diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 12:59:47 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 12:59:47 +0200 |
| commit | e6ed8268ee610d0b9e9b4930ad379a6d7dcc3629 (patch) | |
| tree | 1ae45990d97e3bd1d65574380ae1eeab5e41ff07 /src/modules/position_estimator_mc | |
| parent | 574e76532126fea8ab0ac5fd0595f6fb2935f0dd (diff) | |
| download | px4-firmware-e6ed8268ee610d0b9e9b4930ad379a6d7dcc3629.tar.gz px4-firmware-e6ed8268ee610d0b9e9b4930ad379a6d7dcc3629.tar.bz2 px4-firmware-e6ed8268ee610d0b9e9b4930ad379a6d7dcc3629.zip | |
Moved position_estimator_mc, px4io driver and sdlog app to new style build
Diffstat (limited to 'src/modules/position_estimator_mc')
55 files changed, 3470 insertions, 0 deletions
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c new file mode 100755 index 000000000..977565b8e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c @@ -0,0 +1,58 @@ +/* + * kalman_dlqe1.c + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], + const real32_T x_aposteriori_k[3], real32_T z, real32_T + x_aposteriori[3]) +{ + printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z); + printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2])); + real32_T y; + int32_T i0; + real32_T b_y[3]; + int32_T i1; + real32_T f0; + y = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + b_y[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_y[i0] += C[i1] * A[i1 + 3 * i0]; + } + + y += b_y[i0] * x_aposteriori_k[i0]; + } + + y = z - y; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + + x_aposteriori[i0] = f0 + K[i0] * y; + } + //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2])); +} + +/* End of code generation (kalman_dlqe1.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h new file mode 100755 index 000000000..2f5330563 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1.h + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +#ifndef __KALMAN_DLQE1_H__ +#define __KALMAN_DLQE1_H__ +/* Include files */ +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); +#endif +/* End of code generation (kalman_dlqe1.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c new file mode 100755 index 000000000..6627f76e9 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe1_initialize.c + * + * Code generation for function 'kalman_dlqe1_initialize' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" +#include "kalman_dlqe1_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (kalman_dlqe1_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h new file mode 100755 index 000000000..a77eb5712 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1_initialize.h + * + * Code generation for function 'kalman_dlqe1_initialize' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +#ifndef __KALMAN_DLQE1_INITIALIZE_H__ +#define __KALMAN_DLQE1_INITIALIZE_H__ +/* Include files */ +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1_initialize(void); +#endif +/* End of code generation (kalman_dlqe1_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c new file mode 100755 index 000000000..a65536f79 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe1_terminate.c + * + * Code generation for function 'kalman_dlqe1_terminate' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" +#include "kalman_dlqe1_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (kalman_dlqe1_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h new file mode 100755 index 000000000..100c7f76c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1_terminate.h + * + * Code generation for function 'kalman_dlqe1_terminate' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +#ifndef __KALMAN_DLQE1_TERMINATE_H__ +#define __KALMAN_DLQE1_TERMINATE_H__ +/* Include files */ +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1_terminate(void); +#endif +/* End of code generation (kalman_dlqe1_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h new file mode 100755 index 000000000..d4b2c2d61 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h @@ -0,0 +1,16 @@ +/* + * kalman_dlqe1_types.h + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +#ifndef __KALMAN_DLQE1_TYPES_H__ +#define __KALMAN_DLQE1_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (kalman_dlqe1_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c new file mode 100755 index 000000000..11b999064 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c @@ -0,0 +1,119 @@ +/* + * kalman_dlqe2.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1); + +/* Function Definitions */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1) +{ + real32_T y; + real32_T f1; + real32_T f2; + if (rtIsNaNF(u0) || rtIsNaNF(u1)) { + y = ((real32_T)rtNaN); + } else { + f1 = (real32_T)fabs(u0); + f2 = (real32_T)fabs(u1); + if (rtIsInfF(u1)) { + if (f1 == 1.0F) { + y = ((real32_T)rtNaN); + } else if (f1 > 1.0F) { + if (u1 > 0.0F) { + y = ((real32_T)rtInf); + } else { + y = 0.0F; + } + } else if (u1 > 0.0F) { + y = 0.0F; + } else { + y = ((real32_T)rtInf); + } + } else if (f2 == 0.0F) { + y = 1.0F; + } else if (f2 == 1.0F) { + if (u1 > 0.0F) { + y = u0; + } else { + y = 1.0F / u0; + } + } else if (u1 == 2.0F) { + y = u0 * u0; + } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { + y = (real32_T)sqrt(u0); + } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { + y = ((real32_T)rtNaN); + } else { + y = (real32_T)pow(u0, u1); + } + } + + return y; +} + +void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const + real32_T x_aposteriori_k[3], real32_T z, real32_T + x_aposteriori[3]) +{ + //printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3)); + //printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3)); + real32_T A[9]; + real32_T y; + int32_T i0; + static const int8_T iv0[3] = { 0, 0, 1 }; + + real32_T b_k1[3]; + int32_T i1; + static const int8_T iv1[3] = { 1, 0, 0 }; + + real32_T f0; + A[0] = 1.0F; + A[3] = dt; + A[6] = 0.5F * rt_powf_snf(dt, 2.0F); + A[1] = 0.0F; + A[4] = 1.0F; + A[7] = dt; + y = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + A[2 + 3 * i0] = (real32_T)iv0[i0]; + b_k1[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; + } + + y += b_k1[i0] * x_aposteriori_k[i0]; + } + + y = z - y; + b_k1[0] = k1; + b_k1[1] = k2; + b_k1[2] = k3; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + + x_aposteriori[i0] = f0 + b_k1[i0] * y; + } +} + +/* End of code generation (kalman_dlqe2.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h new file mode 100755 index 000000000..30170ae22 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __KALMAN_DLQE2_H__ +#define __KALMAN_DLQE2_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); +#endif +/* End of code generation (kalman_dlqe2.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c new file mode 100755 index 000000000..de5a1d8aa --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe2_initialize.c + * + * Code generation for function 'kalman_dlqe2_initialize' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" +#include "kalman_dlqe2_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe2_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (kalman_dlqe2_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h new file mode 100755 index 000000000..3d507ff31 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2_initialize.h + * + * Code generation for function 'kalman_dlqe2_initialize' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_INITIALIZE_H__ +#define __KALMAN_DLQE2_INITIALIZE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2_initialize(void); +#endif +/* End of code generation (kalman_dlqe2_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c new file mode 100755 index 000000000..0757c878c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe2_terminate.c + * + * Code generation for function 'kalman_dlqe2_terminate' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" +#include "kalman_dlqe2_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe2_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (kalman_dlqe2_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h new file mode 100755 index 000000000..23995020b --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2_terminate.h + * + * Code generation for function 'kalman_dlqe2_terminate' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_TERMINATE_H__ +#define __KALMAN_DLQE2_TERMINATE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2_terminate(void); +#endif +/* End of code generation (kalman_dlqe2_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h new file mode 100755 index 000000000..f7a04d908 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h @@ -0,0 +1,16 @@ +/* + * kalman_dlqe2_types.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_TYPES_H__ +#define __KALMAN_DLQE2_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (kalman_dlqe2_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c new file mode 100755 index 000000000..9efe2ea7a --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c @@ -0,0 +1,137 @@ +/*
+ * kalman_dlqe3.c
+ *
+ * Code generation for function 'kalman_dlqe3'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe3.h"
+#include "randn.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1);
+
+/* Function Definitions */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1)
+{
+ real32_T y;
+ real32_T f1;
+ real32_T f2;
+ if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
+ y = ((real32_T)rtNaN);
+ } else {
+ f1 = (real32_T)fabs(u0);
+ f2 = (real32_T)fabs(u1);
+ if (rtIsInfF(u1)) {
+ if (f1 == 1.0F) {
+ y = ((real32_T)rtNaN);
+ } else if (f1 > 1.0F) {
+ if (u1 > 0.0F) {
+ y = ((real32_T)rtInf);
+ } else {
+ y = 0.0F;
+ }
+ } else if (u1 > 0.0F) {
+ y = 0.0F;
+ } else {
+ y = ((real32_T)rtInf);
+ }
+ } else if (f2 == 0.0F) {
+ y = 1.0F;
+ } else if (f2 == 1.0F) {
+ if (u1 > 0.0F) {
+ y = u0;
+ } else {
+ y = 1.0F / u0;
+ }
+ } else if (u1 == 2.0F) {
+ y = u0 * u0;
+ } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
+ y = (real32_T)sqrt(u0);
+ } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
+ y = ((real32_T)rtNaN);
+ } else {
+ y = (real32_T)pow(u0, u1);
+ }
+ }
+
+ return y;
+}
+
+void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
+ real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,
+ real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])
+{
+ real32_T A[9];
+ int32_T i0;
+ static const int8_T iv0[3] = { 0, 0, 1 };
+
+ real_T b;
+ real32_T y;
+ real32_T b_y[3];
+ int32_T i1;
+ static const int8_T iv1[3] = { 1, 0, 0 };
+
+ real32_T b_k1[3];
+ real32_T f0;
+ A[0] = 1.0F;
+ A[3] = dt;
+ A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
+ A[1] = 0.0F;
+ A[4] = 1.0F;
+ A[7] = dt;
+ for (i0 = 0; i0 < 3; i0++) {
+ A[2 + 3 * i0] = (real32_T)iv0[i0];
+ }
+
+ if (addNoise == 1.0F) {
+ b = randn();
+ z += sigma * (real32_T)b;
+ }
+
+ if (posUpdate != 0.0F) {
+ y = 0.0F;
+ for (i0 = 0; i0 < 3; i0++) {
+ b_y[i0] = 0.0F;
+ for (i1 = 0; i1 < 3; i1++) {
+ b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
+ }
+
+ y += b_y[i0] * x_aposteriori_k[i0];
+ }
+
+ y = z - y;
+ b_k1[0] = k1;
+ b_k1[1] = k2;
+ b_k1[2] = k3;
+ for (i0 = 0; i0 < 3; i0++) {
+ f0 = 0.0F;
+ for (i1 = 0; i1 < 3; i1++) {
+ f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
+ }
+
+ x_aposteriori[i0] = f0 + b_k1[i0] * y;
+ }
+ } else {
+ for (i0 = 0; i0 < 3; i0++) {
+ x_aposteriori[i0] = 0.0F;
+ for (i1 = 0; i1 < 3; i1++) {
+ x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];
+ }
+ }
+ }
+}
+
+/* End of code generation (kalman_dlqe3.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h new file mode 100755 index 000000000..9bbffbbb3 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h @@ -0,0 +1,33 @@ +/*
+ * kalman_dlqe3.h
+ *
+ * Code generation for function 'kalman_dlqe3'
+ *
+ * C source code generated on: Tue Feb 19 15:26:32 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE3_H__
+#define __KALMAN_DLQE3_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe3_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);
+#endif
+/* End of code generation (kalman_dlqe3.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c new file mode 100755 index 000000000..8f2275c13 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c @@ -0,0 +1,32 @@ +/*
+ * kalman_dlqe3_data.c
+ *
+ * Code generation for function 'kalman_dlqe3_data'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe3.h"
+#include "kalman_dlqe3_data.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+uint32_T method;
+uint32_T state[2];
+uint32_T b_method;
+uint32_T b_state;
+uint32_T c_state[2];
+boolean_T state_not_empty;
+
+/* Function Declarations */
+
+/* Function Definitions */
+/* End of code generation (kalman_dlqe3_data.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h new file mode 100755 index 000000000..952eb7b89 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h @@ -0,0 +1,38 @@ +/*
+ * kalman_dlqe3_data.h
+ *
+ * Code generation for function 'kalman_dlqe3_data'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE3_DATA_H__
+#define __KALMAN_DLQE3_DATA_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe3_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+extern uint32_T method;
+extern uint32_T state[2];
+extern uint32_T b_method;
+extern uint32_T b_state;
+extern uint32_T c_state[2];
+extern boolean_T state_not_empty;
+
+/* Variable Definitions */
+
+/* Function Declarations */
+#endif
+/* End of code generation (kalman_dlqe3_data.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c new file mode 100755 index 000000000..b87d604c4 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c @@ -0,0 +1,47 @@ +/*
+ * kalman_dlqe3_initialize.c
+ *
+ * Code generation for function 'kalman_dlqe3_initialize'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe3.h"
+#include "kalman_dlqe3_initialize.h"
+#include "kalman_dlqe3_data.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe3_initialize(void)
+{
+ int32_T i;
+ static const uint32_T uv0[2] = { 362436069U, 0U };
+
+ rt_InitInfAndNaN(8U);
+ state_not_empty = FALSE;
+ b_state = 1144108930U;
+ b_method = 7U;
+ method = 0U;
+ for (i = 0; i < 2; i++) {
+ c_state[i] = 362436069U + 158852560U * (uint32_T)i;
+ state[i] = uv0[i];
+ }
+
+ if (state[1] == 0U) {
+ state[1] = 521288629U;
+ }
+}
+
+/* End of code generation (kalman_dlqe3_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h new file mode 100755 index 000000000..9dee90f9e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h @@ -0,0 +1,33 @@ +/*
+ * kalman_dlqe3_initialize.h
+ *
+ * Code generation for function 'kalman_dlqe3_initialize'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE3_INITIALIZE_H__
+#define __KALMAN_DLQE3_INITIALIZE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe3_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe3_initialize(void);
+#endif
+/* End of code generation (kalman_dlqe3_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c new file mode 100755 index 000000000..b00858205 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c @@ -0,0 +1,31 @@ +/*
+ * kalman_dlqe3_terminate.c
+ *
+ * Code generation for function 'kalman_dlqe3_terminate'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe3.h"
+#include "kalman_dlqe3_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void kalman_dlqe3_terminate(void)
+{
+ /* (no terminate code required) */
+}
+
+/* End of code generation (kalman_dlqe3_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h new file mode 100755 index 000000000..69cc85c76 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h @@ -0,0 +1,33 @@ +/*
+ * kalman_dlqe3_terminate.h
+ *
+ * Code generation for function 'kalman_dlqe3_terminate'
+ *
+ * C source code generated on: Tue Feb 19 15:26:31 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE3_TERMINATE_H__
+#define __KALMAN_DLQE3_TERMINATE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe3_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void kalman_dlqe3_terminate(void);
+#endif
+/* End of code generation (kalman_dlqe3_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h new file mode 100755 index 000000000..f36ea4557 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h @@ -0,0 +1,16 @@ +/*
+ * kalman_dlqe3_types.h
+ *
+ * Code generation for function 'kalman_dlqe3'
+ *
+ * C source code generated on: Tue Feb 19 15:26:30 2013
+ *
+ */
+
+#ifndef __KALMAN_DLQE3_TYPES_H__
+#define __KALMAN_DLQE3_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (kalman_dlqe3_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c new file mode 100755 index 000000000..5139848bc --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c @@ -0,0 +1,136 @@ +/* + * positionKalmanFilter1D.c + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const + real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T + P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T + Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], + real32_T P_aposteriori[9]) +{ + int32_T i0; + real32_T f0; + int32_T k; + real32_T b_A[9]; + int32_T i1; + real32_T P_apriori[9]; + real32_T y; + real32_T K[3]; + real32_T S; + int8_T I[9]; + + /* prediction */ + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (k = 0; k < 3; k++) { + f0 += A[i0 + 3 * k] * x_aposteriori_k[k]; + } + + x_aposteriori[i0] = f0 + B[i0] * u; + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + b_A[i0 + 3 * k] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k]; + } + } + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1]; + } + + P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k]; + } + } + + if ((real32_T)fabs(u) < thresh) { + x_aposteriori[1] *= decay; + } + + /* update */ + if (gps_update == 1) { + y = 0.0F; + for (k = 0; k < 3; k++) { + y += C[k] * x_aposteriori[k]; + K[k] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + K[k] += C[i0] * P_apriori[i0 + 3 * k]; + } + } + + y = z - y; + S = 0.0F; + for (k = 0; k < 3; k++) { + S += K[k] * C[k]; + } + + S += R; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (k = 0; k < 3; k++) { + f0 += P_apriori[i0 + 3 * k] * C[k]; + } + + K[i0] = f0 / S; + } + + for (i0 = 0; i0 < 3; i0++) { + x_aposteriori[i0] += K[i0] * y; + } + + for (i0 = 0; i0 < 9; i0++) { + I[i0] = 0; + } + + for (k = 0; k < 3; k++) { + I[k + 3 * k] = 1; + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0]; + } + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + P_aposteriori[i0 + 3 * k] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k]; + } + } + } + } else { + for (i0 = 0; i0 < 9; i0++) { + P_aposteriori[i0] = P_apriori[i0]; + } + } +} + +/* End of code generation (positionKalmanFilter1D.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h new file mode 100755 index 000000000..205c8eb4e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D.h + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_H__ +#define __POSITIONKALMANFILTER1D_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); +#endif +/* End of code generation (positionKalmanFilter1D.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c new file mode 100755 index 000000000..4c535618a --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c @@ -0,0 +1,157 @@ +/* + * positionKalmanFilter1D_dT.c + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], + const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, + const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T + x_aposteriori[3], real32_T P_aposteriori[9]) +{ + real32_T A[9]; + int32_T i; + static const int8_T iv0[3] = { 0, 0, 1 }; + + real32_T K[3]; + real32_T f0; + int32_T i0; + real32_T b_A[9]; + int32_T i1; + real32_T P_apriori[9]; + static const int8_T iv1[3] = { 1, 0, 0 }; + + real32_T fv0[3]; + real32_T y; + static const int8_T iv2[3] = { 1, 0, 0 }; + + real32_T S; + int8_T I[9]; + + /* dynamics */ + A[0] = 1.0F; + A[3] = dT; + A[6] = -0.5F * dT * dT; + A[1] = 0.0F; + A[4] = 1.0F; + A[7] = -dT; + for (i = 0; i < 3; i++) { + A[2 + 3 * i] = (real32_T)iv0[i]; + } + + /* prediction */ + K[0] = 0.5F * dT * dT; + K[1] = dT; + K[2] = 0.0F; + for (i = 0; i < 3; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + f0 += A[i + 3 * i0] * x_aposteriori_k[i0]; + } + + x_aposteriori[i] = f0 + K[i] * u; + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + b_A[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0]; + } + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1]; + } + + P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0]; + } + } + + if ((real32_T)fabs(u) < thresh) { + x_aposteriori[1] *= decay; + } + + /* update */ + if (gps_update == 1) { + f0 = 0.0F; + for (i = 0; i < 3; i++) { + f0 += (real32_T)iv1[i] * x_aposteriori[i]; + fv0[i] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i]; + } + } + + y = z - f0; + f0 = 0.0F; + for (i = 0; i < 3; i++) { + f0 += fv0[i] * (real32_T)iv2[i]; + } + + S = f0 + (real32_T)R; + for (i = 0; i < 3; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0]; + } + + K[i] = f0 / S; + } + + for (i = 0; i < 3; i++) { + x_aposteriori[i] += K[i] * y; + } + + for (i = 0; i < 9; i++) { + I[i] = 0; + } + + for (i = 0; i < 3; i++) { + I[i + 3 * i] = 1; + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i]; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + P_aposteriori[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0]; + } + } + } + } else { + for (i = 0; i < 9; i++) { + P_aposteriori[i] = P_apriori[i]; + } + } +} + +/* End of code generation (positionKalmanFilter1D_dT.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h new file mode 100755 index 000000000..94cbe2ce6 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT.h + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_H__ +#define __POSITIONKALMANFILTER1D_DT_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); +#endif +/* End of code generation (positionKalmanFilter1D_dT.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c new file mode 100755 index 000000000..aa89f8a9d --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_initialize.c + * + * Code generation for function 'positionKalmanFilter1D_dT_initialize' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" +#include "positionKalmanFilter1D_dT_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h new file mode 100755 index 000000000..8d358a9a3 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_initialize.h + * + * Code generation for function 'positionKalmanFilter1D_dT_initialize' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ +#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT_initialize(void); +#endif +/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c new file mode 100755 index 000000000..20ed2edbb --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_terminate.c + * + * Code generation for function 'positionKalmanFilter1D_dT_terminate' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" +#include "positionKalmanFilter1D_dT_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h new file mode 100755 index 000000000..5eb5807a0 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_terminate.h + * + * Code generation for function 'positionKalmanFilter1D_dT_terminate' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ +#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT_terminate(void); +#endif +/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h new file mode 100755 index 000000000..43e5f016c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h @@ -0,0 +1,16 @@ +/* + * positionKalmanFilter1D_dT_types.h + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__ +#define __POSITIONKALMANFILTER1D_DT_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (positionKalmanFilter1D_dT_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c new file mode 100755 index 000000000..5bd87c390 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_initialize.c + * + * Code generation for function 'positionKalmanFilter1D_initialize' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" +#include "positionKalmanFilter1D_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (positionKalmanFilter1D_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h new file mode 100755 index 000000000..44bce472f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_initialize.h + * + * Code generation for function 'positionKalmanFilter1D_initialize' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__ +#define __POSITIONKALMANFILTER1D_INITIALIZE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_initialize(void); +#endif +/* End of code generation (positionKalmanFilter1D_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c new file mode 100755 index 000000000..41e11936f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_terminate.c + * + * Code generation for function 'positionKalmanFilter1D_terminate' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" +#include "positionKalmanFilter1D_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (positionKalmanFilter1D_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h new file mode 100755 index 000000000..e84ea01bc --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_terminate.h + * + * Code generation for function 'positionKalmanFilter1D_terminate' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__ +#define __POSITIONKALMANFILTER1D_TERMINATE_H__ +/* Include files */ +#include <math.h> +#include <stddef.h> +#include <stdlib.h> + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_terminate(void); +#endif +/* End of code generation (positionKalmanFilter1D_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h new file mode 100755 index 000000000..4b473f56f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h @@ -0,0 +1,16 @@ +/* + * positionKalmanFilter1D_types.h + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_TYPES_H__ +#define __POSITIONKALMANFILTER1D_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (positionKalmanFilter1D_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c new file mode 100755 index 000000000..51aef7b76 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/randn.c @@ -0,0 +1,524 @@ +/*
+ * randn.c
+ *
+ * Code generation for function 'randn'
+ *
+ * C source code generated on: Tue Feb 19 15:26:32 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "kalman_dlqe3.h"
+#include "randn.h"
+#include "kalman_dlqe3_data.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+static uint32_T d_state[625];
+
+/* Function Declarations */
+static real_T b_genrandu(uint32_T mt[625]);
+static real_T eml_rand_mt19937ar(uint32_T e_state[625]);
+static real_T eml_rand_shr3cong(uint32_T e_state[2]);
+static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);
+static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);
+static void twister_state_vector(uint32_T mt[625], real_T seed);
+
+/* Function Definitions */
+static real_T b_genrandu(uint32_T mt[625])
+{
+ real_T r;
+ int32_T exitg1;
+ uint32_T u[2];
+ boolean_T isvalid;
+ int32_T k;
+ boolean_T exitg2;
+
+ /* <LEGAL> This is a uniform (0,1) pseudorandom number generator based on: */
+ /* <LEGAL> */
+ /* <LEGAL> A C-program for MT19937, with initialization improved 2002/1/26. */
+ /* <LEGAL> Coded by Takuji Nishimura and Makoto Matsumoto. */
+ /* <LEGAL> */
+ /* <LEGAL> Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */
+ /* <LEGAL> All rights reserved. */
+ /* <LEGAL> */
+ /* <LEGAL> Redistribution and use in source and binary forms, with or without */
+ /* <LEGAL> modification, are permitted provided that the following conditions */
+ /* <LEGAL> are met: */
+ /* <LEGAL> */
+ /* <LEGAL> 1. Redistributions of source code must retain the above copyright */
+ /* <LEGAL> notice, this list of conditions and the following disclaimer. */
+ /* <LEGAL> */
+ /* <LEGAL> 2. Redistributions in binary form must reproduce the above copyright */
+ /* <LEGAL> notice, this list of conditions and the following disclaimer in the */
+ /* <LEGAL> documentation and/or other materials provided with the distribution. */
+ /* <LEGAL> */
+ /* <LEGAL> 3. The names of its contributors may not be used to endorse or promote */
+ /* <LEGAL> products derived from this software without specific prior written */
+ /* <LEGAL> permission. */
+ /* <LEGAL> */
+ /* <LEGAL> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */
+ /* <LEGAL> "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */
+ /* <LEGAL> LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */
+ /* <LEGAL> A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR */
+ /* <LEGAL> CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */
+ /* <LEGAL> EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */
+ /* <LEGAL> PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */
+ /* <LEGAL> PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */
+ /* <LEGAL> LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */
+ /* <LEGAL> NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */
+ /* <LEGAL> SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
+ do {
+ exitg1 = 0;
+ genrand_uint32_vector(mt, u);
+ r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)
+ (u[1] >> 6U));
+ if (r == 0.0) {
+ if ((mt[624] >= 1U) && (mt[624] < 625U)) {
+ isvalid = TRUE;
+ } else {
+ isvalid = FALSE;
+ }
+
+ if (isvalid) {
+ isvalid = FALSE;
+ k = 1;
+ exitg2 = FALSE;
+ while ((exitg2 == FALSE) && (k < 625)) {
+ if (mt[k - 1] == 0U) {
+ k++;
+ } else {
+ isvalid = TRUE;
+ exitg2 = TRUE;
+ }
+ }
+ }
+
+ if (!isvalid) {
+ twister_state_vector(mt, 5489.0);
+ }
+ } else {
+ exitg1 = 1;
+ }
+ } while (exitg1 == 0);
+
+ return r;
+}
+
+static real_T eml_rand_mt19937ar(uint32_T e_state[625])
+{
+ real_T r;
+ int32_T exitg1;
+ uint32_T u32[2];
+ int32_T i;
+ static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,
+ 0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,
+ 0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,
+ 0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,
+ 0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,
+ 0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,
+ 0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,
+ 0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,
+ 0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,
+ 0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,
+ 0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,
+ 0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,
+ 0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,
+ 0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,
+ 1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,
+ 1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,
+ 1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,
+ 1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,
+ 1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,
+ 1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,
+ 1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,
+ 1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,
+ 1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,
+ 1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,
+ 1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,
+ 1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,
+ 1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,
+ 1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,
+ 1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,
+ 1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,
+ 1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,
+ 1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,
+ 1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,
+ 1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,
+ 1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,
+ 1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,
+ 1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,
+ 1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,
+ 1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,
+ 1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,
+ 1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,
+ 1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,
+ 1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,
+ 1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,
+ 1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,
+ 1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,
+ 1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,
+ 1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,
+ 2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,
+ 2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,
+ 2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,
+ 2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,
+ 2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,
+ 2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,
+ 2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,
+ 2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,
+ 2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,
+ 2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,
+ 2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,
+ 2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,
+ 2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,
+ 2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,
+ 2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,
+ 3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,
+ 3.65415288536101, 3.91075795952492 };
+
+ real_T u;
+ static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,
+ 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,
+ 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,
+ 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,
+ 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,
+ 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,
+ 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,
+ 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,
+ 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,
+ 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,
+ 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,
+ 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,
+ 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,
+ 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,
+ 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,
+ 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,
+ 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,
+ 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,
+ 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,
+ 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,
+ 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,
+ 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,
+ 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,
+ 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,
+ 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,
+ 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,
+ 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,
+ 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,
+ 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,
+ 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,
+ 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,
+ 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,
+ 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,
+ 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,
+ 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,
+ 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,
+ 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,
+ 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,
+ 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,
+ 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,
+ 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,
+ 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,
+ 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,
+ 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,
+ 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,
+ 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,
+ 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,
+ 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,
+ 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,
+ 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,
+ 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,
+ 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,
+ 0.093365311912691, 0.0911136480663738, 0.0888735920682759,
+ 0.0866451944505581, 0.0844285095703535, 0.082223595813203,
+ 0.0800305158146631, 0.0778493367020961, 0.0756801303589272,
+ 0.0735229737139814, 0.0713779490588905, 0.0692451443970068,
+ 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,
+ 0.0587679529209339, 0.0567106901062031, 0.0546664613248891,
+ 0.0526354182767924, 0.0506177238609479, 0.0486135532158687,
+ 0.0466230949019305, 0.0446465522512946, 0.0426841449164746,
+ 0.0407361106559411, 0.0388027074045262, 0.0368842156885674,
+ 0.0349809414617162, 0.0330932194585786, 0.0312214171919203,
+ 0.0293659397581334, 0.0275272356696031, 0.0257058040085489,
+ 0.0239022033057959, 0.0221170627073089, 0.0203510962300445,
+ 0.0186051212757247, 0.0168800831525432, 0.0151770883079353,
+ 0.0134974506017399, 0.0118427578579079, 0.0102149714397015,
+ 0.00861658276939875, 0.00705087547137324, 0.00552240329925101,
+ 0.00403797259336304, 0.00260907274610216, 0.0012602859304986,
+ 0.000477467764609386 };
+
+ real_T x;
+ do {
+ exitg1 = 0;
+ genrand_uint32_vector(e_state, u32);
+ i = (int32_T)((u32[1] >> 24U) + 1U);
+ r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &
+ 16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];
+ if (fabs(r) <= dv1[i - 1]) {
+ exitg1 = 1;
+ } else if (i < 256) {
+ u = b_genrandu(e_state);
+ if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {
+ exitg1 = 1;
+ }
+ } else {
+ do {
+ u = b_genrandu(e_state);
+ x = log(u) * 0.273661237329758;
+ u = b_genrandu(e_state);
+ } while (!(-2.0 * log(u) > x * x));
+
+ if (r < 0.0) {
+ r = x - 3.65415288536101;
+ } else {
+ r = 3.65415288536101 - x;
+ }
+
+ exitg1 = 1;
+ }
+ } while (exitg1 == 0);
+
+ return r;
+}
+
+static real_T eml_rand_shr3cong(uint32_T e_state[2])
+{
+ real_T r;
+ uint32_T icng;
+ uint32_T jsr;
+ uint32_T ui;
+ int32_T j;
+ static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,
+ 0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,
+ 0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,
+ 1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,
+ 1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,
+ 1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,
+ 1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,
+ 1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,
+ 2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,
+ 2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };
+
+ real_T x;
+ real_T y;
+ real_T s;
+ icng = 69069U * e_state[0] + 1234567U;
+ jsr = e_state[1] ^ e_state[1] << 13U;
+ jsr ^= jsr >> 17U;
+ jsr ^= jsr << 5U;
+ ui = icng + jsr;
+ j = (int32_T)(ui & 63U);
+ r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];
+ if (fabs(r) <= dv0[j]) {
+ } else {
+ x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);
+ icng = 69069U * icng + 1234567U;
+ jsr ^= jsr << 13U;
+ jsr ^= jsr >> 17U;
+ jsr ^= jsr << 5U;
+ y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;
+ s = x + (0.5 + y);
+ if (s > 1.301198) {
+ if (r < 0.0) {
+ r = 0.4878992 * x - 0.4878992;
+ } else {
+ r = 0.4878992 - 0.4878992 * x;
+ }
+ } else if (s <= 0.9689279) {
+ } else {
+ s = 0.4878992 * x;
+ x = 0.4878992 - 0.4878992 * x;
+ if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {
+ if (r < 0.0) {
+ r = -(0.4878992 - s);
+ } else {
+ r = 0.4878992 - s;
+ }
+ } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /
+ dv0[j + 1] <= exp(-0.5 * r * r)) {
+ } else {
+ do {
+ icng = 69069U * icng + 1234567U;
+ jsr ^= jsr << 13U;
+ jsr ^= jsr >> 17U;
+ jsr ^= jsr << 5U;
+ x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /
+ 2.776994;
+ icng = 69069U * icng + 1234567U;
+ jsr ^= jsr << 13U;
+ jsr ^= jsr >> 17U;
+ jsr ^= jsr << 5U;
+ } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *
+ 2.328306436538696E-10) > x * x));
+
+ if (r < 0.0) {
+ r = x - 2.776994;
+ } else {
+ r = 2.776994 - x;
+ }
+ }
+ }
+ }
+
+ e_state[0] = icng;
+ e_state[1] = jsr;
+ return r;
+}
+
+static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])
+{
+ int32_T i;
+ uint32_T mti;
+ int32_T kk;
+ uint32_T y;
+ uint32_T b_y;
+ uint32_T c_y;
+ uint32_T d_y;
+ for (i = 0; i < 2; i++) {
+ u[i] = 0U;
+ }
+
+ for (i = 0; i < 2; i++) {
+ mti = mt[624] + 1U;
+ if (mti >= 625U) {
+ for (kk = 0; kk < 227; kk++) {
+ y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);
+ if ((int32_T)(y & 1U) == 0) {
+ b_y = y >> 1U;
+ } else {
+ b_y = y >> 1U ^ 2567483615U;
+ }
+
+ mt[kk] = mt[397 + kk] ^ b_y;
+ }
+
+ for (kk = 0; kk < 396; kk++) {
+ y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);
+ if ((int32_T)(y & 1U) == 0) {
+ c_y = y >> 1U;
+ } else {
+ c_y = y >> 1U ^ 2567483615U;
+ }
+
+ mt[227 + kk] = mt[kk] ^ c_y;
+ }
+
+ y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);
+ if ((int32_T)(y & 1U) == 0) {
+ d_y = y >> 1U;
+ } else {
+ d_y = y >> 1U ^ 2567483615U;
+ }
+
+ mt[623] = mt[396] ^ d_y;
+ mti = 1U;
+ }
+
+ y = mt[(int32_T)mti - 1];
+ mt[624] = mti;
+ y ^= y >> 11U;
+ y ^= y << 7U & 2636928640U;
+ y ^= y << 15U & 4022730752U;
+ y ^= y >> 18U;
+ u[i] = y;
+ }
+}
+
+static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)
+{
+ int32_T hi;
+ uint32_T test1;
+ uint32_T test2;
+ hi = (int32_T)(s / 127773U);
+ test1 = 16807U * (s - (uint32_T)hi * 127773U);
+ test2 = 2836U * (uint32_T)hi;
+ if (test1 < test2) {
+ *e_state = (test1 - test2) + 2147483647U;
+ } else {
+ *e_state = test1 - test2;
+ }
+
+ *r = (real_T)*e_state * 4.6566128752457969E-10;
+}
+
+static void twister_state_vector(uint32_T mt[625], real_T seed)
+{
+ uint32_T r;
+ int32_T mti;
+ if (seed < 4.294967296E+9) {
+ if (seed >= 0.0) {
+ r = (uint32_T)seed;
+ } else {
+ r = 0U;
+ }
+ } else if (seed >= 4.294967296E+9) {
+ r = MAX_uint32_T;
+ } else {
+ r = 0U;
+ }
+
+ mt[0] = r;
+ for (mti = 0; mti < 623; mti++) {
+ r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);
+ mt[1 + mti] = r;
+ }
+
+ mt[624] = 624U;
+}
+
+real_T randn(void)
+{
+ real_T r;
+ uint32_T e_state;
+ real_T t;
+ real_T b_r;
+ uint32_T f_state;
+ if (method == 0U) {
+ if (b_method == 4U) {
+ do {
+ genrandu(b_state, &e_state, &r);
+ genrandu(e_state, &b_state, &t);
+ b_r = 2.0 * r - 1.0;
+ t = 2.0 * t - 1.0;
+ t = t * t + b_r * b_r;
+ } while (!(t <= 1.0));
+
+ r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);
+ } else if (b_method == 5U) {
+ r = eml_rand_shr3cong(c_state);
+ } else {
+ if (!state_not_empty) {
+ memset(&d_state[0], 0, 625U * sizeof(uint32_T));
+ twister_state_vector(d_state, 5489.0);
+ state_not_empty = TRUE;
+ }
+
+ r = eml_rand_mt19937ar(d_state);
+ }
+ } else if (method == 4U) {
+ e_state = state[0];
+ do {
+ genrandu(e_state, &f_state, &r);
+ genrandu(f_state, &e_state, &t);
+ b_r = 2.0 * r - 1.0;
+ t = 2.0 * t - 1.0;
+ t = t * t + b_r * b_r;
+ } while (!(t <= 1.0));
+
+ state[0] = e_state;
+ r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);
+ } else {
+ r = eml_rand_shr3cong(state);
+ }
+
+ return r;
+}
+
+/* End of code generation (randn.c) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h new file mode 100755 index 000000000..8a2aa9277 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/randn.h @@ -0,0 +1,33 @@ +/*
+ * randn.h
+ *
+ * Code generation for function 'randn'
+ *
+ * C source code generated on: Tue Feb 19 15:26:32 2013
+ *
+ */
+
+#ifndef __RANDN_H__
+#define __RANDN_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "kalman_dlqe3_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern real_T randn(void);
+#endif
+/* End of code generation (randn.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c new file mode 100755 index 000000000..c6fa7884e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c @@ -0,0 +1,139 @@ +/* + * rtGetInf.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, Inf and MinusInf + */ +#include "rtGetInf.h" +#define NumBitsPerChar 8U + +/* Function: rtGetInf ================================================== + * Abstract: + * Initialize rtInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T inf = 0.0; + if (bitsPerReal == 32U) { + inf = rtGetInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + } + } + + return inf; +} + +/* Function: rtGetInfF ================================================== + * Abstract: + * Initialize rtInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetInfF(void) +{ + IEEESingle infF; + infF.wordL.wordLuint = 0x7F800000U; + return infF.wordL.wordLreal; +} + +/* Function: rtGetMinusInf ================================================== + * Abstract: + * Initialize rtMinusInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetMinusInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T minf = 0.0; + if (bitsPerReal == 32U) { + minf = rtGetMinusInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + } + } + + return minf; +} + +/* Function: rtGetMinusInfF ================================================== + * Abstract: + * Initialize rtMinusInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetMinusInfF(void) +{ + IEEESingle minfF; + minfF.wordL.wordLuint = 0xFF800000U; + return minfF.wordL.wordLreal; +} + +/* End of code generation (rtGetInf.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h new file mode 100755 index 000000000..e7b2a2d1c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h @@ -0,0 +1,23 @@ +/* + * rtGetInf.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTGETINF_H__ +#define __RTGETINF_H__ + +#include <stddef.h> +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetInf(void); +extern real32_T rtGetInfF(void); +extern real_T rtGetMinusInf(void); +extern real32_T rtGetMinusInfF(void); + +#endif +/* End of code generation (rtGetInf.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c new file mode 100755 index 000000000..552770149 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c @@ -0,0 +1,96 @@ +/* + * rtGetNaN.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, NaN + */ +#include "rtGetNaN.h" +#define NumBitsPerChar 8U + +/* Function: rtGetNaN ================================================== + * Abstract: + * Initialize rtNaN needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetNaN(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T nan = 0.0; + if (bitsPerReal == 32U) { + nan = rtGetNaNF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF80000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + nan = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; + tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; + nan = tmpVal.fltVal; + break; + } + } + } + + return nan; +} + +/* Function: rtGetNaNF ================================================== + * Abstract: + * Initialize rtNaNF needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetNaNF(void) +{ + IEEESingle nanF = { { 0 } }; + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + nanF.wordL.wordLuint = 0xFFC00000U; + break; + } + + case BigEndian: + { + nanF.wordL.wordLuint = 0x7FFFFFFFU; + break; + } + } + + return nanF.wordL.wordLreal; +} + +/* End of code generation (rtGetNaN.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h new file mode 100755 index 000000000..5acdd9790 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h @@ -0,0 +1,21 @@ +/* + * rtGetNaN.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTGETNAN_H__ +#define __RTGETNAN_H__ + +#include <stddef.h> +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetNaN(void); +extern real32_T rtGetNaNF(void); + +#endif +/* End of code generation (rtGetNaN.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c new file mode 100755 index 000000000..de121c4a0 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c @@ -0,0 +1,87 @@ +/* + * rt_nonfinite.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finites, + * (Inf, NaN and -Inf). + */ +#include "rt_nonfinite.h" +#include "rtGetNaN.h" +#include "rtGetInf.h" + +real_T rtInf; +real_T rtMinusInf; +real_T rtNaN; +real32_T rtInfF; +real32_T rtMinusInfF; +real32_T rtNaNF; + +/* Function: rt_InitInfAndNaN ================================================== + * Abstract: + * Initialize the rtInf, rtMinusInf, and rtNaN needed by the + * generated code. NaN is initialized as non-signaling. Assumes IEEE. + */ +void rt_InitInfAndNaN(size_t realSize) +{ + (void) (realSize); + rtNaN = rtGetNaN(); + rtNaNF = rtGetNaNF(); + rtInf = rtGetInf(); + rtInfF = rtGetInfF(); + rtMinusInf = rtGetMinusInf(); + rtMinusInfF = rtGetMinusInfF(); +} + +/* Function: rtIsInf ================================================== + * Abstract: + * Test if value is infinite + */ +boolean_T rtIsInf(real_T value) +{ + return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); +} + +/* Function: rtIsInfF ================================================= + * Abstract: + * Test if single-precision value is infinite + */ +boolean_T rtIsInfF(real32_T value) +{ + return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); +} + +/* Function: rtIsNaN ================================================== + * Abstract: + * Test if value is not a number + */ +boolean_T rtIsNaN(real_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan(value)? TRUE:FALSE; +#else + return (value!=value)? 1U:0U; +#endif +} + +/* Function: rtIsNaNF ================================================= + * Abstract: + * Test if single-precision value is not a number + */ +boolean_T rtIsNaNF(real32_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan((real_T)value)? true:false; +#else + return (value!=value)? 1U:0U; +#endif +} + + +/* End of code generation (rt_nonfinite.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h new file mode 100755 index 000000000..3bbcfd087 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h @@ -0,0 +1,53 @@ +/* + * rt_nonfinite.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RT_NONFINITE_H__ +#define __RT_NONFINITE_H__ + +#if defined(_MSC_VER) && (_MSC_VER <= 1200) +#include <float.h> +#endif +#include <stddef.h> +#include "rtwtypes.h" + +extern real_T rtInf; +extern real_T rtMinusInf; +extern real_T rtNaN; +extern real32_T rtInfF; +extern real32_T rtMinusInfF; +extern real32_T rtNaNF; +extern void rt_InitInfAndNaN(size_t realSize); +extern boolean_T rtIsInf(real_T value); +extern boolean_T rtIsInfF(real32_T value); +extern boolean_T rtIsNaN(real_T value); +extern boolean_T rtIsNaNF(real32_T value); + +typedef struct { + struct { + uint32_T wordH; + uint32_T wordL; + } words; +} BigEndianIEEEDouble; + +typedef struct { + struct { + uint32_T wordL; + uint32_T wordH; + } words; +} LittleEndianIEEEDouble; + +typedef struct { + union { + real32_T wordLreal; + uint32_T wordLuint; + } wordL; +} IEEESingle; + +#endif +/* End of code generation (rt_nonfinite.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h new file mode 100755 index 000000000..8916e8572 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h @@ -0,0 +1,159 @@ +/* + * rtwtypes.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTWTYPES_H__ +#define __RTWTYPES_H__ +#ifndef TRUE +# define TRUE (1U) +#endif +#ifndef FALSE +# define FALSE (0U) +#endif +#ifndef __TMWTYPES__ +#define __TMWTYPES__ + +#include <limits.h> + +/*=======================================================================* + * Target hardware information + * Device type: Generic->MATLAB Host Computer + * Number of bits: char: 8 short: 16 int: 32 + * long: 32 native word size: 32 + * Byte ordering: LittleEndian + * Signed integer division rounds to: Undefined + * Shift right on a signed integer as arithmetic shift: off + *=======================================================================*/ + +/*=======================================================================* + * Fixed width word size data types: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + * real32_T, real64_T - 32 and 64 bit floating point numbers * + *=======================================================================*/ + +typedef signed char int8_T; +typedef unsigned char uint8_T; +typedef short int16_T; +typedef unsigned short uint16_T; +typedef int int32_T; +typedef unsigned int uint32_T; +typedef float real32_T; +typedef double real64_T; + +/*===========================================================================* + * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * + * ulong_T, char_T and byte_T. * + *===========================================================================*/ + +typedef double real_T; +typedef double time_T; +typedef unsigned char boolean_T; +typedef int int_T; +typedef unsigned int uint_T; +typedef unsigned long ulong_T; +typedef char char_T; +typedef char_T byte_T; + +/*===========================================================================* + * Complex number type definitions * + *===========================================================================*/ +#define CREAL_T + typedef struct { + real32_T re; + real32_T im; + } creal32_T; + + typedef struct { + real64_T re; + real64_T im; + } creal64_T; + + typedef struct { + real_T re; + real_T im; + } creal_T; + + typedef struct { + int8_T re; + int8_T im; + } cint8_T; + + typedef struct { + uint8_T re; + uint8_T im; + } cuint8_T; + + typedef struct { + int16_T re; + int16_T im; + } cint16_T; + + typedef struct { + uint16_T re; + uint16_T im; + } cuint16_T; + + typedef struct { + int32_T re; + int32_T im; + } cint32_T; + + typedef struct { + uint32_T re; + uint32_T im; + } cuint32_T; + + +/*=======================================================================* + * Min and Max: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + *=======================================================================*/ + +#define MAX_int8_T ((int8_T)(127)) +#define MIN_int8_T ((int8_T)(-128)) +#define MAX_uint8_T ((uint8_T)(255)) +#define MIN_uint8_T ((uint8_T)(0)) +#define MAX_int16_T ((int16_T)(32767)) +#define MIN_int16_T ((int16_T)(-32768)) +#define MAX_uint16_T ((uint16_T)(65535)) +#define MIN_uint16_T ((uint16_T)(0)) +#define MAX_int32_T ((int32_T)(2147483647)) +#define MIN_int32_T ((int32_T)(-2147483647-1)) +#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) +#define MIN_uint32_T ((uint32_T)(0)) + +/* Logical type definitions */ +#if !defined(__cplusplus) && !defined(__true_false_are_keywords) +# ifndef false +# define false (0U) +# endif +# ifndef true +# define true (1U) +# endif +#endif + +/* + * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation + * for signed integer values. + */ +#if ((SCHAR_MIN + 1) != -SCHAR_MAX) +#error "This code must be compiled using a 2's complement representation for signed integer values" +#endif + +/* + * Maximum length of a MATLAB identifier (function/variable) + * including the null-termination character. Referenced by + * rt_logging.c and rt_matrx.c. + */ +#define TMW_NAME_LENGTH_MAX 64 + +#endif +#endif +/* End of code generation (rtwtypes.h) */ diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m new file mode 100755 index 000000000..ff939d029 --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe1.m @@ -0,0 +1,3 @@ +function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z) + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m new file mode 100755 index 000000000..2a50164ef --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe2.m @@ -0,0 +1,9 @@ +function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z) + st = 1/2*dt^2; + A = [1,dt,st; + 0,1,dt; + 0,0,1]; + C=[1,0,0]; + K = [k1;k2;k3]; + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m new file mode 100755 index 000000000..4c6421b7f --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe3.m @@ -0,0 +1,17 @@ +function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)
+ st = 1/2*dt^2;
+ A = [1,dt,st;
+ 0,1,dt;
+ 0,0,1];
+ C=[1,0,0];
+ K = [k1;k2;k3];
+ if addNoise==1
+ noise = sigma*randn(1,1);
+ z = z + noise;
+ end
+ if(posUpdate)
+ x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);
+ else
+ x_aposteriori=A*x_aposteriori_k;
+ end
+end
\ No newline at end of file diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk new file mode 100644 index 000000000..40b135ea4 --- /dev/null +++ b/src/modules/position_estimator_mc/module.mk @@ -0,0 +1,60 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the position estimator +# + +MODULE_COMMAND = position_estimator_mc + +SRCS = position_estimator_mc_main.c \ + position_estimator_mc_params.c \ + codegen/positionKalmanFilter1D_initialize.c \ + codegen/positionKalmanFilter1D_terminate.c \ + codegen/positionKalmanFilter1D.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c \ + codegen/positionKalmanFilter1D_dT_initialize.c \ + codegen/positionKalmanFilter1D_dT_terminate.c \ + codegen/kalman_dlqe1.c \ + codegen/kalman_dlqe1_initialize.c \ + codegen/kalman_dlqe1_terminate.c \ + codegen/kalman_dlqe2.c \ + codegen/kalman_dlqe2_initialize.c \ + codegen/kalman_dlqe2_terminate.c \ + codegen/kalman_dlqe3.c \ + codegen/kalman_dlqe3_initialize.c \ + codegen/kalman_dlqe3_terminate.c \ + codegen/kalman_dlqe3_data.c \ + codegen/randn.c diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m new file mode 100755 index 000000000..144ff8c7c --- /dev/null +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m @@ -0,0 +1,19 @@ +function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) +%prediction + x_apriori=A*x_aposteriori_k+B*u; + P_apriori=A*P_aposteriori_k*A'+Q; + if abs(u)<thresh + x_apriori(2)=decay*x_apriori(2); + end + %update + if gps_update==1 + y=z-C*x_apriori; + S=C*P_apriori*C'+R; + K=(P_apriori*C')/S; + x_aposteriori=x_apriori+K*y; + P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori; + else + x_aposteriori=x_apriori; + P_aposteriori=P_apriori; + end +end diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m new file mode 100755 index 000000000..f94cce1fb --- /dev/null +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m @@ -0,0 +1,26 @@ +function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) + %dynamics + A = [1 dT -0.5*dT*dT; + 0 1 -dT; + 0 0 1]; + B = [0.5*dT*dT; dT; 0]; + C = [1 0 0]; + %prediction + x_apriori=A*x_aposteriori_k+B*u; + P_apriori=A*P_aposteriori_k*A'+Q; + if abs(u)<thresh + x_apriori(2)=decay*x_apriori(2); + end + %update + if gps_update==1 + y=z-C*x_apriori; + S=C*P_apriori*C'+R; + K=(P_apriori*C')/S; + x_aposteriori=x_apriori+K*y; + P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori; + else + x_aposteriori=x_apriori; + P_aposteriori=P_apriori; + end +end + diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c new file mode 100755 index 000000000..10dee3f22 --- /dev/null +++ b/src/modules/position_estimator_mc/position_estimator_mc_main.c @@ -0,0 +1,510 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger <daregger@student.ethz.ch> + * Tobias Naegeli <naegelit@student.ethz.ch> +* Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file position_estimator_main.c + * Model-identification based position estimator for multirotors + */ + +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdbool.h> +#include <fcntl.h> +#include <float.h> +#include <string.h> +#include <nuttx/config.h> +#include <nuttx/sched.h> +#include <sys/prctl.h> +#include <termios.h> +#include <errno.h> +#include <limits.h> +#include <math.h> +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <mavlink/mavlink_log.h> +#include <poll.h> +#include <systemlib/geo/geo.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> + +#include <drivers/drv_hrt.h> + +#include "position_estimator_mc_params.h" +//#include <uORB/topics/debug_key_value.h> +#include "codegen/kalman_dlqe2.h" +#include "codegen/kalman_dlqe2_initialize.h" +#include "codegen/kalman_dlqe3.h" +#include "codegen/kalman_dlqe3_initialize.h" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int position_estimator_mc_task; /**< Handle of deamon task / thread */ + +__EXPORT int position_estimator_mc_main(int argc, char *argv[]); + +int position_estimator_mc_thread_main(int argc, char *argv[]); +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + warnx("%s\n", reason); + warnx("usage: position_estimator_mc {start|stop|status}"); + exit(1); +} + +/** + * The position_estimator_mc_thread only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int position_estimator_mc_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("position_estimator_mc already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + position_estimator_mc_task = task_spawn("position_estimator_mc", + SCHED_RR, + SCHED_PRIORITY_MAX - 5, + 4096, + position_estimator_mc_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("position_estimator_mc is running"); + } else { + warnx("position_estimator_mc not started"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +/**************************************************************************** + * main + ****************************************************************************/ +int position_estimator_mc_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + warnx("[position_estimator_mc] started"); + int mavlink_fd; + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + mavlink_log_info(mavlink_fd, "[position_estimator_mc] started"); + + /* initialize values */ + float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */ + // float rotMatrix[4] = {1.0f, 0.0f, 0.0f, 1.0f}; + float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f}; + float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f}; + float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f}; + + // XXX this is terribly wrong and should actual dT instead + const float dT_const_50 = 1.0f/50.0f; + + float addNoise = 0.0f; + float sigma = 0.0f; + //computed from dlqe in matlab + const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f}; + // XXX implement baro filter + const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f}; + float K[3] = {0.0f, 0.0f, 0.0f}; + int baro_loop_cnt = 0; + int baro_loop_end = 70; /* measurement for 1 second */ + float p0_Pa = 0.0f; /* to determin while start up */ + float rho0 = 1.293f; /* standard pressure */ + const float const_earth_gravity = 9.81f; + + float posX = 0.0f; + float posY = 0.0f; + float posZ = 0.0f; + + double lat_current; + double lon_current; + float alt_current; + + float gps_origin_altitude = 0.0f; + + /* Initialize filter */ + kalman_dlqe2_initialize(); + kalman_dlqe3_initialize(); + + /* declare and safely initialize all structs */ + struct sensor_combined_s sensor; + memset(&sensor, 0, sizeof(sensor)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_status_s vehicle_status; + memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */ + struct vehicle_vicon_position_s vicon_pos; + memset(&vicon_pos, 0, sizeof(vicon_pos)); + struct actuator_controls_effective_s act_eff; + memset(&act_eff, 0, sizeof(act_eff)); + struct vehicle_gps_position_s gps; + memset(&gps, 0, sizeof(gps)); + struct vehicle_local_position_s local_pos_est; + memset(&local_pos_est, 0, sizeof(local_pos_est)); + struct vehicle_global_position_s global_pos_est; + memset(&global_pos_est, 0, sizeof(global_pos_est)); + + /* subscribe */ + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + int sub_params = orb_subscribe(ORB_ID(parameter_update)); + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0)); + int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + + /* advertise */ + orb_advert_t local_pos_est_pub = 0; + orb_advert_t global_pos_est_pub = 0; + + struct position_estimator_mc_params pos1D_params; + struct position_estimator_mc_param_handles pos1D_param_handles; + /* initialize parameter handles */ + parameters_init(&pos1D_param_handles); + + bool flag_use_gps = false; + bool flag_use_baro = false; + bool flag_baro_initialized = false; /* in any case disable baroINITdone */ + /* FIRST PARAMETER READ at START UP*/ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */ + /* FIRST PARAMETER UPDATE */ + parameters_update(&pos1D_param_handles, &pos1D_params); + flag_use_baro = pos1D_params.baro; + sigma = pos1D_params.sigma; + addNoise = pos1D_params.addNoise; + /* END FIRST PARAMETER UPDATE */ + + /* try to grab a vicon message - if it fails, go for GPS. */ + + /* make sure the next orb_check() can't return true unless we get a timely update */ + orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); + /* allow 200 ms for vicon to come in */ + usleep(200000); + /* check if we got vicon */ + bool update_check; + orb_check(vicon_pos_sub, &update_check); + /* if no update was available, use GPS */ + flag_use_gps = !update_check; + + if (flag_use_gps) { + mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked"); + /* wait until gps signal turns valid, only then can we initialize the projection */ + + // XXX magic number + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; + + /* + * If horizontal dilution of precision (hdop / eph) + * and vertical diluation of precision (vdop / epv) + * are below a certain threshold (e.g. 4 m), AND + * home position is not yet set AND the last GPS + * GPS measurement is not older than two seconds AND + * the system is currently not armed, set home + * position to the current position. + */ + + while (!(gps.fix_type == 3 + && (gps.eph_m < hdop_threshold_m) + && (gps.epv_m < vdop_threshold_m) + && (hrt_absolute_time() - gps.timestamp_position < 2000000))) { + + struct pollfd fds1[2] = { + { .fd = vehicle_gps_sub, .events = POLLIN }, + { .fd = sub_params, .events = POLLIN }, + }; + + /* wait for GPS updates, BUT READ VEHICLE STATUS (!) + * this choice is critical, since the vehicle status might not + * actually change, if this app is started after GPS lock was + * aquired. + */ + if (poll(fds1, 2, 5000)) { + if (fds1[0].revents & POLLIN){ + /* Read gps position */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + } + if (fds1[1].revents & POLLIN){ + /* Read out parameters to check for an update there, e.g. useGPS variable */ + /* read from param to clear updated flag */ + struct parameter_update_s updated; + orb_copy(ORB_ID(parameter_update), sub_params, &updated); + /* update parameters */ + parameters_update(&pos1D_param_handles, &pos1D_params); + } + } + static int printcounter = 0; + if (printcounter == 100) { + printcounter = 0; + warnx("[pos_est_mc] wait for GPS fix"); + } + printcounter++; + } + + /* get gps value for first initialization */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + lat_current = ((double)(gps.lat)) * 1e-7d; + lon_current = ((double)(gps.lon)) * 1e-7d; + alt_current = gps.alt * 1e-3f; + gps_origin_altitude = alt_current; + /* initialize coordinates */ + map_projection_init(lat_current, lon_current); + /* publish global position messages only after first GPS message */ + printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); + + } else { + mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); + /* onboard calculated position estimations */ + } + thread_running = true; + + struct pollfd fds2[3] = { + { .fd = vehicle_gps_sub, .events = POLLIN }, + { .fd = vicon_pos_sub, .events = POLLIN }, + { .fd = sub_params, .events = POLLIN }, + }; + + bool vicon_updated = false; + bool gps_updated = false; + + /**< main_loop */ + while (!thread_should_exit) { + int ret = poll(fds2, 3, 20); //wait maximal this 20 ms = 50 Hz minimum rate + if (ret < 0) { + /* poll error */ + } else { + if (fds2[2].revents & POLLIN){ + /* new parameter */ + /* read from param to clear updated flag */ + struct parameter_update_s updated; + orb_copy(ORB_ID(parameter_update), sub_params, &updated); + /* update parameters */ + parameters_update(&pos1D_param_handles, &pos1D_params); + flag_use_baro = pos1D_params.baro; + sigma = pos1D_params.sigma; + addNoise = pos1D_params.addNoise; + } + vicon_updated = false; /* default is no vicon_updated */ + if (fds2[1].revents & POLLIN) { + /* new vicon position */ + orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); + posX = vicon_pos.x; + posY = vicon_pos.y; + posZ = vicon_pos.z; + vicon_updated = true; /* set flag for vicon update */ + } /* end of poll call for vicon updates */ + gps_updated = false; + if (fds2[0].revents & POLLIN) { + /* new GPS value */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + /* Project gps lat lon (Geographic coordinate system) to plane*/ + map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1])); + posX = z[0]; + posY = z[1]; + posZ = (float)(gps.alt * 1e-3f); + gps_updated = true; + } + + /* Main estimator loop */ + orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff); + orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor); + // barometric pressure estimation at start up + if (!flag_baro_initialized){ + // mean calculation over several measurements + if (baro_loop_cnt<baro_loop_end) { + p0_Pa += (sensor.baro_pres_mbar*100); + baro_loop_cnt++; + } else { + p0_Pa /= (float)(baro_loop_cnt); + flag_baro_initialized = true; + char *baro_m_start = "barometer initialized with p0 = "; + char p0_char[15]; + sprintf(p0_char, "%8.2f", (double)(p0_Pa/100)); + char *baro_m_end = " mbar"; + char str[80]; + strcpy(str,baro_m_start); + strcat(str,p0_char); + strcat(str,baro_m_end); + mavlink_log_info(mavlink_fd, str); + } + } + if (flag_use_gps) { + /* initialize map projection with the last estimate (not at full rate) */ + if (gps.fix_type > 2) { + /* x-y-position/velocity estimation in earth frame = gps frame */ + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori); + memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori); + memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); + /* z-position/velocity estimation in earth frame = vicon frame */ + float z_est = 0.0f; + if (flag_baro_initialized && flag_use_baro) { + z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity); + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */ + } else { + z_est = posZ; + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + } + + kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori); + memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); + local_pos_est.x = x_x_aposteriori_k[0]; + local_pos_est.vx = x_x_aposteriori_k[1]; + local_pos_est.y = x_y_aposteriori_k[0]; + local_pos_est.vy = x_y_aposteriori_k[1]; + local_pos_est.z = x_z_aposteriori_k[0]; + local_pos_est.vz = x_z_aposteriori_k[1]; + local_pos_est.timestamp = hrt_absolute_time(); + if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) { + /* publish local position estimate */ + if (local_pos_est_pub > 0) { + orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + } else { + local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); + } + /* publish on GPS updates */ + if (gps_updated) { + + double lat, lon; + float alt = z_est + gps_origin_altitude; + + map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon); + + global_pos_est.lat = lat; + global_pos_est.lon = lon; + global_pos_est.alt = alt; + + if (global_pos_est_pub > 0) { + orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est); + } else { + global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est); + } + } + } + } + } else { + /* x-y-position/velocity estimation in earth frame = vicon frame */ + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori); + memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori); + memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); + /* z-position/velocity estimation in earth frame = vicon frame */ + float z_est = 0.0f; + float local_sigma = 0.0f; + if (flag_baro_initialized && flag_use_baro) { + z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity); + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */ + local_sigma = 0.0f; /* don't add noise on barometer in any case */ + } else { + z_est = posZ; + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + local_sigma = sigma; + } + kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori); + memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); + local_pos_est.x = x_x_aposteriori_k[0]; + local_pos_est.vx = x_x_aposteriori_k[1]; + local_pos_est.y = x_y_aposteriori_k[0]; + local_pos_est.vy = x_y_aposteriori_k[1]; + local_pos_est.z = x_z_aposteriori_k[0]; + local_pos_est.vz = x_z_aposteriori_k[1]; + local_pos_est.timestamp = hrt_absolute_time(); + if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){ + orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + } + } + } /* end of poll return value check */ + } + + printf("[pos_est_mc] exiting.\n"); + mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting"); + thread_running = false; + return 0; +} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c new file mode 100755 index 000000000..72e5bc73b --- /dev/null +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger <daregger@student.ethz.ch> + * Tobias Naegeli <naegelit@student.ethz.ch> +* Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file position_estimator_mc_params.c + * + * Parameters for position_estimator_mc + */ + +#include "position_estimator_mc_params.h" + +/* Kalman Filter covariances */ +/* gps measurement noise standard deviation */ +PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f); +PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f); +PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f); +PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f); + +int parameters_init(struct position_estimator_mc_param_handles *h) +{ + h->addNoise = param_find("POS_EST_ADDN"); + h->sigma = param_find("POS_EST_SIGMA"); + h->r = param_find("POS_EST_R"); + h->baro_param_handle = param_find("POS_EST_BARO"); + return OK; +} + +int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p) +{ + param_get(h->addNoise, &(p->addNoise)); + param_get(h->sigma, &(p->sigma)); + param_get(h->r, &(p->R)); + param_get(h->baro_param_handle, &(p->baro)); + return OK; +} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h new file mode 100755 index 000000000..c4c95f7b4 --- /dev/null +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger <daregger@student.ethz.ch> + * Tobias Naegeli <naegelit@student.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file position_estimator_mc_params.h + * + * Parameters for Position Estimator + */ + +#include <systemlib/param/param.h> + +struct position_estimator_mc_params { + float addNoise; + float sigma; + float R; + int baro; /* consider barometer */ +}; + +struct position_estimator_mc_param_handles { + param_t addNoise; + param_t sigma; + param_t r; + param_t baro_param_handle; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct position_estimator_mc_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p); |