
-	/* store start time to guard against too slow update rates */
-	uint64_t last_run = hrt_absolute_time();
-
-	struct sensor_combined_s raw;
-	memset(&raw, 0, sizeof(raw));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_status_s state;
-	memset(&state, 0, sizeof(state));
-
-	uint64_t last_data = 0;
-	uint64_t last_measurement = 0;
-
-	/* subscribe to raw data */
-	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
-	/* rate-limit raw data updates to 200Hz */
-	orb_set_interval(sub_raw, 4);
-
-	/* subscribe to param changes */
-	int sub_params = orb_subscribe(ORB_ID(parameter_update));
-
-	/* subscribe to system state*/
-	int sub_state = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* advertise attitude */
-	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
-
-
-	int loopcounter = 0;
-	int printcounter = 0;
-
-	thread_running = true;
-
-	/* advertise debug value */
-	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
-	// orb_advert_t pub_dbg = -1;
-
-	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
-	// XXX write this out to perf regs
-
-	/* keep track of sensor updates */
-	uint32_t sensor_last_count[3] = {0, 0, 0};
-	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
-
-	struct attitude_estimator_ekf_params ekf_params;
-
-	struct attitude_estimator_ekf_param_handles ekf_param_handles;
-
-	/* initialize parameter handles */
-	parameters_init(&ekf_param_handles);
-
-	uint64_t start_time = hrt_absolute_time();
-	bool initialized = false;
-
-	float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
-	unsigned offset_count = 0;
-
-	/* register the perf counter */
-	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
-
-	/* Main loop*/
-	while (!thread_should_exit) {
-
-		struct pollfd fds[2] = {
-			{ .fd = sub_raw,   .events = POLLIN },
-			{ .fd = sub_params, .events = POLLIN }
-		};
-		int ret = poll(fds, 2, 1000);
-
-		if (ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else if (ret == 0) {
-			/* check if we're in HIL - not getting sensor data is fine then */
-			orb_copy(ORB_ID(vehicle_status), sub_state, &state);
-
-			if (!state.flag_hil_enabled) {
-				fprintf(stderr,
-					"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
-			}
-
-		} else {
-
-			/* only update parameters if they changed */
-			if (fds[1].revents & POLLIN) {
-				/* read from param to clear updated flag */
-				struct parameter_update_s update;
-				orb_copy(ORB_ID(parameter_update), sub_params, &update);
-
-				/* update parameters */
-				parameters_update(&ekf_param_handles, &ekf_params);
-			}
-
-			/* only run filter if sensor values changed */
-			if (fds[0].revents & POLLIN) {
-
-				/* get latest measurements */
-				orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
-
-				if (!initialized) {
-
-					gyro_offsets[0] += raw.gyro_rad_s[0];
-					gyro_offsets[1] += raw.gyro_rad_s[1];
-					gyro_offsets[2] += raw.gyro_rad_s[2];
-					offset_count++;
-
-					if (hrt_absolute_time() - start_time > 3000000LL) {
-						initialized = true;
-						gyro_offsets[0] /= offset_count;
-						gyro_offsets[1] /= offset_count;
-						gyro_offsets[2] /= offset_count;
-					}
-
-				} else {
-
-					perf_begin(ekf_loop_perf);
-
-					/* Calculate data time difference in seconds */
-					dt = (raw.timestamp - last_measurement) / 1000000.0f;
-					last_measurement = raw.timestamp;
-					uint8_t update_vect[3] = {0, 0, 0};
-
-					/* Fill in gyro measurements */
-					if (sensor_last_count[0] != raw.gyro_counter) {
-						update_vect[0] = 1;
-						sensor_last_count[0] = raw.gyro_counter;
-						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
-						sensor_last_timestamp[0] = raw.timestamp;
-					}
-
-					z_k[0] =  raw.gyro_rad_s[0] - gyro_offsets[0];
-					z_k[1] =  raw.gyro_rad_s[1] - gyro_offsets[1];
-					z_k[2] =  raw.gyro_rad_s[2] - gyro_offsets[2];
-
-					/* update accelerometer measurements */
-					if (sensor_last_count[1] != raw.accelerometer_counter) {
-						update_vect[1] = 1;
-						sensor_last_count[1] = raw.accelerometer_counter;
-						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
-						sensor_last_timestamp[1] = raw.timestamp;
-					}
-
-					z_k[3] = raw.accelerometer_m_s2[0];
-					z_k[4] = raw.accelerometer_m_s2[1];
-					z_k[5] = raw.accelerometer_m_s2[2];
-
-					/* update magnetometer measurements */
-					if (sensor_last_count[2] != raw.magnetometer_counter) {
-						update_vect[2] = 1;
-						sensor_last_count[2] = raw.magnetometer_counter;
-						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
-						sensor_last_timestamp[2] = raw.timestamp;
-					}
-
-					z_k[6] = raw.magnetometer_ga[0];
-					z_k[7] = raw.magnetometer_ga[1];
-					z_k[8] = raw.magnetometer_ga[2];
-
-					uint64_t now = hrt_absolute_time();
-					unsigned int time_elapsed = now - last_run;
-					last_run = now;
-
-					if (time_elapsed > loop_interval_alarm) {
-						//TODO: add warning, cpu overload here
-						// if (overloadcounter == 20) {
-						// 	printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
-						// 	overloadcounter = 0;
-						// }
-
-						overloadcounter++;
-					}
-
-					static bool const_initialized = false;
-
-					/* initialize with good values once we have a reasonable dt estimate */
-					if (!const_initialized && dt < 0.05f && dt > 0.005f) {
-						dt = 0.005f;
-						parameters_update(&ekf_param_handles, &ekf_params);
-
-						x_aposteriori_k[0] = z_k[0];
-						x_aposteriori_k[1] = z_k[1];
-						x_aposteriori_k[2] = z_k[2];
-						x_aposteriori_k[3] = 0.0f;
-						x_aposteriori_k[4] = 0.0f;
-						x_aposteriori_k[5] = 0.0f;
-						x_aposteriori_k[6] = z_k[3];
-						x_aposteriori_k[7] = z_k[4];
-						x_aposteriori_k[8] = z_k[5];
-						x_aposteriori_k[9] = z_k[6];
-						x_aposteriori_k[10] = z_k[7];
-						x_aposteriori_k[11] = z_k[8];
-
-						const_initialized = true;
-					}
-
-					/* do not execute the filter if not initialized */
-					if (!const_initialized) {
-						continue;
-					}
-
-					uint64_t timing_start = hrt_absolute_time();
-
-					attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
-							     euler, Rot_matrix, x_aposteriori, P_aposteriori);
-
-					/* swap values for next iteration, check for fatal inputs */
-					if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
-						memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
-						memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
-
-					} else {
-						/* due to inputs or numerical failure the output is invalid, skip it */
-						continue;
-					}
-
-					if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
-
-					last_data = raw.timestamp;
-
-					/* send out */
-					att.timestamp = raw.timestamp;
-
-					// XXX Apply the same transformation to the rotation matrix
-					att.roll = euler[0] - ekf_params.roll_off;
-					att.pitch = euler[1] - ekf_params.pitch_off;
-					att.yaw = euler[2] - ekf_params.yaw_off;
-
-					att.rollspeed = x_aposteriori[0];
-					att.pitchspeed = x_aposteriori[1];
-					att.yawspeed = x_aposteriori[2];
-					att.rollacc = x_aposteriori[3];
-					att.pitchacc = x_aposteriori[4];
-					att.yawacc = x_aposteriori[5];
-
-					//att.yawspeed =z_k[2] ;
-					/* copy offsets */
-					memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
-
-					/* copy rotation matrix */
-					memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
-					att.R_valid = true;
-
-					if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
-						// Broadcast
-						orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
-
-					} else {
-						warnx("NaN in roll/pitch/yaw estimate!");
-					}
-
-					perf_end(ekf_loop_perf);
-				}
-			}
-		}
-
-		loopcounter++;
-	}
-
-	thread_running = false;
-
-	return 0;
-}