Added kalman_demo. This is an attitude/position EKF example.

1 files changed, 121 insertions, 0 deletions

diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp
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+++ b/apps/examples/kalman_demo/KalmanNav.hpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 KalmanNav.hpp
+ *
+ * kalman filter navigation code
+ */
+
+#pragma once
+
+//#define MATRIX_ASSERT
+//#define VECTOR_ASSERT
+
+#include <nuttx/config.h>
+
+#include <systemlib/math/Vector.hpp>
+#include <systemlib/math/Vector3.hpp>
+#include <systemlib/math/Matrix.hpp>
+#include <systemlib/math/Quaternion.hpp>
+#include <systemlib/math/Dcm.hpp>
+#include <systemlib/math/EulerAngles.hpp>
+#include <systemlib/control/blocks.hpp>
+#include <systemlib/control/block/BlockParam.hpp>
+#include <systemlib/control/block/UOrbSubscription.hpp>
+#include <systemlib/control/block/UOrbPublication.hpp>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+#include <unistd.h>
+
+class KalmanNav : public control::SuperBlock
+{
+public:
+	KalmanNav(SuperBlock *parent, const char *name);
+	virtual ~KalmanNav() {};
+	void update();
+	virtual void updatePublications();
+	void predictFast(float dt);
+	void predictSlow(float dt);
+	void correctAtt();
+	void correctGps();
+	virtual void updateParams();
+protected:
+	math::Matrix F;
+	math::Matrix G;
+	math::Matrix P;
+	math::Matrix V;
+	math::Matrix HAtt;
+	math::Matrix RAtt;
+	math::Matrix HGps;
+	math::Matrix RGps;
+	math::Dcm C_nb;
+	math::Quaternion q;
+	control::UOrbSubscription<sensor_combined_s> _sensors;
+	control::UOrbSubscription<vehicle_gps_position_s> _gps;
+	control::UOrbSubscription<parameter_update_s> _param_update;
+	control::UOrbPublication<vehicle_global_position_s> _pos;
+	control::UOrbPublication<vehicle_attitude_s> _att;
+	uint64_t _pubTimeStamp;
+	uint64_t _fastTimeStamp;
+	uint64_t _slowTimeStamp;
+	uint64_t _attTimeStamp;
+	uint64_t _outTimeStamp;
+	uint16_t _navFrames;
+	float fN, fE, fD;
+	// states
+	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};
+	float phi, theta, psi;
+	float vN, vE, vD;
+	double lat, lon, alt;
+	control::BlockParam<float> _vGyro;
+	control::BlockParam<float> _vAccel;
+	control::BlockParam<float> _rMag;
+	control::BlockParam<float> _rGpsV;
+	control::BlockParam<float> _rGpsGeo;
+	control::BlockParam<float> _rGpsAlt;
+	control::BlockParam<float> _rAccel;
+	int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
+	void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
+	int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
+	void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
+	int32_t getAltE3() { return int32_t(alt * 1.0e3); }
+	void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
+};