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author | px4dev <px4@purgatory.org> | 2013-04-26 16:14:32 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-04-26 16:14:32 -0700 |
commit | 01e427b17c161d8adaa38d6bdb91aecb434451f2 (patch) | |
tree | e33f4f6b78ef133c91ad92f1a413c2b16f17a5d5 /src/modules | |
parent | ce0e4a3afd28b97d5a540e02bef86c52a335f243 (diff) | |
download | px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.gz px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.tar.bz2 px4-firmware-01e427b17c161d8adaa38d6bdb91aecb434451f2.zip |
Merge working changes into export-build branch.
Diffstat (limited to 'src/modules')
36 files changed, 6822 insertions, 0 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp new file mode 100755 index 000000000..1a50dde0f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -0,0 +1,472 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli <naegelit@student.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_main.c + * + * Extended Kalman Filter for Attitude Estimation. + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdbool.h> +#include <poll.h> +#include <fcntl.h> +#include <v1.0/common/mavlink.h> +#include <float.h> +#include <nuttx/sched.h> +#include <sys/prctl.h> +#include <termios.h> +#include <errno.h> +#include <limits.h> +#include <math.h> +#include <uORB/uORB.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/parameter_update.h> +#include <drivers/drv_hrt.h> + +#include <systemlib/systemlib.h> +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#ifdef __cplusplus +extern "C" { +#endif +#include "codegen/attitudeKalmanfilter_initialize.h" +#include "codegen/attitudeKalmanfilter.h" +#include "attitude_estimator_ekf_params.h" +#ifdef __cplusplus +} +#endif + +extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]); + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */ + +/** + * Mainloop of attitude_estimator_ekf. + */ +int attitude_estimator_ekf_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n"); + exit(1); +} + +/** + * The attitude_estimator_ekf app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int attitude_estimator_ekf_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("attitude_estimator_ekf already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 12400, + attitude_estimator_ekf_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tattitude_estimator_ekf app is running\n"); + + } else { + printf("\tattitude_estimator_ekf app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +/* + * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) + */ + +/* + * EKF Attitude Estimator main function. + * + * Estimates the attitude recursively once started. + * + * @param argc number of commandline arguments (plus command name) + * @param argv strings containing the arguments + */ +int attitude_estimator_ekf_thread_main(int argc, char *argv[]) +{ + +const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds + + float dt = 0.005f; +/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ + float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */ + float x_aposteriori_k[12]; /**< states */ + float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f, + }; /**< init: diagonal matrix with big values */ + + float x_aposteriori[12]; + float P_aposteriori[144]; + + /* output euler angles */ + float euler[3] = {0.0f, 0.0f, 0.0f}; + + float Rot_matrix[9] = {1.f, 0, 0, + 0, 1.f, 0, + 0, 0, 1.f + }; /**< init: identity matrix */ + + // print text + printf("Extended Kalman Filter Attitude Estimator initialized..\n\n"); + fflush(stdout); + + int overloadcounter = 19; + + /* Initialize filter */ + attitudeKalmanfilter_initialize(); + + /* store start time to guard against too slow update rates */ + uint64_t last_run = hrt_absolute_time(); + + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_status_s state; + memset(&state, 0, sizeof(state)); + + uint64_t last_data = 0; + uint64_t last_measurement = 0; + + /* subscribe to raw data */ + int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); + /* rate-limit raw data updates to 200Hz */ + orb_set_interval(sub_raw, 4); + + /* subscribe to param changes */ + int sub_params = orb_subscribe(ORB_ID(parameter_update)); + + /* subscribe to system state*/ + int sub_state = orb_subscribe(ORB_ID(vehicle_status)); + + /* advertise attitude */ + orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); + + + int loopcounter = 0; + int printcounter = 0; + + thread_running = true; + + /* advertise debug value */ + // struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; + // orb_advert_t pub_dbg = -1; + + float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f}; + // XXX write this out to perf regs + + /* keep track of sensor updates */ + uint32_t sensor_last_count[3] = {0, 0, 0}; + uint64_t sensor_last_timestamp[3] = {0, 0, 0}; + + struct attitude_estimator_ekf_params ekf_params; + + struct attitude_estimator_ekf_param_handles ekf_param_handles; + + /* initialize parameter handles */ + parameters_init(&ekf_param_handles); + + uint64_t start_time = hrt_absolute_time(); + bool initialized = false; + + float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f }; + unsigned offset_count = 0; + + /* register the perf counter */ + perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf"); + + /* Main loop*/ + while (!thread_should_exit) { + + struct pollfd fds[2]; + fds[0].fd = sub_raw; + fds[0].events = POLLIN; + fds[1].fd = sub_params; + fds[1].events = POLLIN; + int ret = poll(fds, 2, 1000); + + if (ret < 0) { + /* XXX this is seriously bad - should be an emergency */ + } else if (ret == 0) { + /* check if we're in HIL - not getting sensor data is fine then */ + orb_copy(ORB_ID(vehicle_status), sub_state, &state); + + if (!state.flag_hil_enabled) { + fprintf(stderr, + "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); + } + + } else { + + /* only update parameters if they changed */ + if (fds[1].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), sub_params, &update); + + /* update parameters */ + parameters_update(&ekf_param_handles, &ekf_params); + } + + /* only run filter if sensor values changed */ + if (fds[0].revents & POLLIN) { + + /* get latest measurements */ + orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); + + if (!initialized) { + + gyro_offsets[0] += raw.gyro_rad_s[0]; + gyro_offsets[1] += raw.gyro_rad_s[1]; + gyro_offsets[2] += raw.gyro_rad_s[2]; + offset_count++; + + if (hrt_absolute_time() - start_time > 3000000LL) { + initialized = true; + gyro_offsets[0] /= offset_count; + gyro_offsets[1] /= offset_count; + gyro_offsets[2] /= offset_count; + } + + } else { + + perf_begin(ekf_loop_perf); + + /* Calculate data time difference in seconds */ + dt = (raw.timestamp - last_measurement) / 1000000.0f; + last_measurement = raw.timestamp; + uint8_t update_vect[3] = {0, 0, 0}; + + /* Fill in gyro measurements */ + if (sensor_last_count[0] != raw.gyro_counter) { + update_vect[0] = 1; + sensor_last_count[0] = raw.gyro_counter; + sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); + sensor_last_timestamp[0] = raw.timestamp; + } + + z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0]; + z_k[1] = raw.gyro_rad_s[1] - gyro_offsets[1]; + z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; + + /* update accelerometer measurements */ + if (sensor_last_count[1] != raw.accelerometer_counter) { + update_vect[1] = 1; + sensor_last_count[1] = raw.accelerometer_counter; + sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); + sensor_last_timestamp[1] = raw.timestamp; + } + + z_k[3] = raw.accelerometer_m_s2[0]; + z_k[4] = raw.accelerometer_m_s2[1]; + z_k[5] = raw.accelerometer_m_s2[2]; + + /* update magnetometer measurements */ + if (sensor_last_count[2] != raw.magnetometer_counter) { + update_vect[2] = 1; + sensor_last_count[2] = raw.magnetometer_counter; + sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); + sensor_last_timestamp[2] = raw.timestamp; + } + + z_k[6] = raw.magnetometer_ga[0]; + z_k[7] = raw.magnetometer_ga[1]; + z_k[8] = raw.magnetometer_ga[2]; + + uint64_t now = hrt_absolute_time(); + unsigned int time_elapsed = now - last_run; + last_run = now; + + if (time_elapsed > loop_interval_alarm) { + //TODO: add warning, cpu overload here + // if (overloadcounter == 20) { + // printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm); + // overloadcounter = 0; + // } + + overloadcounter++; + } + + static bool const_initialized = false; + + /* initialize with good values once we have a reasonable dt estimate */ + if (!const_initialized && dt < 0.05f && dt > 0.005f) { + dt = 0.005f; + parameters_update(&ekf_param_handles, &ekf_params); + + x_aposteriori_k[0] = z_k[0]; + x_aposteriori_k[1] = z_k[1]; + x_aposteriori_k[2] = z_k[2]; + x_aposteriori_k[3] = 0.0f; + x_aposteriori_k[4] = 0.0f; + x_aposteriori_k[5] = 0.0f; + x_aposteriori_k[6] = z_k[3]; + x_aposteriori_k[7] = z_k[4]; + x_aposteriori_k[8] = z_k[5]; + x_aposteriori_k[9] = z_k[6]; + x_aposteriori_k[10] = z_k[7]; + x_aposteriori_k[11] = z_k[8]; + + const_initialized = true; + } + + /* do not execute the filter if not initialized */ + if (!const_initialized) { + continue; + } + + uint64_t timing_start = hrt_absolute_time(); + + attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r, + euler, Rot_matrix, x_aposteriori, P_aposteriori); + + /* swap values for next iteration, check for fatal inputs */ + if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) { + memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k)); + memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k)); + + } else { + /* due to inputs or numerical failure the output is invalid, skip it */ + continue; + } + + if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); + + last_data = raw.timestamp; + + /* send out */ + att.timestamp = raw.timestamp; + + // XXX Apply the same transformation to the rotation matrix + att.roll = euler[0] - ekf_params.roll_off; + att.pitch = euler[1] - ekf_params.pitch_off; + att.yaw = euler[2] - ekf_params.yaw_off; + + att.rollspeed = x_aposteriori[0]; + att.pitchspeed = x_aposteriori[1]; + att.yawspeed = x_aposteriori[2]; + att.rollacc = x_aposteriori[3]; + att.pitchacc = x_aposteriori[4]; + att.yawacc = x_aposteriori[5]; + + //att.yawspeed =z_k[2] ; + /* copy offsets */ + memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + + /* copy rotation matrix */ + memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + att.R_valid = true; + + if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { + // Broadcast + orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); + + } else { + warnx("NaN in roll/pitch/yaw estimate!"); + } + + perf_end(ekf_loop_perf); + } + } + } + + loopcounter++; + } + + thread_running = false; + + return 0; +} diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c new file mode 100755 index 000000000..7d3812abd --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli <naegelit@student.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_params.c + * + * Parameters for EKF filter + */ + +#include "attitude_estimator_ekf_params.h" + +/* Extended Kalman Filter covariances */ + +/* gyro process noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); +/* gyro offsets process noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); + +/* gyro measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); +/* accelerometer measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); + +/* offsets in roll, pitch and yaw of sensor plane and body */ +PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); + +int parameters_init(struct attitude_estimator_ekf_param_handles *h) +{ + /* PID parameters */ + h->q0 = param_find("EKF_ATT_V2_Q0"); + h->q1 = param_find("EKF_ATT_V2_Q1"); + h->q2 = param_find("EKF_ATT_V2_Q2"); + h->q3 = param_find("EKF_ATT_V2_Q3"); + h->q4 = param_find("EKF_ATT_V2_Q4"); + + h->r0 = param_find("EKF_ATT_V2_R0"); + h->r1 = param_find("EKF_ATT_V2_R1"); + h->r2 = param_find("EKF_ATT_V2_R2"); + h->r3 = param_find("EKF_ATT_V2_R3"); + + h->roll_off = param_find("ATT_ROLL_OFFS"); + h->pitch_off = param_find("ATT_PITCH_OFFS"); + h->yaw_off = param_find("ATT_YAW_OFFS"); + + return OK; +} + +int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p) +{ + param_get(h->q0, &(p->q[0])); + param_get(h->q1, &(p->q[1])); + param_get(h->q2, &(p->q[2])); + param_get(h->q3, &(p->q[3])); + param_get(h->q4, &(p->q[4])); + + param_get(h->r0, &(p->r[0])); + param_get(h->r1, &(p->r[1])); + param_get(h->r2, &(p->r[2])); + param_get(h->r3, &(p->r[3])); + + param_get(h->roll_off, &(p->roll_off)); + param_get(h->pitch_off, &(p->pitch_off)); + param_get(h->yaw_off, &(p->yaw_off)); + + return OK; +} diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h new file mode 100755 index 000000000..09817d58e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli <naegelit@student.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_params.h + * + * Parameters for EKF filter + */ + +#include <systemlib/param/param.h> + +struct attitude_estimator_ekf_params { + float r[9]; + float q[12]; + float roll_off; + float pitch_off; + float yaw_off; +}; + +struct attitude_estimator_ekf_param_handles { + param_t r0, r1, r2, r3; + param_t q0, q1, q2, q3, q4; + param_t roll_off, pitch_off, yaw_off; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct attitude_estimator_ekf_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p); diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c new file mode 100755 index 000000000..9e97ad11a --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c @@ -0,0 +1,1148 @@ +/*
+ * attitudeKalmanfilter.c
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "rdivide.h"
+#include "norm.h"
+#include "cross.h"
+#include "eye.h"
+#include "mrdivide.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+static real32_T rt_atan2f_snf(real32_T u0, real32_T u1);
+
+/* Function Definitions */
+static real32_T rt_atan2f_snf(real32_T u0, real32_T u1)
+{
+ real32_T y;
+ int32_T b_u0;
+ int32_T b_u1;
+ if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
+ y = ((real32_T)rtNaN);
+ } else if (rtIsInfF(u0) && rtIsInfF(u1)) {
+ if (u0 > 0.0F) {
+ b_u0 = 1;
+ } else {
+ b_u0 = -1;
+ }
+
+ if (u1 > 0.0F) {
+ b_u1 = 1;
+ } else {
+ b_u1 = -1;
+ }
+
+ y = (real32_T)atan2((real32_T)b_u0, (real32_T)b_u1);
+ } else if (u1 == 0.0F) {
+ if (u0 > 0.0F) {
+ y = RT_PIF / 2.0F;
+ } else if (u0 < 0.0F) {
+ y = -(RT_PIF / 2.0F);
+ } else {
+ y = 0.0F;
+ }
+ } else {
+ y = (real32_T)atan2(u0, u1);
+ }
+
+ return y;
+}
+
+/*
+ * function [eulerAngles,Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter_wo(updateVect,dt,z,x_aposteriori_k,P_aposteriori_k,q,r)
+ */
+void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
+ real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T
+ P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T
+ eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T
+ P_aposteriori[144])
+{
+ real32_T wak[3];
+ real32_T O[9];
+ real_T dv0[9];
+ real32_T a[9];
+ int32_T i;
+ real32_T b_a[9];
+ real32_T x_n_b[3];
+ real32_T b_x_aposteriori_k[3];
+ real32_T z_n_b[3];
+ real32_T c_a[3];
+ real32_T d_a[3];
+ int32_T i0;
+ real32_T x_apriori[12];
+ real_T dv1[144];
+ real32_T A_lin[144];
+ static const int8_T iv0[36] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+ real32_T b_A_lin[144];
+ real32_T b_q[144];
+ real32_T c_A_lin[144];
+ real32_T d_A_lin[144];
+ real32_T e_A_lin[144];
+ int32_T i1;
+ real32_T P_apriori[144];
+ real32_T b_P_apriori[108];
+ static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
+
+ real32_T K_k[108];
+ real32_T fv0[81];
+ static const int8_T iv2[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
+
+ real32_T b_r[81];
+ real32_T fv1[81];
+ real32_T f0;
+ real32_T c_P_apriori[36];
+ static const int8_T iv3[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+ real32_T fv2[36];
+ static const int8_T iv4[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+
+ real32_T c_r[9];
+ real32_T b_K_k[36];
+ real32_T d_P_apriori[72];
+ static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 1, 0, 0, 0 };
+
+ real32_T c_K_k[72];
+ static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0 };
+
+ real32_T b_z[6];
+ static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 1 };
+
+ static const int8_T iv8[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
+ 0, 0, 0, 1 };
+
+ real32_T fv3[6];
+ real32_T c_z[6];
+
+ /* Extended Attitude Kalmanfilter */
+ /* */
+ /* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
+ /* measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]' */
+ /* knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
+ /* */
+ /* [x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) */
+ /* */
+ /* Example.... */
+ /* */
+ /* $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $ */
+ /* coder.varsize('udpIndVect', [9,1], [1,0]) */
+ /* udpIndVect=find(updVect); */
+ /* process and measurement noise covariance matrix */
+ /* Q = diag(q.^2*dt); */
+ /* observation matrix */
+ /* 'attitudeKalmanfilter:33' wx= x_aposteriori_k(1); */
+ /* 'attitudeKalmanfilter:34' wy= x_aposteriori_k(2); */
+ /* 'attitudeKalmanfilter:35' wz= x_aposteriori_k(3); */
+ /* 'attitudeKalmanfilter:37' wax= x_aposteriori_k(4); */
+ /* 'attitudeKalmanfilter:38' way= x_aposteriori_k(5); */
+ /* 'attitudeKalmanfilter:39' waz= x_aposteriori_k(6); */
+ /* 'attitudeKalmanfilter:41' zex= x_aposteriori_k(7); */
+ /* 'attitudeKalmanfilter:42' zey= x_aposteriori_k(8); */
+ /* 'attitudeKalmanfilter:43' zez= x_aposteriori_k(9); */
+ /* 'attitudeKalmanfilter:45' mux= x_aposteriori_k(10); */
+ /* 'attitudeKalmanfilter:46' muy= x_aposteriori_k(11); */
+ /* 'attitudeKalmanfilter:47' muz= x_aposteriori_k(12); */
+ /* % prediction section */
+ /* body angular accelerations */
+ /* 'attitudeKalmanfilter:51' wak =[wax;way;waz]; */
+ wak[0] = x_aposteriori_k[3];
+ wak[1] = x_aposteriori_k[4];
+ wak[2] = x_aposteriori_k[5];
+
+ /* body angular rates */
+ /* 'attitudeKalmanfilter:54' wk =[wx; wy; wz] + dt*wak; */
+ /* derivative of the prediction rotation matrix */
+ /* 'attitudeKalmanfilter:57' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
+ O[0] = 0.0F;
+ O[1] = -x_aposteriori_k[2];
+ O[2] = x_aposteriori_k[1];
+ O[3] = x_aposteriori_k[2];
+ O[4] = 0.0F;
+ O[5] = -x_aposteriori_k[0];
+ O[6] = -x_aposteriori_k[1];
+ O[7] = x_aposteriori_k[0];
+ O[8] = 0.0F;
+
+ /* prediction of the earth z vector */
+ /* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
+ eye(dv0);
+ for (i = 0; i < 9; i++) {
+ a[i] = (real32_T)dv0[i] + O[i] * dt;
+ }
+
+ /* prediction of the magnetic vector */
+ /* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
+ eye(dv0);
+ for (i = 0; i < 9; i++) {
+ b_a[i] = (real32_T)dv0[i] + O[i] * dt;
+ }
+
+ /* 'attitudeKalmanfilter:65' EZ=[0,zez,-zey; */
+ /* 'attitudeKalmanfilter:66' -zez,0,zex; */
+ /* 'attitudeKalmanfilter:67' zey,-zex,0]'; */
+ /* 'attitudeKalmanfilter:68' MA=[0,muz,-muy; */
+ /* 'attitudeKalmanfilter:69' -muz,0,mux; */
+ /* 'attitudeKalmanfilter:70' zey,-mux,0]'; */
+ /* 'attitudeKalmanfilter:74' E=eye(3); */
+ /* 'attitudeKalmanfilter:76' Z=zeros(3); */
+ /* 'attitudeKalmanfilter:77' x_apriori=[wk;wak;zek;muk]; */
+ x_n_b[0] = x_aposteriori_k[0];
+ x_n_b[1] = x_aposteriori_k[1];
+ x_n_b[2] = x_aposteriori_k[2];
+ b_x_aposteriori_k[0] = x_aposteriori_k[6];
+ b_x_aposteriori_k[1] = x_aposteriori_k[7];
+ b_x_aposteriori_k[2] = x_aposteriori_k[8];
+ z_n_b[0] = x_aposteriori_k[9];
+ z_n_b[1] = x_aposteriori_k[10];
+ z_n_b[2] = x_aposteriori_k[11];
+ for (i = 0; i < 3; i++) {
+ c_a[i] = 0.0F;
+ for (i0 = 0; i0 < 3; i0++) {
+ c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0];
+ }
+
+ d_a[i] = 0.0F;
+ for (i0 = 0; i0 < 3; i0++) {
+ d_a[i] += b_a[i + 3 * i0] * z_n_b[i0];
+ }
+
+ x_apriori[i] = x_n_b[i] + dt * wak[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ x_apriori[i + 3] = wak[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ x_apriori[i + 6] = c_a[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ x_apriori[i + 9] = d_a[i];
+ }
+
+ /* 'attitudeKalmanfilter:81' A_lin=[ Z, E, Z, Z */
+ /* 'attitudeKalmanfilter:82' Z, Z, Z, Z */
+ /* 'attitudeKalmanfilter:83' EZ, Z, O, Z */
+ /* 'attitudeKalmanfilter:84' MA, Z, Z, O]; */
+ /* 'attitudeKalmanfilter:86' A_lin=eye(12)+A_lin*dt; */
+ b_eye(dv1);
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i];
+ }
+
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * i) + 3] = 0.0F;
+ }
+ }
+
+ A_lin[6] = 0.0F;
+ A_lin[7] = x_aposteriori_k[8];
+ A_lin[8] = -x_aposteriori_k[7];
+ A_lin[18] = -x_aposteriori_k[8];
+ A_lin[19] = 0.0F;
+ A_lin[20] = x_aposteriori_k[6];
+ A_lin[30] = x_aposteriori_k[7];
+ A_lin[31] = -x_aposteriori_k[6];
+ A_lin[32] = 0.0F;
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 3)) + 6] = 0.0F;
+ }
+ }
+
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 6)) + 6] = O[i0 + 3 * i];
+ }
+ }
+
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 9)) + 6] = 0.0F;
+ }
+ }
+
+ A_lin[9] = 0.0F;
+ A_lin[10] = x_aposteriori_k[11];
+ A_lin[11] = -x_aposteriori_k[10];
+ A_lin[21] = -x_aposteriori_k[11];
+ A_lin[22] = 0.0F;
+ A_lin[23] = x_aposteriori_k[9];
+ A_lin[33] = x_aposteriori_k[7];
+ A_lin[34] = -x_aposteriori_k[9];
+ A_lin[35] = 0.0F;
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 3)) + 9] = 0.0F;
+ }
+ }
+
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 6)) + 9] = 0.0F;
+ }
+ }
+
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ A_lin[(i0 + 12 * (i + 9)) + 9] = O[i0 + 3 * i];
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ b_A_lin[i0 + 12 * i] = (real32_T)dv1[i0 + 12 * i] + A_lin[i0 + 12 * i] *
+ dt;
+ }
+ }
+
+ /* 'attitudeKalmanfilter:88' Qtemp=[ q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:89' 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:90' 0, 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:91' 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:92' 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:93' 0, 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:94' 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:95' 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0; */
+ /* 'attitudeKalmanfilter:96' 0, 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0; */
+ /* 'attitudeKalmanfilter:97' 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0, 0; */
+ /* 'attitudeKalmanfilter:98' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0; */
+ /* 'attitudeKalmanfilter:99' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4)]; */
+ /* 'attitudeKalmanfilter:103' Q=A_lin*Qtemp*A_lin'; */
+ /* 'attitudeKalmanfilter:106' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
+ b_q[0] = q[0];
+ b_q[12] = 0.0F;
+ b_q[24] = 0.0F;
+ b_q[36] = 0.0F;
+ b_q[48] = 0.0F;
+ b_q[60] = 0.0F;
+ b_q[72] = 0.0F;
+ b_q[84] = 0.0F;
+ b_q[96] = 0.0F;
+ b_q[108] = 0.0F;
+ b_q[120] = 0.0F;
+ b_q[132] = 0.0F;
+ b_q[1] = 0.0F;
+ b_q[13] = q[0];
+ b_q[25] = 0.0F;
+ b_q[37] = 0.0F;
+ b_q[49] = 0.0F;
+ b_q[61] = 0.0F;
+ b_q[73] = 0.0F;
+ b_q[85] = 0.0F;
+ b_q[97] = 0.0F;
+ b_q[109] = 0.0F;
+ b_q[121] = 0.0F;
+ b_q[133] = 0.0F;
+ b_q[2] = 0.0F;
+ b_q[14] = 0.0F;
+ b_q[26] = q[0];
+ b_q[38] = 0.0F;
+ b_q[50] = 0.0F;
+ b_q[62] = 0.0F;
+ b_q[74] = 0.0F;
+ b_q[86] = 0.0F;
+ b_q[98] = 0.0F;
+ b_q[110] = 0.0F;
+ b_q[122] = 0.0F;
+ b_q[134] = 0.0F;
+ b_q[3] = 0.0F;
+ b_q[15] = 0.0F;
+ b_q[27] = 0.0F;
+ b_q[39] = q[1];
+ b_q[51] = 0.0F;
+ b_q[63] = 0.0F;
+ b_q[75] = 0.0F;
+ b_q[87] = 0.0F;
+ b_q[99] = 0.0F;
+ b_q[111] = 0.0F;
+ b_q[123] = 0.0F;
+ b_q[135] = 0.0F;
+ b_q[4] = 0.0F;
+ b_q[16] = 0.0F;
+ b_q[28] = 0.0F;
+ b_q[40] = 0.0F;
+ b_q[52] = q[1];
+ b_q[64] = 0.0F;
+ b_q[76] = 0.0F;
+ b_q[88] = 0.0F;
+ b_q[100] = 0.0F;
+ b_q[112] = 0.0F;
+ b_q[124] = 0.0F;
+ b_q[136] = 0.0F;
+ b_q[5] = 0.0F;
+ b_q[17] = 0.0F;
+ b_q[29] = 0.0F;
+ b_q[41] = 0.0F;
+ b_q[53] = 0.0F;
+ b_q[65] = q[1];
+ b_q[77] = 0.0F;
+ b_q[89] = 0.0F;
+ b_q[101] = 0.0F;
+ b_q[113] = 0.0F;
+ b_q[125] = 0.0F;
+ b_q[137] = 0.0F;
+ b_q[6] = 0.0F;
+ b_q[18] = 0.0F;
+ b_q[30] = 0.0F;
+ b_q[42] = 0.0F;
+ b_q[54] = 0.0F;
+ b_q[66] = 0.0F;
+ b_q[78] = q[2];
+ b_q[90] = 0.0F;
+ b_q[102] = 0.0F;
+ b_q[114] = 0.0F;
+ b_q[126] = 0.0F;
+ b_q[138] = 0.0F;
+ b_q[7] = 0.0F;
+ b_q[19] = 0.0F;
+ b_q[31] = 0.0F;
+ b_q[43] = 0.0F;
+ b_q[55] = 0.0F;
+ b_q[67] = 0.0F;
+ b_q[79] = 0.0F;
+ b_q[91] = q[2];
+ b_q[103] = 0.0F;
+ b_q[115] = 0.0F;
+ b_q[127] = 0.0F;
+ b_q[139] = 0.0F;
+ b_q[8] = 0.0F;
+ b_q[20] = 0.0F;
+ b_q[32] = 0.0F;
+ b_q[44] = 0.0F;
+ b_q[56] = 0.0F;
+ b_q[68] = 0.0F;
+ b_q[80] = 0.0F;
+ b_q[92] = 0.0F;
+ b_q[104] = q[2];
+ b_q[116] = 0.0F;
+ b_q[128] = 0.0F;
+ b_q[140] = 0.0F;
+ b_q[9] = 0.0F;
+ b_q[21] = 0.0F;
+ b_q[33] = 0.0F;
+ b_q[45] = 0.0F;
+ b_q[57] = 0.0F;
+ b_q[69] = 0.0F;
+ b_q[81] = 0.0F;
+ b_q[93] = 0.0F;
+ b_q[105] = 0.0F;
+ b_q[117] = q[3];
+ b_q[129] = 0.0F;
+ b_q[141] = 0.0F;
+ b_q[10] = 0.0F;
+ b_q[22] = 0.0F;
+ b_q[34] = 0.0F;
+ b_q[46] = 0.0F;
+ b_q[58] = 0.0F;
+ b_q[70] = 0.0F;
+ b_q[82] = 0.0F;
+ b_q[94] = 0.0F;
+ b_q[106] = 0.0F;
+ b_q[118] = 0.0F;
+ b_q[130] = q[3];
+ b_q[142] = 0.0F;
+ b_q[11] = 0.0F;
+ b_q[23] = 0.0F;
+ b_q[35] = 0.0F;
+ b_q[47] = 0.0F;
+ b_q[59] = 0.0F;
+ b_q[71] = 0.0F;
+ b_q[83] = 0.0F;
+ b_q[95] = 0.0F;
+ b_q[107] = 0.0F;
+ b_q[119] = 0.0F;
+ b_q[131] = 0.0F;
+ b_q[143] = q[3];
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 *
+ i0];
+ }
+
+ c_A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ c_A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * b_q[i1 + 12 * i0];
+ }
+ }
+
+ for (i0 = 0; i0 < 12; i0++) {
+ d_A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
+ }
+
+ e_A_lin[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ e_A_lin[i + 12 * i0] += c_A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
+ }
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_apriori[i0 + 12 * i] = d_A_lin[i0 + 12 * i] + e_A_lin[i0 + 12 * i];
+ }
+ }
+
+ /* % update */
+ /* 'attitudeKalmanfilter:110' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
+ if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
+ /* 'attitudeKalmanfilter:111' if z(6)<4 || z(5)>15 */
+ if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
+ /* 'attitudeKalmanfilter:112' r(2)=10000; */
+ r[1] = 10000.0F;
+ }
+
+ /* 'attitudeKalmanfilter:114' R=[r(1),0,0,0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:115' 0,r(1),0,0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:116' 0,0,r(1),0,0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:117' 0,0,0,r(2),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:118' 0,0,0,0,r(2),0,0,0,0; */
+ /* 'attitudeKalmanfilter:119' 0,0,0,0,0,r(2),0,0,0; */
+ /* 'attitudeKalmanfilter:120' 0,0,0,0,0,0,r(3),0,0; */
+ /* 'attitudeKalmanfilter:121' 0,0,0,0,0,0,0,r(3),0; */
+ /* 'attitudeKalmanfilter:122' 0,0,0,0,0,0,0,0,r(3)]; */
+ /* observation matrix */
+ /* [zw;ze;zmk]; */
+ /* 'attitudeKalmanfilter:125' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:126' Z, Z, E, Z; */
+ /* 'attitudeKalmanfilter:127' Z, Z, Z, E]; */
+ /* 'attitudeKalmanfilter:129' y_k=z(1:9)-H_k*x_apriori; */
+ /* 'attitudeKalmanfilter:132' S_k=H_k*P_apriori*H_k'+R; */
+ /* 'attitudeKalmanfilter:133' K_k=(P_apriori*H_k'/(S_k)); */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 9; i0++) {
+ b_P_apriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1
+ + 12 * i0];
+ }
+ }
+ }
+
+ for (i = 0; i < 9; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ K_k[i + 9 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0];
+ }
+ }
+
+ for (i0 = 0; i0 < 9; i0++) {
+ fv0[i + 9 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0];
+ }
+ }
+ }
+
+ b_r[0] = r[0];
+ b_r[9] = 0.0F;
+ b_r[18] = 0.0F;
+ b_r[27] = 0.0F;
+ b_r[36] = 0.0F;
+ b_r[45] = 0.0F;
+ b_r[54] = 0.0F;
+ b_r[63] = 0.0F;
+ b_r[72] = 0.0F;
+ b_r[1] = 0.0F;
+ b_r[10] = r[0];
+ b_r[19] = 0.0F;
+ b_r[28] = 0.0F;
+ b_r[37] = 0.0F;
+ b_r[46] = 0.0F;
+ b_r[55] = 0.0F;
+ b_r[64] = 0.0F;
+ b_r[73] = 0.0F;
+ b_r[2] = 0.0F;
+ b_r[11] = 0.0F;
+ b_r[20] = r[0];
+ b_r[29] = 0.0F;
+ b_r[38] = 0.0F;
+ b_r[47] = 0.0F;
+ b_r[56] = 0.0F;
+ b_r[65] = 0.0F;
+ b_r[74] = 0.0F;
+ b_r[3] = 0.0F;
+ b_r[12] = 0.0F;
+ b_r[21] = 0.0F;
+ b_r[30] = r[1];
+ b_r[39] = 0.0F;
+ b_r[48] = 0.0F;
+ b_r[57] = 0.0F;
+ b_r[66] = 0.0F;
+ b_r[75] = 0.0F;
+ b_r[4] = 0.0F;
+ b_r[13] = 0.0F;
+ b_r[22] = 0.0F;
+ b_r[31] = 0.0F;
+ b_r[40] = r[1];
+ b_r[49] = 0.0F;
+ b_r[58] = 0.0F;
+ b_r[67] = 0.0F;
+ b_r[76] = 0.0F;
+ b_r[5] = 0.0F;
+ b_r[14] = 0.0F;
+ b_r[23] = 0.0F;
+ b_r[32] = 0.0F;
+ b_r[41] = 0.0F;
+ b_r[50] = r[1];
+ b_r[59] = 0.0F;
+ b_r[68] = 0.0F;
+ b_r[77] = 0.0F;
+ b_r[6] = 0.0F;
+ b_r[15] = 0.0F;
+ b_r[24] = 0.0F;
+ b_r[33] = 0.0F;
+ b_r[42] = 0.0F;
+ b_r[51] = 0.0F;
+ b_r[60] = r[2];
+ b_r[69] = 0.0F;
+ b_r[78] = 0.0F;
+ b_r[7] = 0.0F;
+ b_r[16] = 0.0F;
+ b_r[25] = 0.0F;
+ b_r[34] = 0.0F;
+ b_r[43] = 0.0F;
+ b_r[52] = 0.0F;
+ b_r[61] = 0.0F;
+ b_r[70] = r[2];
+ b_r[79] = 0.0F;
+ b_r[8] = 0.0F;
+ b_r[17] = 0.0F;
+ b_r[26] = 0.0F;
+ b_r[35] = 0.0F;
+ b_r[44] = 0.0F;
+ b_r[53] = 0.0F;
+ b_r[62] = 0.0F;
+ b_r[71] = 0.0F;
+ b_r[80] = r[2];
+ for (i = 0; i < 9; i++) {
+ for (i0 = 0; i0 < 9; i0++) {
+ fv1[i0 + 9 * i] = fv0[i0 + 9 * i] + b_r[i0 + 9 * i];
+ }
+ }
+
+ mrdivide(b_P_apriori, fv1, K_k);
+
+ /* 'attitudeKalmanfilter:136' x_aposteriori=x_apriori+K_k*y_k; */
+ for (i = 0; i < 9; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0];
+ }
+
+ O[i] = z[i] - f0;
+ }
+
+ for (i = 0; i < 12; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 9; i0++) {
+ f0 += K_k[i + 12 * i0] * O[i0];
+ }
+
+ x_aposteriori[i] = x_apriori[i] + f0;
+ }
+
+ /* 'attitudeKalmanfilter:137' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
+ b_eye(dv1);
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 = 0.0F;
+ for (i1 = 0; i1 < 9; i1++) {
+ f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0];
+ }
+
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_aposteriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12
+ * i0];
+ }
+ }
+ }
+ } else {
+ /* 'attitudeKalmanfilter:138' else */
+ /* 'attitudeKalmanfilter:139' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
+ if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
+ /* 'attitudeKalmanfilter:141' R=[r(1),0,0; */
+ /* 'attitudeKalmanfilter:142' 0,r(1),0; */
+ /* 'attitudeKalmanfilter:143' 0,0,r(1)]; */
+ /* observation matrix */
+ /* 'attitudeKalmanfilter:146' H_k=[ E, Z, Z, Z]; */
+ /* 'attitudeKalmanfilter:148' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:150' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
+ /* 'attitudeKalmanfilter:151' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ c_P_apriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
+ iv3[i1 + 12 * i0];
+ }
+ }
+ }
+
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ fv2[i + 3 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 *
+ i0];
+ }
+ }
+
+ for (i0 = 0; i0 < 3; i0++) {
+ O[i + 3 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0];
+ }
+ }
+ }
+
+ c_r[0] = r[0];
+ c_r[3] = 0.0F;
+ c_r[6] = 0.0F;
+ c_r[1] = 0.0F;
+ c_r[4] = r[0];
+ c_r[7] = 0.0F;
+ c_r[2] = 0.0F;
+ c_r[5] = 0.0F;
+ c_r[8] = r[0];
+ for (i = 0; i < 3; i++) {
+ for (i0 = 0; i0 < 3; i0++) {
+ a[i0 + 3 * i] = O[i0 + 3 * i] + c_r[i0 + 3 * i];
+ }
+ }
+
+ b_mrdivide(c_P_apriori, a, b_K_k);
+
+ /* 'attitudeKalmanfilter:154' x_aposteriori=x_apriori+K_k*y_k; */
+ for (i = 0; i < 3; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0];
+ }
+
+ x_n_b[i] = z[i] - f0;
+ }
+
+ for (i = 0; i < 12; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 3; i0++) {
+ f0 += b_K_k[i + 12 * i0] * x_n_b[i0];
+ }
+
+ x_aposteriori[i] = x_apriori[i] + f0;
+ }
+
+ /* 'attitudeKalmanfilter:155' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
+ b_eye(dv1);
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 = 0.0F;
+ for (i1 = 0; i1 < 3; i1++) {
+ f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0];
+ }
+
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_aposteriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 +
+ 12 * i0];
+ }
+ }
+ }
+ } else {
+ /* 'attitudeKalmanfilter:156' else */
+ /* 'attitudeKalmanfilter:157' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
+ if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
+ {
+ /* 'attitudeKalmanfilter:158' if z(6)<4 || z(5)>15 */
+ if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
+ /* 'attitudeKalmanfilter:159' r(2)=10000; */
+ r[1] = 10000.0F;
+ }
+
+ /* 'attitudeKalmanfilter:162' R=[r(1),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:163' 0,r(1),0,0,0,0; */
+ /* 'attitudeKalmanfilter:164' 0,0,r(1),0,0,0; */
+ /* 'attitudeKalmanfilter:165' 0,0,0,r(2),0,0; */
+ /* 'attitudeKalmanfilter:166' 0,0,0,0,r(2),0; */
+ /* 'attitudeKalmanfilter:167' 0,0,0,0,0,r(2)]; */
+ /* observation matrix */
+ /* 'attitudeKalmanfilter:170' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:171' Z, Z, E, Z]; */
+ /* 'attitudeKalmanfilter:173' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:175' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
+ /* 'attitudeKalmanfilter:176' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ d_P_apriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
+ iv5[i1 + 12 * i0];
+ }
+ }
+ }
+
+ for (i = 0; i < 6; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ c_K_k[i + 6 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12
+ * i0];
+ }
+ }
+
+ for (i0 = 0; i0 < 6; i0++) {
+ fv2[i + 6 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0];
+ }
+ }
+ }
+
+ b_K_k[0] = r[0];
+ b_K_k[6] = 0.0F;
+ b_K_k[12] = 0.0F;
+ b_K_k[18] = 0.0F;
+ b_K_k[24] = 0.0F;
+ b_K_k[30] = 0.0F;
+ b_K_k[1] = 0.0F;
+ b_K_k[7] = r[0];
+ b_K_k[13] = 0.0F;
+ b_K_k[19] = 0.0F;
+ b_K_k[25] = 0.0F;
+ b_K_k[31] = 0.0F;
+ b_K_k[2] = 0.0F;
+ b_K_k[8] = 0.0F;
+ b_K_k[14] = r[0];
+ b_K_k[20] = 0.0F;
+ b_K_k[26] = 0.0F;
+ b_K_k[32] = 0.0F;
+ b_K_k[3] = 0.0F;
+ b_K_k[9] = 0.0F;
+ b_K_k[15] = 0.0F;
+ b_K_k[21] = r[1];
+ b_K_k[27] = 0.0F;
+ b_K_k[33] = 0.0F;
+ b_K_k[4] = 0.0F;
+ b_K_k[10] = 0.0F;
+ b_K_k[16] = 0.0F;
+ b_K_k[22] = 0.0F;
+ b_K_k[28] = r[1];
+ b_K_k[34] = 0.0F;
+ b_K_k[5] = 0.0F;
+ b_K_k[11] = 0.0F;
+ b_K_k[17] = 0.0F;
+ b_K_k[23] = 0.0F;
+ b_K_k[29] = 0.0F;
+ b_K_k[35] = r[1];
+ for (i = 0; i < 6; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
+ }
+ }
+
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
+
+ /* 'attitudeKalmanfilter:179' x_aposteriori=x_apriori+K_k*y_k; */
+ for (i = 0; i < 6; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
+ }
+
+ b_z[i] = z[i] - f0;
+ }
+
+ for (i = 0; i < 12; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 6; i0++) {
+ f0 += c_K_k[i + 12 * i0] * b_z[i0];
+ }
+
+ x_aposteriori[i] = x_apriori[i] + f0;
+ }
+
+ /* 'attitudeKalmanfilter:180' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ b_eye(dv1);
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 = 0.0F;
+ for (i1 = 0; i1 < 6; i1++) {
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
+ }
+
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_aposteriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1
+ + 12 * i0];
+ }
+ }
+ }
+ } else {
+ /* 'attitudeKalmanfilter:181' else */
+ /* 'attitudeKalmanfilter:182' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
+ if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1))
+ {
+ /* 'attitudeKalmanfilter:183' R=[r(1),0,0,0,0,0; */
+ /* 'attitudeKalmanfilter:184' 0,r(1),0,0,0,0; */
+ /* 'attitudeKalmanfilter:185' 0,0,r(1),0,0,0; */
+ /* 'attitudeKalmanfilter:186' 0,0,0,r(3),0,0; */
+ /* 'attitudeKalmanfilter:187' 0,0,0,0,r(3),0; */
+ /* 'attitudeKalmanfilter:188' 0,0,0,0,0,r(3)]; */
+ /* observation matrix */
+ /* 'attitudeKalmanfilter:191' H_k=[ E, Z, Z, Z; */
+ /* 'attitudeKalmanfilter:192' Z, Z, Z, E]; */
+ /* 'attitudeKalmanfilter:194' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
+ /* 'attitudeKalmanfilter:196' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
+ /* 'attitudeKalmanfilter:197' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ d_P_apriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
+ iv7[i1 + 12 * i0];
+ }
+ }
+ }
+
+ for (i = 0; i < 6; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ c_K_k[i + 6 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 +
+ 12 * i0];
+ }
+ }
+
+ for (i0 = 0; i0 < 6; i0++) {
+ fv2[i + 6 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 *
+ i0];
+ }
+ }
+ }
+
+ b_K_k[0] = r[0];
+ b_K_k[6] = 0.0F;
+ b_K_k[12] = 0.0F;
+ b_K_k[18] = 0.0F;
+ b_K_k[24] = 0.0F;
+ b_K_k[30] = 0.0F;
+ b_K_k[1] = 0.0F;
+ b_K_k[7] = r[0];
+ b_K_k[13] = 0.0F;
+ b_K_k[19] = 0.0F;
+ b_K_k[25] = 0.0F;
+ b_K_k[31] = 0.0F;
+ b_K_k[2] = 0.0F;
+ b_K_k[8] = 0.0F;
+ b_K_k[14] = r[0];
+ b_K_k[20] = 0.0F;
+ b_K_k[26] = 0.0F;
+ b_K_k[32] = 0.0F;
+ b_K_k[3] = 0.0F;
+ b_K_k[9] = 0.0F;
+ b_K_k[15] = 0.0F;
+ b_K_k[21] = r[2];
+ b_K_k[27] = 0.0F;
+ b_K_k[33] = 0.0F;
+ b_K_k[4] = 0.0F;
+ b_K_k[10] = 0.0F;
+ b_K_k[16] = 0.0F;
+ b_K_k[22] = 0.0F;
+ b_K_k[28] = r[2];
+ b_K_k[34] = 0.0F;
+ b_K_k[5] = 0.0F;
+ b_K_k[11] = 0.0F;
+ b_K_k[17] = 0.0F;
+ b_K_k[23] = 0.0F;
+ b_K_k[29] = 0.0F;
+ b_K_k[35] = r[2];
+ for (i = 0; i < 6; i++) {
+ for (i0 = 0; i0 < 6; i0++) {
+ c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
+ }
+ }
+
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
+
+ /* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */
+ for (i = 0; i < 3; i++) {
+ b_z[i] = z[i];
+ }
+
+ for (i = 0; i < 3; i++) {
+ b_z[i + 3] = z[i + 6];
+ }
+
+ for (i = 0; i < 6; i++) {
+ fv3[i] = 0.0F;
+ for (i0 = 0; i0 < 12; i0++) {
+ fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0];
+ }
+
+ c_z[i] = b_z[i] - fv3[i];
+ }
+
+ for (i = 0; i < 12; i++) {
+ f0 = 0.0F;
+ for (i0 = 0; i0 < 6; i0++) {
+ f0 += c_K_k[i + 12 * i0] * c_z[i0];
+ }
+
+ x_aposteriori[i] = x_apriori[i] + f0;
+ }
+
+ /* 'attitudeKalmanfilter:201' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ b_eye(dv1);
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ f0 = 0.0F;
+ for (i1 = 0; i1 < 6; i1++) {
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0];
+ }
+
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ }
+ }
+
+ for (i = 0; i < 12; i++) {
+ for (i0 = 0; i0 < 12; i0++) {
+ P_aposteriori[i + 12 * i0] = 0.0F;
+ for (i1 = 0; i1 < 12; i1++) {
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] *
+ P_apriori[i1 + 12 * i0];
+ }
+ }
+ }
+ } else {
+ /* 'attitudeKalmanfilter:202' else */
+ /* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */
+ for (i = 0; i < 12; i++) {
+ x_aposteriori[i] = x_apriori[i];
+ }
+
+ /* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */
+ memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T));
+ }
+ }
+ }
+ }
+
+ /* % euler anglels extraction */
+ /* 'attitudeKalmanfilter:213' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
+ for (i = 0; i < 3; i++) {
+ x_n_b[i] = -x_aposteriori[i + 6];
+ }
+
+ rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b);
+
+ /* 'attitudeKalmanfilter:214' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
+ rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])&
+ x_aposteriori[9]), wak);
+
+ /* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */
+ for (i = 0; i < 3; i++) {
+ x_n_b[i] = wak[i];
+ }
+
+ cross(z_n_b, x_n_b, wak);
+
+ /* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */
+ for (i = 0; i < 3; i++) {
+ x_n_b[i] = wak[i];
+ }
+
+ rdivide(x_n_b, norm(wak), wak);
+
+ /* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */
+ cross(wak, z_n_b, x_n_b);
+
+ /* 'attitudeKalmanfilter:220' x_n_b=x_n_b./norm(x_n_b); */
+ for (i = 0; i < 3; i++) {
+ b_x_aposteriori_k[i] = x_n_b[i];
+ }
+
+ rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b);
+
+ /* 'attitudeKalmanfilter:226' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
+ for (i = 0; i < 3; i++) {
+ Rot_matrix[i] = x_n_b[i];
+ Rot_matrix[3 + i] = wak[i];
+ Rot_matrix[6 + i] = z_n_b[i];
+ }
+
+ /* 'attitudeKalmanfilter:230' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
+ /* 'attitudeKalmanfilter:231' theta=-asin(Rot_matrix(1,3)); */
+ /* 'attitudeKalmanfilter:232' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
+ /* 'attitudeKalmanfilter:233' eulerAngles=[phi;theta;psi]; */
+ eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
+ eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]);
+ eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
+}
+
+/* End of code generation (attitudeKalmanfilter.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h new file mode 100755 index 000000000..afa63c1a9 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h @@ -0,0 +1,34 @@ +/*
+ * attitudeKalmanfilter.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __ATTITUDEKALMANFILTER_H__
+#define __ATTITUDEKALMANFILTER_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
+#endif
+/* End of code generation (attitudeKalmanfilter.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c new file mode 100755 index 000000000..7d620d7fa --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c @@ -0,0 +1,31 @@ +/*
+ * attitudeKalmanfilter_initialize.c
+ *
+ * Code generation for function 'attitudeKalmanfilter_initialize'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "attitudeKalmanfilter_initialize.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void attitudeKalmanfilter_initialize(void)
+{
+ rt_InitInfAndNaN(8U);
+}
+
+/* End of code generation (attitudeKalmanfilter_initialize.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h new file mode 100755 index 000000000..8b599be66 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h @@ -0,0 +1,34 @@ +/*
+ * attitudeKalmanfilter_initialize.h
+ *
+ * Code generation for function 'attitudeKalmanfilter_initialize'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__
+#define __ATTITUDEKALMANFILTER_INITIALIZE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void attitudeKalmanfilter_initialize(void);
+#endif
+/* End of code generation (attitudeKalmanfilter_initialize.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c new file mode 100755 index 000000000..7f9727419 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c @@ -0,0 +1,31 @@ +/*
+ * attitudeKalmanfilter_terminate.c
+ *
+ * Code generation for function 'attitudeKalmanfilter_terminate'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "attitudeKalmanfilter_terminate.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+void attitudeKalmanfilter_terminate(void)
+{
+ /* (no terminate code required) */
+}
+
+/* End of code generation (attitudeKalmanfilter_terminate.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h new file mode 100755 index 000000000..da84a5024 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h @@ -0,0 +1,34 @@ +/*
+ * attitudeKalmanfilter_terminate.h
+ *
+ * Code generation for function 'attitudeKalmanfilter_terminate'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__
+#define __ATTITUDEKALMANFILTER_TERMINATE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void attitudeKalmanfilter_terminate(void);
+#endif
+/* End of code generation (attitudeKalmanfilter_terminate.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h new file mode 100755 index 000000000..30fd1e75e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h @@ -0,0 +1,16 @@ +/*
+ * attitudeKalmanfilter_types.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __ATTITUDEKALMANFILTER_TYPES_H__
+#define __ATTITUDEKALMANFILTER_TYPES_H__
+
+/* Type Definitions */
+
+#endif
+/* End of code generation (attitudeKalmanfilter_types.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c new file mode 100755 index 000000000..84ada9002 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/cross.c @@ -0,0 +1,37 @@ +/*
+ * cross.c
+ *
+ * Code generation for function 'cross'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "cross.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+void cross(const real32_T a[3], const real32_T b[3], real32_T c[3])
+{
+ c[0] = a[1] * b[2] - a[2] * b[1];
+ c[1] = a[2] * b[0] - a[0] * b[2];
+ c[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+/* End of code generation (cross.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h new file mode 100755 index 000000000..e727f0684 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/cross.h @@ -0,0 +1,34 @@ +/*
+ * cross.h
+ *
+ * Code generation for function 'cross'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __CROSS_H__
+#define __CROSS_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]);
+#endif
+/* End of code generation (cross.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c new file mode 100755 index 000000000..b89ab58ef --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/eye.c @@ -0,0 +1,51 @@ +/*
+ * eye.c
+ *
+ * Code generation for function 'eye'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "eye.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+void b_eye(real_T I[144])
+{
+ int32_T i;
+ memset(&I[0], 0, 144U * sizeof(real_T));
+ for (i = 0; i < 12; i++) {
+ I[i + 12 * i] = 1.0;
+ }
+}
+
+/*
+ *
+ */
+void eye(real_T I[9])
+{
+ int32_T i;
+ memset(&I[0], 0, 9U * sizeof(real_T));
+ for (i = 0; i < 3; i++) {
+ I[i + 3 * i] = 1.0;
+ }
+}
+
+/* End of code generation (eye.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h new file mode 100755 index 000000000..94fbe7671 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/eye.h @@ -0,0 +1,35 @@ +/*
+ * eye.h
+ *
+ * Code generation for function 'eye'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __EYE_H__
+#define __EYE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void b_eye(real_T I[144]);
+extern void eye(real_T I[9]);
+#endif
+/* End of code generation (eye.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c new file mode 100755 index 000000000..a810f22e4 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c @@ -0,0 +1,357 @@ +/*
+ * mrdivide.c
+ *
+ * Code generation for function 'mrdivide'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "mrdivide.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
+{
+ real32_T b_A[9];
+ int32_T rtemp;
+ int32_T k;
+ real32_T b_B[36];
+ int32_T r1;
+ int32_T r2;
+ int32_T r3;
+ real32_T maxval;
+ real32_T a21;
+ real32_T Y[36];
+ for (rtemp = 0; rtemp < 3; rtemp++) {
+ for (k = 0; k < 3; k++) {
+ b_A[k + 3 * rtemp] = B[rtemp + 3 * k];
+ }
+ }
+
+ for (rtemp = 0; rtemp < 12; rtemp++) {
+ for (k = 0; k < 3; k++) {
+ b_B[k + 3 * rtemp] = A[rtemp + 12 * k];
+ }
+ }
+
+ r1 = 0;
+ r2 = 1;
+ r3 = 2;
+ maxval = (real32_T)fabs(b_A[0]);
+ a21 = (real32_T)fabs(b_A[1]);
+ if (a21 > maxval) {
+ maxval = a21;
+ r1 = 1;
+ r2 = 0;
+ }
+
+ if ((real32_T)fabs(b_A[2]) > maxval) {
+ r1 = 2;
+ r2 = 1;
+ r3 = 0;
+ }
+
+ b_A[r2] /= b_A[r1];
+ b_A[r3] /= b_A[r1];
+ b_A[3 + r2] -= b_A[r2] * b_A[3 + r1];
+ b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
+ b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
+ b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
+ if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
+ rtemp = r2;
+ r2 = r3;
+ r3 = rtemp;
+ }
+
+ b_A[3 + r3] /= b_A[3 + r2];
+ b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2];
+ for (k = 0; k < 12; k++) {
+ Y[3 * k] = b_B[r1 + 3 * k];
+ Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2];
+ Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3
+ + r3];
+ Y[2 + 3 * k] /= b_A[6 + r3];
+ Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1];
+ Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2];
+ Y[1 + 3 * k] /= b_A[3 + r2];
+ Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1];
+ Y[3 * k] /= b_A[r1];
+ }
+
+ for (rtemp = 0; rtemp < 3; rtemp++) {
+ for (k = 0; k < 12; k++) {
+ y[k + 12 * rtemp] = Y[rtemp + 3 * k];
+ }
+ }
+}
+
+/*
+ *
+ */
+void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
+{
+ real32_T b_A[36];
+ int8_T ipiv[6];
+ int32_T i3;
+ int32_T iy;
+ int32_T j;
+ int32_T c;
+ int32_T ix;
+ real32_T temp;
+ int32_T k;
+ real32_T s;
+ int32_T jy;
+ int32_T ijA;
+ real32_T Y[72];
+ for (i3 = 0; i3 < 6; i3++) {
+ for (iy = 0; iy < 6; iy++) {
+ b_A[iy + 6 * i3] = B[i3 + 6 * iy];
+ }
+
+ ipiv[i3] = (int8_T)(1 + i3);
+ }
+
+ for (j = 0; j < 5; j++) {
+ c = j * 7;
+ iy = 0;
+ ix = c;
+ temp = (real32_T)fabs(b_A[c]);
+ for (k = 2; k <= 6 - j; k++) {
+ ix++;
+ s = (real32_T)fabs(b_A[ix]);
+ if (s > temp) {
+ iy = k - 1;
+ temp = s;
+ }
+ }
+
+ if (b_A[c + iy] != 0.0F) {
+ if (iy != 0) {
+ ipiv[j] = (int8_T)((j + iy) + 1);
+ ix = j;
+ iy += j;
+ for (k = 0; k < 6; k++) {
+ temp = b_A[ix];
+ b_A[ix] = b_A[iy];
+ b_A[iy] = temp;
+ ix += 6;
+ iy += 6;
+ }
+ }
+
+ i3 = (c - j) + 6;
+ for (jy = c + 1; jy + 1 <= i3; jy++) {
+ b_A[jy] /= b_A[c];
+ }
+ }
+
+ iy = c;
+ jy = c + 6;
+ for (k = 1; k <= 5 - j; k++) {
+ temp = b_A[jy];
+ if (b_A[jy] != 0.0F) {
+ ix = c + 1;
+ i3 = (iy - j) + 12;
+ for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
+ b_A[ijA] += b_A[ix] * -temp;
+ ix++;
+ }
+ }
+
+ jy += 6;
+ iy += 6;
+ }
+ }
+
+ for (i3 = 0; i3 < 12; i3++) {
+ for (iy = 0; iy < 6; iy++) {
+ Y[iy + 6 * i3] = A[i3 + 12 * iy];
+ }
+ }
+
+ for (jy = 0; jy < 6; jy++) {
+ if (ipiv[jy] != jy + 1) {
+ for (j = 0; j < 12; j++) {
+ temp = Y[jy + 6 * j];
+ Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
+ Y[(ipiv[jy] + 6 * j) - 1] = temp;
+ }
+ }
+ }
+
+ for (j = 0; j < 12; j++) {
+ c = 6 * j;
+ for (k = 0; k < 6; k++) {
+ iy = 6 * k;
+ if (Y[k + c] != 0.0F) {
+ for (jy = k + 2; jy < 7; jy++) {
+ Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
+ }
+ }
+ }
+ }
+
+ for (j = 0; j < 12; j++) {
+ c = 6 * j;
+ for (k = 5; k > -1; k += -1) {
+ iy = 6 * k;
+ if (Y[k + c] != 0.0F) {
+ Y[k + c] /= b_A[k + iy];
+ for (jy = 0; jy + 1 <= k; jy++) {
+ Y[jy + c] -= Y[k + c] * b_A[jy + iy];
+ }
+ }
+ }
+ }
+
+ for (i3 = 0; i3 < 6; i3++) {
+ for (iy = 0; iy < 12; iy++) {
+ y[iy + 12 * i3] = Y[i3 + 6 * iy];
+ }
+ }
+}
+
+/*
+ *
+ */
+void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
+{
+ real32_T b_A[81];
+ int8_T ipiv[9];
+ int32_T i2;
+ int32_T iy;
+ int32_T j;
+ int32_T c;
+ int32_T ix;
+ real32_T temp;
+ int32_T k;
+ real32_T s;
+ int32_T jy;
+ int32_T ijA;
+ real32_T Y[108];
+ for (i2 = 0; i2 < 9; i2++) {
+ for (iy = 0; iy < 9; iy++) {
+ b_A[iy + 9 * i2] = B[i2 + 9 * iy];
+ }
+
+ ipiv[i2] = (int8_T)(1 + i2);
+ }
+
+ for (j = 0; j < 8; j++) {
+ c = j * 10;
+ iy = 0;
+ ix = c;
+ temp = (real32_T)fabs(b_A[c]);
+ for (k = 2; k <= 9 - j; k++) {
+ ix++;
+ s = (real32_T)fabs(b_A[ix]);
+ if (s > temp) {
+ iy = k - 1;
+ temp = s;
+ }
+ }
+
+ if (b_A[c + iy] != 0.0F) {
+ if (iy != 0) {
+ ipiv[j] = (int8_T)((j + iy) + 1);
+ ix = j;
+ iy += j;
+ for (k = 0; k < 9; k++) {
+ temp = b_A[ix];
+ b_A[ix] = b_A[iy];
+ b_A[iy] = temp;
+ ix += 9;
+ iy += 9;
+ }
+ }
+
+ i2 = (c - j) + 9;
+ for (jy = c + 1; jy + 1 <= i2; jy++) {
+ b_A[jy] /= b_A[c];
+ }
+ }
+
+ iy = c;
+ jy = c + 9;
+ for (k = 1; k <= 8 - j; k++) {
+ temp = b_A[jy];
+ if (b_A[jy] != 0.0F) {
+ ix = c + 1;
+ i2 = (iy - j) + 18;
+ for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
+ b_A[ijA] += b_A[ix] * -temp;
+ ix++;
+ }
+ }
+
+ jy += 9;
+ iy += 9;
+ }
+ }
+
+ for (i2 = 0; i2 < 12; i2++) {
+ for (iy = 0; iy < 9; iy++) {
+ Y[iy + 9 * i2] = A[i2 + 12 * iy];
+ }
+ }
+
+ for (jy = 0; jy < 9; jy++) {
+ if (ipiv[jy] != jy + 1) {
+ for (j = 0; j < 12; j++) {
+ temp = Y[jy + 9 * j];
+ Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
+ Y[(ipiv[jy] + 9 * j) - 1] = temp;
+ }
+ }
+ }
+
+ for (j = 0; j < 12; j++) {
+ c = 9 * j;
+ for (k = 0; k < 9; k++) {
+ iy = 9 * k;
+ if (Y[k + c] != 0.0F) {
+ for (jy = k + 2; jy < 10; jy++) {
+ Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
+ }
+ }
+ }
+ }
+
+ for (j = 0; j < 12; j++) {
+ c = 9 * j;
+ for (k = 8; k > -1; k += -1) {
+ iy = 9 * k;
+ if (Y[k + c] != 0.0F) {
+ Y[k + c] /= b_A[k + iy];
+ for (jy = 0; jy + 1 <= k; jy++) {
+ Y[jy + c] -= Y[k + c] * b_A[jy + iy];
+ }
+ }
+ }
+ }
+
+ for (i2 = 0; i2 < 9; i2++) {
+ for (iy = 0; iy < 12; iy++) {
+ y[iy + 12 * i2] = Y[i2 + 9 * iy];
+ }
+ }
+}
+
+/* End of code generation (mrdivide.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h new file mode 100755 index 000000000..2d3b0d51f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h @@ -0,0 +1,36 @@ +/*
+ * mrdivide.h
+ *
+ * Code generation for function 'mrdivide'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __MRDIVIDE_H__
+#define __MRDIVIDE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]);
+extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]);
+extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
+#endif
+/* End of code generation (mrdivide.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c new file mode 100755 index 000000000..0c418cc7b --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/norm.c @@ -0,0 +1,54 @@ +/*
+ * norm.c
+ *
+ * Code generation for function 'norm'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "norm.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+real32_T norm(const real32_T x[3])
+{
+ real32_T y;
+ real32_T scale;
+ int32_T k;
+ real32_T absxk;
+ real32_T t;
+ y = 0.0F;
+ scale = 1.17549435E-38F;
+ for (k = 0; k < 3; k++) {
+ absxk = (real32_T)fabs(x[k]);
+ if (absxk > scale) {
+ t = scale / absxk;
+ y = 1.0F + y * t * t;
+ scale = absxk;
+ } else {
+ t = absxk / scale;
+ y += t * t;
+ }
+ }
+
+ return scale * (real32_T)sqrt(y);
+}
+
+/* End of code generation (norm.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h new file mode 100755 index 000000000..60cf77b57 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/norm.h @@ -0,0 +1,34 @@ +/*
+ * norm.h
+ *
+ * Code generation for function 'norm'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __NORM_H__
+#define __NORM_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern real32_T norm(const real32_T x[3]);
+#endif
+/* End of code generation (norm.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c new file mode 100755 index 000000000..d035dae5e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c @@ -0,0 +1,38 @@ +/*
+ * rdivide.c
+ *
+ * Code generation for function 'rdivide'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "rdivide.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+void rdivide(const real32_T x[3], real32_T y, real32_T z[3])
+{
+ int32_T i;
+ for (i = 0; i < 3; i++) {
+ z[i] = x[i] / y;
+ }
+}
+
+/* End of code generation (rdivide.c) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h new file mode 100755 index 000000000..4bbebebe2 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h @@ -0,0 +1,34 @@ +/*
+ * rdivide.h
+ *
+ * Code generation for function 'rdivide'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __RDIVIDE_H__
+#define __RDIVIDE_H__
+/* Include files */
+#include <math.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rt_defines.h"
+#include "rt_nonfinite.h"
+
+#include "rtwtypes.h"
+#include "attitudeKalmanfilter_types.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]);
+#endif
+/* End of code generation (rdivide.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c new file mode 100755 index 000000000..34164d104 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c @@ -0,0 +1,139 @@ +/*
+ * rtGetInf.c
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h new file mode 100755 index 000000000..145373cd0 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h @@ -0,0 +1,23 @@ +/*
+ * rtGetInf.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c new file mode 100755 index 000000000..d84ca9573 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c @@ -0,0 +1,96 @@ +/*
+ * rtGetNaN.c
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h new file mode 100755 index 000000000..65fdaa96f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h @@ -0,0 +1,21 @@ +/*
+ * rtGetNaN.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h new file mode 100755 index 000000000..356498363 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h @@ -0,0 +1,24 @@ +/*
+ * rt_defines.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 2013
+ *
+ */
+
+#ifndef __RT_DEFINES_H__
+#define __RT_DEFINES_H__
+
+#include <stdlib.h>
+
+#define RT_PI 3.14159265358979323846
+#define RT_PIF 3.1415927F
+#define RT_LN_10 2.30258509299404568402
+#define RT_LN_10F 2.3025851F
+#define RT_LOG10E 0.43429448190325182765
+#define RT_LOG10EF 0.43429449F
+#define RT_E 2.7182818284590452354
+#define RT_EF 2.7182817F
+#endif
+/* End of code generation (rt_defines.h) */
diff --git a/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c new file mode 100755 index 000000000..303d1d9d2 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c @@ -0,0 +1,87 @@ +/*
+ * rt_nonfinite.c
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h new file mode 100755 index 000000000..bd56b30d9 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h @@ -0,0 +1,53 @@ +/*
+ * rt_nonfinite.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h new file mode 100755 index 000000000..9a5c96267 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h @@ -0,0 +1,159 @@ +/*
+ * rtwtypes.h
+ *
+ * Code generation for function 'attitudeKalmanfilter'
+ *
+ * C source code generated on: Sat Jan 19 15:25:29 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: Zero
+ * Shift right on a signed integer as arithmetic shift: on
+ *=======================================================================*/
+
+/*=======================================================================*
+ * 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/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk new file mode 100644 index 000000000..5ce545112 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -0,0 +1,16 @@ + +MODULE_NAME = attitude_estimator_ekf +SRCS = attitude_estimator_ekf_main.cpp \ + attitude_estimator_ekf_params.c \ + codegen/attitudeKalmanfilter_initialize.c \ + codegen/attitudeKalmanfilter_terminate.c \ + codegen/attitudeKalmanfilter.c \ + codegen/cross.c \ + codegen/eye.c \ + codegen/mrdivide.c \ + codegen/norm.c \ + codegen/rdivide.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c + diff --git a/src/modules/commander/calibration_routines.c b/src/modules/commander/calibration_routines.c new file mode 100644 index 000000000..a26938637 --- /dev/null +++ b/src/modules/commander/calibration_routines.c @@ -0,0 +1,219 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: 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 calibration_routines.c + * Calibration routines implementations. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <math.h> + +#include "calibration_routines.h" + + +int sphere_fit_least_squares(const float x[], const float y[], const float z[], + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) +{ + + float x_sumplain = 0.0f; + float x_sumsq = 0.0f; + float x_sumcube = 0.0f; + + float y_sumplain = 0.0f; + float y_sumsq = 0.0f; + float y_sumcube = 0.0f; + + float z_sumplain = 0.0f; + float z_sumsq = 0.0f; + float z_sumcube = 0.0f; + + float xy_sum = 0.0f; + float xz_sum = 0.0f; + float yz_sum = 0.0f; + + float x2y_sum = 0.0f; + float x2z_sum = 0.0f; + float y2x_sum = 0.0f; + float y2z_sum = 0.0f; + float z2x_sum = 0.0f; + float z2y_sum = 0.0f; + + for (unsigned int i = 0; i < size; i++) { + + float x2 = x[i] * x[i]; + float y2 = y[i] * y[i]; + float z2 = z[i] * z[i]; + + x_sumplain += x[i]; + x_sumsq += x2; + x_sumcube += x2 * x[i]; + + y_sumplain += y[i]; + y_sumsq += y2; + y_sumcube += y2 * y[i]; + + z_sumplain += z[i]; + z_sumsq += z2; + z_sumcube += z2 * z[i]; + + xy_sum += x[i] * y[i]; + xz_sum += x[i] * z[i]; + yz_sum += y[i] * z[i]; + + x2y_sum += x2 * y[i]; + x2z_sum += x2 * z[i]; + + y2x_sum += y2 * x[i]; + y2z_sum += y2 * z[i]; + + z2x_sum += z2 * x[i]; + z2y_sum += z2 * y[i]; + } + + // + //Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data + // + // P is a structure that has been computed with the data earlier. + // P.npoints is the number of elements; the length of X,Y,Z are identical. + // P's members are logically named. + // + // X[n] is the x component of point n + // Y[n] is the y component of point n + // Z[n] is the z component of point n + // + // A is the x coordiante of the sphere + // B is the y coordiante of the sphere + // C is the z coordiante of the sphere + // Rsq is the radius squared of the sphere. + // + //This method should converge; maybe 5-100 iterations or more. + // + float x_sum = x_sumplain / size; //sum( X[n] ) + float x_sum2 = x_sumsq / size; //sum( X[n]^2 ) + float x_sum3 = x_sumcube / size; //sum( X[n]^3 ) + float y_sum = y_sumplain / size; //sum( Y[n] ) + float y_sum2 = y_sumsq / size; //sum( Y[n]^2 ) + float y_sum3 = y_sumcube / size; //sum( Y[n]^3 ) + float z_sum = z_sumplain / size; //sum( Z[n] ) + float z_sum2 = z_sumsq / size; //sum( Z[n]^2 ) + float z_sum3 = z_sumcube / size; //sum( Z[n]^3 ) + + float XY = xy_sum / size; //sum( X[n] * Y[n] ) + float XZ = xz_sum / size; //sum( X[n] * Z[n] ) + float YZ = yz_sum / size; //sum( Y[n] * Z[n] ) + float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] ) + float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] ) + float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] ) + float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] ) + float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] ) + float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] ) + + //Reduction of multiplications + float F0 = x_sum2 + y_sum2 + z_sum2; + float F1 = 0.5f * F0; + float F2 = -8.0f * (x_sum3 + Y2X + Z2X); + float F3 = -8.0f * (X2Y + y_sum3 + Z2Y); + float F4 = -8.0f * (X2Z + Y2Z + z_sum3); + + //Set initial conditions: + float A = x_sum; + float B = y_sum; + float C = z_sum; + + //First iteration computation: + float A2 = A * A; + float B2 = B * B; + float C2 = C * C; + float QS = A2 + B2 + C2; + float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); + + //Set initial conditions: + float Rsq = F0 + QB + QS; + + //First iteration computation: + float Q0 = 0.5f * (QS - Rsq); + float Q1 = F1 + Q0; + float Q2 = 8.0f * (QS - Rsq + QB + F0); + float aA, aB, aC, nA, nB, nC, dA, dB, dC; + + //Iterate N times, ignore stop condition. + int n = 0; + + while (n < max_iterations) { + n++; + + //Compute denominator: + aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); + aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); + aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); + aA = (aA == 0.0f) ? 1.0f : aA; + aB = (aB == 0.0f) ? 1.0f : aB; + aC = (aC == 0.0f) ? 1.0f : aC; + + //Compute next iteration + nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); + nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB); + nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC); + + //Check for stop condition + dA = (nA - A); + dB = (nB - B); + dC = (nC - C); + + if ((dA * dA + dB * dB + dC * dC) <= delta) { break; } + + //Compute next iteration's values + A = nA; + B = nB; + C = nC; + A2 = A * A; + B2 = B * B; + C2 = C * C; + QS = A2 + B2 + C2; + QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); + Rsq = F0 + QB + QS; + Q0 = 0.5f * (QS - Rsq); + Q1 = F1 + Q0; + Q2 = 8.0f * (QS - Rsq + QB + F0); + } + + *sphere_x = A; + *sphere_y = B; + *sphere_z = C; + *sphere_radius = sqrtf(Rsq); + + return 0; +} diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h new file mode 100644 index 000000000..e3e7fbafd --- /dev/null +++ b/src/modules/commander/calibration_routines.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: 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 calibration_routines.h + * Calibration routines definitions. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +/** + * Least-squares fit of a sphere to a set of points. + * + * Fits a sphere to a set of points on the sphere surface. + * + * @param x point coordinates on the X axis + * @param y point coordinates on the Y axis + * @param z point coordinates on the Z axis + * @param size number of points + * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100. + * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times. + * @param sphere_x coordinate of the sphere center on the X axis + * @param sphere_y coordinate of the sphere center on the Y axis + * @param sphere_z coordinate of the sphere center on the Z axis + * @param sphere_radius sphere radius + * + * @return 0 on success, 1 on failure + */ +int sphere_fit_least_squares(const float x[], const float y[], const float z[], + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
\ No newline at end of file diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c new file mode 100644 index 000000000..7c0a25f86 --- /dev/null +++ b/src/modules/commander/commander.c @@ -0,0 +1,2181 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 commander.c + * Main system state machine implementation. + * + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + */ + +#include "commander.h" + +#include <nuttx/config.h> +#include <pthread.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdbool.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> +#include <sys/prctl.h> +#include <string.h> +#include <drivers/drv_led.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_tone_alarm.h> +#include "state_machine_helper.h" +#include "systemlib/systemlib.h" +#include <math.h> +#include <poll.h> +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/battery_status.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/subsystem_info.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/differential_pressure.h> +#include <mavlink/mavlink_log.h> + +#include <systemlib/param/param.h> +#include <systemlib/systemlib.h> +#include <systemlib/err.h> + +/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ +#include <drivers/drv_accel.h> +#include <drivers/drv_gyro.h> +#include <drivers/drv_mag.h> +#include <drivers/drv_baro.h> + +#include "calibration_routines.h" + + +PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ +//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ +PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); + +#include <systemlib/cpuload.h> +extern struct system_load_s system_load; + +/* Decouple update interval and hysteris counters, all depends on intervals */ +#define COMMANDER_MONITORING_INTERVAL 50000 +#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) +#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define STICK_ON_OFF_LIMIT 0.75f +#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 +#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define GPS_FIX_TYPE_2D 2 +#define GPS_FIX_TYPE_3D 3 +#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 +#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +/* File descriptors */ +static int leds; +static int buzzer; +static int mavlink_fd; +static bool commander_initialized = false; +static struct vehicle_status_s current_status; /**< Main state machine */ +static orb_advert_t stat_pub; + +// static uint16_t nofix_counter = 0; +// static uint16_t gotfix_counter = 0; + +static unsigned int failsafe_lowlevel_timeout_ms; + +static bool thread_should_exit = false; /**< daemon exit flag */ +static bool thread_running = false; /**< daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ + +/* pthread loops */ +static void *orb_receive_loop(void *arg); + +__EXPORT int commander_main(int argc, char *argv[]); + +/** + * Mainloop of commander. + */ +int commander_thread_main(int argc, char *argv[]); + +static int buzzer_init(void); +static void buzzer_deinit(void); +static int led_init(void); +static void led_deinit(void); +static int led_toggle(int led); +static int led_on(int led); +static int led_off(int led); +static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); +static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); +static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); +static void do_accel_calibration(int status_pub, struct vehicle_status_s *status); +static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); + +int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); + + + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/** + * Sort calibration values. + * + * Sorts the calibration values with bubble sort. + * + * @param a The array to sort + * @param n The number of entries in the array + */ +// static void cal_bsort(float a[], int n); + +static int buzzer_init() +{ + buzzer = open("/dev/tone_alarm", O_WRONLY); + + if (buzzer < 0) { + warnx("Buzzer: open fail\n"); + return ERROR; + } + + return 0; +} + +static void buzzer_deinit() +{ + close(buzzer); +} + + +static int led_init() +{ + leds = open(LED_DEVICE_PATH, 0); + + if (leds < 0) { + warnx("LED: open fail\n"); + return ERROR; + } + + if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { + warnx("LED: ioctl fail\n"); + return ERROR; + } + + return 0; +} + +static void led_deinit() +{ + close(leds); +} + +static int led_toggle(int led) +{ + static int last_blue = LED_ON; + static int last_amber = LED_ON; + + if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; + + if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; + + return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); +} + +static int led_on(int led) +{ + return ioctl(leds, LED_ON, led); +} + +static int led_off(int led) +{ + return ioctl(leds, LED_OFF, led); +} + +enum AUDIO_PATTERN { + AUDIO_PATTERN_ERROR = 2, + AUDIO_PATTERN_NOTIFY_POSITIVE = 3, + AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, + AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, + AUDIO_PATTERN_NOTIFY_CHARGE = 6 +}; + +int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) +{ + + /* Trigger alarm if going into any error state */ + if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || + ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); + } + + /* Trigger neutral on arming / disarming */ + if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); + } + + /* Trigger Tetris on being bored */ + + return 0; +} + +void tune_confirm(void) +{ + ioctl(buzzer, TONE_SET_ALARM, 3); +} + +void tune_error(void) +{ + ioctl(buzzer, TONE_SET_ALARM, 4); +} + +void do_rc_calibration(int status_pub, struct vehicle_status_s *status) +{ + if (current_status.offboard_control_signal_lost) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + return; + } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + } + + mavlink_log_info(mavlink_fd, "trim calibration done"); +} + +void do_mag_calibration(int status_pub, struct vehicle_status_s *status) +{ + + /* set to mag calibration mode */ + status->flag_preflight_mag_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); + struct mag_report mag; + + /* 45 seconds */ + uint64_t calibration_interval = 45 * 1000 * 1000; + + /* maximum 2000 values */ + const unsigned int calibration_maxcount = 500; + unsigned int calibration_counter = 0; + + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); + + // XXX old cal + // * FLT_MIN is not the most negative float number, + // * but the smallest number by magnitude float can + // * represent. Use -FLT_MAX to initialize the most + // * negative number + + // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; + // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + /* erase old calibration */ + struct mag_scale mscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { + warn("WARNING: failed to set scale / offsets for mag"); + mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); + } + + /* calibrate range */ + if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { + warnx("failed to calibrate scale"); + } + + close(fd); + + /* calibrate offsets */ + + // uint64_t calibration_start = hrt_absolute_time(); + + uint64_t axis_deadline = hrt_absolute_time(); + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + + const char axislabels[3] = { 'X', 'Y', 'Z'}; + int axis_index = -1; + + float *x = (float *)malloc(sizeof(float) * calibration_maxcount); + float *y = (float *)malloc(sizeof(float) * calibration_maxcount); + float *z = (float *)malloc(sizeof(float) * calibration_maxcount); + + if (x == NULL || y == NULL || z == NULL) { + warnx("mag cal failed: out of memory"); + mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); + warnx("x:%p y:%p z:%p\n", x, y, z); + return; + } + + tune_confirm(); + sleep(2); + tune_confirm(); + + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } }; + + /* user guidance */ + if (hrt_absolute_time() >= axis_deadline && + axis_index < 3) { + + axis_index++; + + char buf[50]; + sprintf(buf, "Please rotate around %c", axislabels[axis_index]); + mavlink_log_info(mavlink_fd, buf); + tune_confirm(); + + axis_deadline += calibration_interval / 3; + } + + if (!(axis_index < 3)) { + break; + } + + // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); + + // if ((axis_left / 1000) == 0 && axis_left > 0) { + // char buf[50]; + // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); + // mavlink_log_info(mavlink_fd, buf); + // } + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); + + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; + + /* get min/max values */ + + // if (mag.x < mag_min[0]) { + // mag_min[0] = mag.x; + // } + // else if (mag.x > mag_max[0]) { + // mag_max[0] = mag.x; + // } + + // if (raw.magnetometer_ga[1] < mag_min[1]) { + // mag_min[1] = raw.magnetometer_ga[1]; + // } + // else if (raw.magnetometer_ga[1] > mag_max[1]) { + // mag_max[1] = raw.magnetometer_ga[1]; + // } + + // if (raw.magnetometer_ga[2] < mag_min[2]) { + // mag_min[2] = raw.magnetometer_ga[2]; + // } + // else if (raw.magnetometer_ga[2] > mag_max[2]) { + // mag_max[2] = raw.magnetometer_ga[2]; + // } + + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); + break; + } + } + + float sphere_x; + float sphere_y; + float sphere_z; + float sphere_radius; + + sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); + + free(x); + free(y); + free(z); + + if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { + + fd = open(MAG_DEVICE_PATH, 0); + + struct mag_scale mscale; + + if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to get scale / offsets for mag"); + + mscale.x_offset = sphere_x; + mscale.y_offset = sphere_y; + mscale.z_offset = sphere_z; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to set scale / offsets for mag"); + + close(fd); + + /* announce and set new offset */ + + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { + warnx("Setting X mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { + warnx("Setting Y mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { + warnx("Setting Z mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { + warnx("Setting X mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { + warnx("Setting Y mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { + warnx("Setting Z mag scale failed!\n"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + } + + warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", + (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, + (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); + + char buf[52]; + sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, + (double)mscale.y_offset, (double)mscale.z_offset); + mavlink_log_info(mavlink_fd, buf); + + sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, + (double)mscale.y_scale, (double)mscale.z_scale); + mavlink_log_info(mavlink_fd, buf); + + mavlink_log_info(mavlink_fd, "mag calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); + } + + /* disable calibration mode */ + status->flag_preflight_mag_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_mag); +} + +void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* set to gyro calibration mode */ + status->flag_preflight_gyro_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 5000; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + int calibration_counter = 0; + float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; + + /* set offsets to zero */ + int fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + gyro_offset[0] += raw.gyro_rad_s[0]; + gyro_offset[1] += raw.gyro_rad_s[1]; + gyro_offset[2] += raw.gyro_rad_s[2]; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + return; + } + } + + gyro_offset[0] = gyro_offset[0] / calibration_count; + gyro_offset[1] = gyro_offset[1] / calibration_count; + gyro_offset[2] = gyro_offset[2] / calibration_count; + + /* exit gyro calibration mode */ + status->flag_preflight_gyro_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { + + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + 1.0f, + gyro_offset[1], + 1.0f, + gyro_offset[2], + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + // char buf[50]; + // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); + // mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + } + + close(sub_sensor_combined); +} + +void do_accel_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* announce change */ + + mavlink_log_info(mavlink_fd, "keep it level and still"); + /* set to accel calibration mode */ + status->flag_preflight_accel_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 2500; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + int calibration_counter = 0; + float accel_offset[3] = {0.0f, 0.0f, 0.0f}; + + int fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + accel_offset[0] += raw.accelerometer_m_s2[0]; + accel_offset[1] += raw.accelerometer_m_s2[1]; + accel_offset[2] += raw.accelerometer_m_s2[2]; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); + return; + } + } + + accel_offset[0] = accel_offset[0] / calibration_count; + accel_offset[1] = accel_offset[1] / calibration_count; + accel_offset[2] = accel_offset[2] / calibration_count; + + if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) { + + /* add the removed length from x / y to z, since we induce a scaling issue else */ + float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]); + + /* if length is correct, zero results here */ + accel_offset[2] = accel_offset[2] + total_len; + + float scale = 9.80665f / total_len; + + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0])) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1])) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2])) + || param_set(param_find("SENS_ACC_XSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_YSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { + mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!"); + } + + fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale = { + accel_offset[0], + scale, + accel_offset[1], + scale, + accel_offset[2], + scale, + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); + //mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "accel calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)"); + } + + /* exit accel calibration mode */ + status->flag_preflight_accel_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_sensor_combined); +} + +void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* announce change */ + + mavlink_log_info(mavlink_fd, "keep it still"); + /* set to accel calibration mode */ + status->flag_preflight_airspeed_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 2500; + + int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s differential_pressure; + + int calibration_counter = 0; + float airspeed_offset = 0.0f; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); + airspeed_offset += differential_pressure.voltage; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); + return; + } + } + + airspeed_offset = airspeed_offset / calibration_count; + + if (isfinite(airspeed_offset)) { + + if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) { + mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); + //mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "airspeed calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + } + + /* exit airspeed calibration mode */ + status->flag_preflight_airspeed_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_differential_pressure); +} + + + +void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) +{ + /* result of the command */ + uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + + /* announce command handling */ + tune_confirm(); + + + /* supported command handling start */ + + /* request to set different system mode */ + switch (cmd->command) { + case VEHICLE_CMD_DO_SET_MODE: { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + } + break; + + case VEHICLE_CMD_COMPONENT_ARM_DISARM: { + /* request to arm */ + if ((int)cmd->param1 == 1) { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + + /* request to disarm */ + + } else if ((int)cmd->param1 == 0) { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + } + } + break; + + /* request for an autopilot reboot */ + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { + if ((int)cmd->param1 == 1) { + if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { + /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + /* system may return here */ + result = VEHICLE_CMD_RESULT_DENIED; + } + } + } + break; + +// /* request to land */ +// case VEHICLE_CMD_NAV_LAND: +// { +// //TODO: add check if landing possible +// //TODO: add landing maneuver +// +// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { +// result = VEHICLE_CMD_RESULT_ACCEPTED; +// } } +// break; +// +// /* request to takeoff */ +// case VEHICLE_CMD_NAV_TAKEOFF: +// { +// //TODO: add check if takeoff possible +// //TODO: add takeoff maneuver +// +// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { +// result = VEHICLE_CMD_RESULT_ACCEPTED; +// } +// } +// break; +// + /* preflight calibration */ + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { + bool handled = false; + + /* gyro calibration */ + if ((int)(cmd->param1) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting gyro cal"); + tune_confirm(); + do_gyro_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished gyro cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* magnetometer calibration */ + if ((int)(cmd->param2) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting mag cal"); + tune_confirm(); + do_mag_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished mag cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* zero-altitude pressure calibration */ + if ((int)(cmd->param3) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); + tune_confirm(); + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* trim calibration */ + if ((int)(cmd->param4) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting trim cal"); + tune_confirm(); + do_rc_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished trim cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* accel calibration */ + if ((int)(cmd->param5) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "CMD starting accel cal"); + tune_confirm(); + do_accel_calibration(status_pub, ¤t_status); + tune_confirm(); + mavlink_log_info(mavlink_fd, "CMD finished accel cal"); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* airspeed calibration */ + if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); + tune_confirm(); + do_airspeed_calibration(status_pub, ¤t_status); + tune_confirm(); + mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* none found */ + if (!handled) { + //warnx("refusing unsupported calibration request\n"); + mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } + } + break; + + case VEHICLE_CMD_PREFLIGHT_STORAGE: { + if (current_status.flag_system_armed && + ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { + /* do not perform expensive memory tasks on multirotors in flight */ + // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed + mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); + + } else { + + // XXX move this to LOW PRIO THREAD of commander app + /* Read all parameters from EEPROM to RAM */ + + if (((int)(cmd->param1)) == 0) { + + /* read all parameters from EEPROM to RAM */ + int read_ret = param_load_default(); + + if (read_ret == OK) { + //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); + mavlink_log_info(mavlink_fd, "OK loading params from"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else if (read_ret == 1) { + mavlink_log_info(mavlink_fd, "OK no changes in"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + if (read_ret < -1) { + mavlink_log_info(mavlink_fd, "ERR loading params from"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + + } else { + mavlink_log_info(mavlink_fd, "ERR no param file named"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + } + + result = VEHICLE_CMD_RESULT_FAILED; + } + + } else if (((int)(cmd->param1)) == 1) { + + /* write all parameters from RAM to EEPROM */ + int write_ret = param_save_default(); + + if (write_ret == OK) { + mavlink_log_info(mavlink_fd, "OK saved param file"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + if (write_ret < -1) { + mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + + } else { + mavlink_log_info(mavlink_fd, "ERR writing params to"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + } + + result = VEHICLE_CMD_RESULT_FAILED; + } + + } else { + mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } + } + } + break; + + default: { + mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + /* announce command rejection */ + ioctl(buzzer, TONE_SET_ALARM, 4); + } + break; + } + + /* supported command handling stop */ + if (result == VEHICLE_CMD_RESULT_FAILED || + result == VEHICLE_CMD_RESULT_DENIED || + result == VEHICLE_CMD_RESULT_UNSUPPORTED) { + ioctl(buzzer, TONE_SET_ALARM, 5); + + } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + tune_confirm(); + } + + /* send any requested ACKs */ + if (cmd->confirmation > 0) { + /* send acknowledge command */ + // XXX TODO + } + +} + +static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander orb rcv", getpid()); + + /* Subscribe to command topic */ + int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); + struct subsystem_info_s info; + + struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg; + + while (!thread_should_exit) { + struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; + + if (poll(fds, 1, 5000) == 0) { + /* timeout, but this is no problem, silently ignore */ + } else { + /* got command */ + orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); + + warnx("Subsys changed: %d\n", (int)info.subsystem_type); + + /* mark / unmark as present */ + if (info.present) { + vstatus->onboard_control_sensors_present |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_present &= ~info.subsystem_type; + } + + /* mark / unmark as enabled */ + if (info.enabled) { + vstatus->onboard_control_sensors_enabled |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; + } + + /* mark / unmark as ok */ + if (info.ok) { + vstatus->onboard_control_sensors_health |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_health &= ~info.subsystem_type; + } + } + } + + close(subsys_sub); + + return NULL; +} + +/* + * Provides a coarse estimate of remaining battery power. + * + * The estimate is very basic and based on decharging voltage curves. + * + * @return the estimated remaining capacity in 0..1 + */ +float battery_remaining_estimate_voltage(float voltage); + +PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); +PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); +PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); + +float battery_remaining_estimate_voltage(float voltage) +{ + float ret = 0; + static param_t bat_volt_empty; + static param_t bat_volt_full; + static param_t bat_n_cells; + static bool initialized = false; + static unsigned int counter = 0; + static float ncells = 3; + // XXX change cells to int (and param to INT32) + + if (!initialized) { + bat_volt_empty = param_find("BAT_V_EMPTY"); + bat_volt_full = param_find("BAT_V_FULL"); + bat_n_cells = param_find("BAT_N_CELLS"); + initialized = true; + } + + static float chemistry_voltage_empty = 3.2f; + static float chemistry_voltage_full = 4.05f; + + if (counter % 100 == 0) { + param_get(bat_volt_empty, &chemistry_voltage_empty); + param_get(bat_volt_full, &chemistry_voltage_full); + param_get(bat_n_cells, &ncells); + } + + counter++; + + ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); + + /* limit to sane values */ + ret = (ret < 0) ? 0 : ret; + ret = (ret > 1) ? 1 : ret; + return ret; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); + exit(1); +} + +/** + * The daemon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int commander_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("commander already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + daemon_task = task_spawn("commander", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 3000, + commander_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("\tcommander is running\n"); + + } else { + warnx("\tcommander not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int commander_thread_main(int argc, char *argv[]) +{ + /* not yet initialized */ + commander_initialized = false; + bool home_position_set = false; + + /* set parameters */ + failsafe_lowlevel_timeout_ms = 0; + param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); + + param_t _param_sys_type = param_find("MAV_TYPE"); + param_t _param_system_id = param_find("MAV_SYS_ID"); + param_t _param_component_id = param_find("MAV_COMP_ID"); + + /* welcome user */ + warnx("I am in command now!\n"); + + /* pthreads for command and subsystem info handling */ + // pthread_t command_handling_thread; + pthread_t subsystem_info_thread; + + /* initialize */ + if (led_init() != 0) { + warnx("ERROR: Failed to initialize leds\n"); + } + + if (buzzer_init() != 0) { + warnx("ERROR: Failed to initialize buzzer\n"); + } + + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); + } + + /* make sure we are in preflight state */ + memset(¤t_status, 0, sizeof(current_status)); + current_status.state_machine = SYSTEM_STATE_PREFLIGHT; + current_status.flag_system_armed = false; + /* neither manual nor offboard control commands have been received */ + current_status.offboard_control_signal_found_once = false; + current_status.rc_signal_found_once = false; + /* mark all signals lost as long as they haven't been found */ + current_status.rc_signal_lost = true; + current_status.offboard_control_signal_lost = true; + /* allow manual override initially */ + current_status.flag_external_manual_override_ok = true; + /* flag position info as bad, do not allow auto mode */ + current_status.flag_vector_flight_mode_ok = false; + /* set battery warning flag */ + current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; + + /* advertise to ORB */ + stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); + /* publish current state machine */ + state_machine_publish(stat_pub, ¤t_status, mavlink_fd); + + /* home position */ + orb_advert_t home_pub = -1; + struct home_position_s home; + memset(&home, 0, sizeof(home)); + + if (stat_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } + + mavlink_log_info(mavlink_fd, "system is running"); + + /* create pthreads */ + pthread_attr_t subsystem_info_attr; + pthread_attr_init(&subsystem_info_attr); + pthread_attr_setstacksize(&subsystem_info_attr, 2048); + pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); + + /* Start monitoring loop */ + uint16_t counter = 0; + uint8_t flight_env; + + /* Initialize to 0.0V */ + float battery_voltage = 0.0f; + bool battery_voltage_valid = false; + bool low_battery_voltage_actions_done = false; + bool critical_battery_voltage_actions_done = false; + uint8_t low_voltage_counter = 0; + uint16_t critical_voltage_counter = 0; + int16_t mode_switch_rc_value; + float bat_remain = 1.0f; + + uint16_t stick_off_counter = 0; + uint16_t stick_on_counter = 0; + + /* Subscribe to manual control data */ + int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp_man; + memset(&sp_man, 0, sizeof(sp_man)); + + /* Subscribe to offboard control data */ + int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + struct offboard_control_setpoint_s sp_offboard; + memset(&sp_offboard, 0, sizeof(sp_offboard)); + + int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + struct vehicle_global_position_s global_position; + memset(&global_position, 0, sizeof(global_position)); + uint64_t last_global_position_time = 0; + + int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + struct vehicle_local_position_s local_position; + memset(&local_position, 0, sizeof(local_position)); + uint64_t last_local_position_time = 0; + + /* + * The home position is set based on GPS only, to prevent a dependency between + * position estimator and commander. RAW GPS is more than good enough for a + * non-flying vehicle. + */ + int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + struct vehicle_gps_position_s gps_position; + memset(&gps_position, 0, sizeof(gps_position)); + + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s sensors; + memset(&sensors, 0, sizeof(sensors)); + + int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s differential_pressure; + memset(&differential_pressure, 0, sizeof(differential_pressure)); + uint64_t last_differential_pressure_time = 0; + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* Subscribe to parameters changed topic */ + int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); + struct parameter_update_s param_changed; + memset(¶m_changed, 0, sizeof(param_changed)); + + /* subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + battery.voltage_v = 0.0f; + + // uint8_t vehicle_state_previous = current_status.state_machine; + float voltage_previous = 0.0f; + + uint64_t last_idle_time = 0; + + /* now initialized */ + commander_initialized = true; + thread_running = true; + + uint64_t start_time = hrt_absolute_time(); + uint64_t failsave_ll_start_time = 0; + + bool state_changed = true; + bool param_init_forced = true; + + while (!thread_should_exit) { + + /* Get current values */ + bool new_data; + orb_check(sp_man_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); + } + + orb_check(sp_offboard_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); + } + + orb_check(sensor_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + } + + orb_check(differential_pressure_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); + last_differential_pressure_time = differential_pressure.timestamp; + } + + orb_check(cmd_sub, &new_data); + + if (new_data) { + /* got command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* handle it */ + handle_command(stat_pub, ¤t_status, &cmd); + } + + /* update parameters */ + orb_check(param_changed_sub, &new_data); + + if (new_data || param_init_forced) { + param_init_forced = false; + /* parameters changed */ + orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); + + + /* update parameters */ + if (!current_status.flag_system_armed) { + if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { + warnx("failed setting new system type"); + } + + /* disable manual override for all systems that rely on electronic stabilization */ + if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || + current_status.system_type == VEHICLE_TYPE_HEXAROTOR || + current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { + current_status.flag_external_manual_override_ok = false; + + } else { + current_status.flag_external_manual_override_ok = true; + } + + /* check and update system / component ID */ + param_get(_param_system_id, &(current_status.system_id)); + param_get(_param_component_id, &(current_status.component_id)); + + } + } + + /* update global position estimate */ + orb_check(global_position_sub, &new_data); + + if (new_data) { + /* position changed */ + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); + last_global_position_time = global_position.timestamp; + } + + /* update local position estimate */ + orb_check(local_position_sub, &new_data); + + if (new_data) { + /* position changed */ + orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); + last_local_position_time = local_position.timestamp; + } + + /* update battery status */ + orb_check(battery_sub, &new_data); + if (new_data) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + battery_voltage = battery.voltage_v; + battery_voltage_valid = true; + + /* + * Only update battery voltage estimate if system has + * been running for two and a half seconds. + */ + if (hrt_absolute_time() - start_time > 2500000) { + bat_remain = battery_remaining_estimate_voltage(battery_voltage); + } + } + + /* Slow but important 8 Hz checks */ + if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { + /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ + if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || + current_status.state_machine == SYSTEM_STATE_AUTO || + current_status.state_machine == SYSTEM_STATE_MANUAL)) { + /* armed */ + led_toggle(LED_BLUE); + + } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* not armed */ + led_toggle(LED_BLUE); + } + + /* toggle error led at 5 Hz in HIL mode */ + if (current_status.flag_hil_enabled) { + /* hil enabled */ + led_toggle(LED_AMBER); + + } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { + /* toggle error (red) at 5 Hz on low battery or error */ + led_toggle(LED_AMBER); + + } else { + // /* Constant error indication in standby mode without GPS */ + // if (!current_status.gps_valid) { + // led_on(LED_AMBER); + + // } else { + // led_off(LED_AMBER); + // } + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* compute system load */ + uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; + + if (last_idle_time > 0) + current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; + } + } + + // // XXX Export patterns and threshold to parameters + /* Trigger audio event for low battery */ + if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { + /* For less than 10%, start be really annoying at 5 Hz */ + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, 3); + + } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { + ioctl(buzzer, TONE_SET_ALARM, 0); + + } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { + /* For less than 20%, start be slightly annoying at 1 Hz */ + ioctl(buzzer, TONE_SET_ALARM, 0); + tune_confirm(); + + } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { + ioctl(buzzer, TONE_SET_ALARM, 0); + } + + /* Check battery voltage */ + /* write to sys_status */ + if (battery_voltage_valid) { + current_status.voltage_battery = battery_voltage; + + } else { + current_status.voltage_battery = 0.0f; + } + + /* if battery voltage is getting lower, warn using buzzer, etc. */ + if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS + + if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { + low_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; + } + + low_voltage_counter++; + } + + /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ + else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { + if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { + critical_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; + state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); + } + + critical_voltage_counter++; + + } else { + low_voltage_counter = 0; + critical_voltage_counter = 0; + } + + /* End battery voltage check */ + + + /* + * Check for valid position information. + * + * If the system has a valid position source from an onboard + * position estimator, it is safe to operate it autonomously. + * The flag_vector_flight_mode_ok flag indicates that a minimum + * set of position measurements is available. + */ + + /* store current state to reason later about a state change */ + bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; + bool global_pos_valid = current_status.flag_global_position_valid; + bool local_pos_valid = current_status.flag_local_position_valid; + bool airspeed_valid = current_status.flag_airspeed_valid; + + /* check for global or local position updates, set a timeout of 2s */ + if (hrt_absolute_time() - last_global_position_time < 2000000) { + current_status.flag_global_position_valid = true; + // XXX check for controller status and home position as well + + } else { + current_status.flag_global_position_valid = false; + } + + if (hrt_absolute_time() - last_local_position_time < 2000000) { + current_status.flag_local_position_valid = true; + // XXX check for controller status and home position as well + + } else { + current_status.flag_local_position_valid = false; + } + + /* Check for valid airspeed/differential pressure measurements */ + if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { + current_status.flag_airspeed_valid = true; + + } else { + current_status.flag_airspeed_valid = false; + } + + /* + * Consolidate global position and local position valid flags + * for vector flight mode. + */ + if (current_status.flag_local_position_valid || + current_status.flag_global_position_valid) { + current_status.flag_vector_flight_mode_ok = true; + + } else { + current_status.flag_vector_flight_mode_ok = false; + } + + /* consolidate state change, flag as changed if required */ + if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || + global_pos_valid != current_status.flag_global_position_valid || + local_pos_valid != current_status.flag_local_position_valid || + airspeed_valid != current_status.flag_airspeed_valid) { + state_changed = true; + } + + /* + * Mark the position of the first position lock as return to launch (RTL) + * position. The MAV will return here on command or emergency. + * + * Conditions: + * + * 1) The system aquired position lock just now + * 2) The system has not aquired position lock before + * 3) The system is not armed (on the ground) + */ + if (!current_status.flag_valid_launch_position && + !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && + !current_status.flag_system_armed) { + /* first time a valid position, store it and emit it */ + + // XXX implement storage and publication of RTL position + current_status.flag_valid_launch_position = true; + current_status.flag_auto_flight_mode_ok = true; + state_changed = true; + } + + if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) { + + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); + + /* check for first, long-term and valid GPS lock -> set home position */ + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; + + /* check if gps fix is ok */ + // 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. + */ + + if (gps_position.fix_type == GPS_FIX_TYPE_3D + && (hdop_m < hdop_threshold_m) + && (vdop_m < vdop_threshold_m) + && !home_position_set + && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) + && !current_status.flag_system_armed) { + warnx("setting home position"); + + /* copy position data to uORB home message, store it locally as well */ + home.lat = gps_position.lat; + home.lon = gps_position.lon; + home.alt = gps_position.alt; + + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; + + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + home_position_set = true; + tune_confirm(); + } + } + + /* ignore RC signals if in offboard control mode */ + if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + /* Start RC state check */ + + if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { + + // /* + // * Check if manual control modes have to be switched + // */ + // if (!isfinite(sp_man.manual_mode_switch)) { + // warnx("man mode sw not finite\n"); + + // /* this switch is not properly mapped, set default */ + // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { + + // /* assuming a rotary wing, fall back to SAS */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + // } else { + + // /* assuming a fixed wing, fall back to direct pass-through */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = false; + // } + + // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { + + // /* bottom stick position, set direct mode for vehicles supporting it */ + // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { + + // /* assuming a rotary wing, fall back to SAS */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + // } else { + + // /* assuming a fixed wing, set to direct pass-through as requested */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = false; + // } + + // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { + + // /* top stick position, set SAS for all vehicle types */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + + // } else { + // /* center stick position, set rate control */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = true; + // } + + // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); + + /* + * Check if manual stability control modes have to be switched + */ + if (!isfinite(sp_man.manual_sas_switch)) { + + /* this switch is not properly mapped, set default */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + + } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { + + /* bottom stick position, set altitude hold */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + + } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { + + /* top stick position */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; + + } else { + /* center stick position, set default */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + } + + /* + * Check if left stick is in lower left position --> switch to standby state. + * Do this only for multirotors, not for fixed wing aircraft. + */ + if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) + ) && + ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && + (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { + update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); + stick_on_counter = 0; + + } else { + stick_off_counter++; + stick_on_counter = 0; + } + } + + /* check if left stick is in lower right position --> arm */ + if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) { + if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { + update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); + stick_on_counter = 0; + + } else { + stick_on_counter++; + stick_off_counter = 0; + } + } + + /* check manual override switch - switch to manual or auto mode */ + if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { + /* enable manual override */ + update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); + + } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { + // /* check auto mode switch for correct mode */ + // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { + // /* enable guided mode */ + // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); + + // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { + // XXX hardcode to auto for now + update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); + + // } + + } else { + /* center stick position, set SAS for all vehicle types */ + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + } + + /* handle the case where RC signal was regained */ + if (!current_status.rc_signal_found_once) { + current_status.rc_signal_found_once = true; + mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); + + } else { + if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); + } + + current_status.rc_signal_cutting_off = false; + current_status.rc_signal_lost = false; + current_status.rc_signal_lost_interval = 0; + + } else { + static uint64_t last_print_time = 0; + + /* print error message for first RC glitch and then every 5 s / 5000 ms) */ + if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { + /* only complain if the offboard control is NOT active */ + current_status.rc_signal_cutting_off = true; + mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); + last_print_time = hrt_absolute_time(); + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; + + /* if the RC signal is gone for a full second, consider it lost */ + if (current_status.rc_signal_lost_interval > 1000000) { + current_status.rc_signal_lost = true; + current_status.failsave_lowlevel = true; + state_changed = true; + } + + // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) { + // publish_armed_status(¤t_status); + // } + } + } + + + + + /* End mode switch */ + + /* END RC state check */ + + + /* State machine update for offboard control */ + if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { + if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { + + /* decide about attitude control flag, enable in att/pos/vel */ + bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || + sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || + sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); + + /* decide about rate control flag, enable it always XXX (for now) */ + bool rates_ctrl_enabled = true; + + /* set up control mode */ + if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { + current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; + state_changed = true; + } + + if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { + current_status.flag_control_rates_enabled = rates_ctrl_enabled; + state_changed = true; + } + + /* handle the case where offboard control signal was regained */ + if (!current_status.offboard_control_signal_found_once) { + current_status.offboard_control_signal_found_once = true; + /* enable offboard control, disable manual input */ + current_status.flag_control_manual_enabled = false; + current_status.flag_control_offboard_enabled = true; + state_changed = true; + tune_confirm(); + + mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); + + } else { + if (current_status.offboard_control_signal_lost) { + mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); + state_changed = true; + tune_confirm(); + } + } + + current_status.offboard_control_signal_weak = false; + current_status.offboard_control_signal_lost = false; + current_status.offboard_control_signal_lost_interval = 0; + + /* arm / disarm on request */ + if (sp_offboard.armed && !current_status.flag_system_armed) { + update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); + /* switch to stabilized mode = takeoff */ + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + + } else if (!sp_offboard.armed && current_status.flag_system_armed) { + update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); + } + + } else { + static uint64_t last_print_time = 0; + + /* print error message for first RC glitch and then every 5 s / 5000 ms) */ + if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { + current_status.offboard_control_signal_weak = true; + mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); + last_print_time = hrt_absolute_time(); + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; + + /* if the signal is gone for 0.1 seconds, consider it lost */ + if (current_status.offboard_control_signal_lost_interval > 100000) { + current_status.offboard_control_signal_lost = true; + current_status.failsave_lowlevel_start_time = hrt_absolute_time(); + tune_confirm(); + + /* kill motors after timeout */ + if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { + current_status.failsave_lowlevel = true; + state_changed = true; + } + } + } + } + + + current_status.counter++; + current_status.timestamp = hrt_absolute_time(); + + + /* If full run came back clean, transition to standby */ + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && + current_status.flag_preflight_gyro_calibration == false && + current_status.flag_preflight_mag_calibration == false && + current_status.flag_preflight_accel_calibration == false) { + /* All ok, no calibration going on, go to standby */ + do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + } + + /* publish at least with 1 Hz */ + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { + publish_armed_status(¤t_status); + orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); + state_changed = false; + } + + /* Store old modes to detect and act on state transitions */ + voltage_previous = current_status.voltage_battery; + + fflush(stdout); + counter++; + usleep(COMMANDER_MONITORING_INTERVAL); + } + + /* wait for threads to complete */ + // pthread_join(command_handling_thread, NULL); + pthread_join(subsystem_info_thread, NULL); + + /* close fds */ + led_deinit(); + buzzer_deinit(); + close(sp_man_sub); + close(sp_offboard_sub); + close(global_position_sub); + close(sensor_sub); + close(cmd_sub); + + warnx("exiting..\n"); + fflush(stdout); + + thread_running = false; + + return 0; +} diff --git a/src/modules/commander/commander.h b/src/modules/commander/commander.h new file mode 100644 index 000000000..04b4e72ab --- /dev/null +++ b/src/modules/commander/commander.h @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 commander.h + * Main system state machine definition. + * + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + */ + +#ifndef COMMANDER_H_ +#define COMMANDER_H_ + +#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f +#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f + +void tune_confirm(void); +void tune_error(void); + +#endif /* COMMANDER_H_ */ diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk new file mode 100644 index 000000000..b90da8289 --- /dev/null +++ b/src/modules/commander/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Main system state machine +# + +MODULE_COMMAND = commander +SRCS = commander.c \ + state_machine_helper.c \ + calibration_routines.c diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c new file mode 100644 index 000000000..bea388a10 --- /dev/null +++ b/src/modules/commander/state_machine_helper.c @@ -0,0 +1,752 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 state_machine_helper.c + * State machine helper functions implementations + */ + +#include <stdio.h> +#include <unistd.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_controls.h> +#include <systemlib/systemlib.h> +#include <drivers/drv_hrt.h> +#include <mavlink/mavlink_log.h> + +#include "state_machine_helper.h" + +static const char *system_state_txt[] = { + "SYSTEM_STATE_PREFLIGHT", + "SYSTEM_STATE_STANDBY", + "SYSTEM_STATE_GROUND_READY", + "SYSTEM_STATE_MANUAL", + "SYSTEM_STATE_STABILIZED", + "SYSTEM_STATE_AUTO", + "SYSTEM_STATE_MISSION_ABORT", + "SYSTEM_STATE_EMCY_LANDING", + "SYSTEM_STATE_EMCY_CUTOFF", + "SYSTEM_STATE_GROUND_ERROR", + "SYSTEM_STATE_REBOOT", + +}; + +/** + * Transition from one state to another + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state) +{ + int invalid_state = false; + int ret = ERROR; + + commander_state_machine_t old_state = current_status->state_machine; + + switch (new_state) { + case SYSTEM_STATE_MISSION_ABORT: { + /* Indoor or outdoor */ + // if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { + ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); + + // } else { + // ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); + // } + } + break; + + case SYSTEM_STATE_EMCY_LANDING: + /* Tell the controller to land */ + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + warnx("EMERGENCY LANDING!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + /* Tell the controller to cutoff the motors (thrust = 0) */ + + /* set system flags according to state */ + current_status->flag_system_armed = false; + + warnx("EMERGENCY MOTOR CUTOFF!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); + break; + + case SYSTEM_STATE_GROUND_ERROR: + + /* set system flags according to state */ + + /* prevent actuators from arming */ + current_status->flag_system_armed = false; + + warnx("GROUND ERROR, locking down propulsion system\n"); + mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); + break; + + case SYSTEM_STATE_PREFLIGHT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); + } + + break; + + case SYSTEM_STATE_REBOOT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + invalid_state = false; + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); + usleep(500000); + up_systemreset(); + /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); + } + + break; + + case SYSTEM_STATE_STANDBY: + /* set system flags according to state */ + + /* standby enforces disarmed */ + current_status->flag_system_armed = false; + + mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); + break; + + case SYSTEM_STATE_GROUND_READY: + + /* set system flags according to state */ + + /* ground ready has motors / actuators armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); + break; + + case SYSTEM_STATE_AUTO: + + /* set system flags according to state */ + + /* auto is airborne and in auto mode, motors armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); + break; + + case SYSTEM_STATE_STABILIZED: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); + break; + + case SYSTEM_STATE_MANUAL: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); + break; + + default: + invalid_state = true; + break; + } + + if (invalid_state == false || old_state != new_state) { + current_status->state_machine = new_state; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + ret = OK; + } + + if (invalid_state) { + mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); + ret = ERROR; + } + + return ret; +} + +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* publish the new state */ + current_status->counter++; + current_status->timestamp = hrt_absolute_time(); + + /* assemble state vector based on flag values */ + if (current_status->flag_control_rates_enabled) { + current_status->onboard_control_sensors_present |= 0x400; + + } else { + current_status->onboard_control_sensors_present &= ~0x400; + } + + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]); +} + +void publish_armed_status(const struct vehicle_status_s *current_status) +{ + struct actuator_armed_s armed; + armed.armed = current_status->flag_system_armed; + /* lock down actuators if required, only in HIL */ + armed.lockdown = (current_status->flag_hil_enabled) ? true : false; + orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); +} + + +/* + * Private functions, update the state machine + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + warnx("EMERGENCY HANDLER\n"); + /* Depending on the current state go to one of the error states */ + + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); + + } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { + + // DO NOT abort mission + //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); + + } else { + warnx("Unknown system state: #%d\n", current_status->state_machine); + } +} + +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors +{ + if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself + state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); + + } else { + //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); + } + +} + + + +// /* +// * Wrapper functions (to be used in the commander), all functions assume lock on current_status +// */ + +// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR +// * +// * START SUBSYSTEM/EMERGENCY FUNCTIONS +// * */ + +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was removed something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was disabled something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //TODO state machine change (recovering) +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_GPS: +// //TODO state machine change +// break; + +// default: +// break; +// } + + +// } + + +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); +// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_GPS: +// // //TODO: remove this block +// // break; +// // /////////////////// +// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); + +// // printf("previosly_healthy = %u\n", previosly_healthy); +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency(status_pub, current_status); + +// break; + +// default: +// break; +// } + +// } + + +/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ + + +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { + state_machine_emergency(status_pub, current_status, mavlink_fd); + } +} + +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_STANDBY) { + printf("[cmd] arming\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + } +} + +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + printf("[cmd] going standby\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + + } else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] MISSION ABORT!\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + + current_status->flag_control_manual_enabled = true; + + /* set behaviour based on airframe */ + if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) { + + /* assuming a rotary wing, set to SAS */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + + } else { + + /* assuming a fixed wing, set to direct pass-through */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = false; + } + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] manual mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + } +} + +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + int old_mode = current_status->flight_mode; + int old_manual_control_mode = current_status->manual_control_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + current_status->flag_control_manual_enabled = true; + + if (old_mode != current_status->flight_mode || + old_manual_control_mode != current_status->manual_control_mode) { + printf("[cmd] att stabilized mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + state_machine_publish(status_pub, current_status, mavlink_fd); + } + + } +} + +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE"); + tune_error(); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] position guided mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + } +} + +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE"); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { + printf("[cmd] auto mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + } +} + + +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) +{ + uint8_t ret = 1; + + /* Switch on HIL if in standby and not already in HIL mode */ + if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) + && !current_status->flag_hil_enabled) { + if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { + /* Enable HIL on request */ + current_status->flag_hil_enabled = true; + ret = OK; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); + + } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && + current_status->flag_system_armed) { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") + + } else { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") + } + } + + /* switch manual / auto */ + if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { + update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { + update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { + update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { + update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); + } + + /* vehicle is disarmed, mode requests arming */ + if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only arm in standby state */ + // XXX REMOVE + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + ret = OK; + printf("[cmd] arming due to command request\n"); + } + } + + /* vehicle is armed, mode requests disarming */ + if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only disarm in ground ready */ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + ret = OK; + printf("[cmd] disarming due to command request\n"); + } + } + + /* NEVER actually switch off HIL without reboot */ + if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { + warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); + mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); + ret = ERROR; + } + + return ret; +} + +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations +{ + commander_state_machine_t current_system_state = current_status->state_machine; + + uint8_t ret = 1; + + switch (custom_mode) { + case SYSTEM_STATE_GROUND_READY: + break; + + case SYSTEM_STATE_STANDBY: + break; + + case SYSTEM_STATE_REBOOT: + printf("try to reboot\n"); + + if (current_system_state == SYSTEM_STATE_STANDBY + || current_system_state == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + printf("system will reboot\n"); + mavlink_log_critical(mavlink_fd, "Rebooting.."); + usleep(200000); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); + ret = 0; + } + + break; + + case SYSTEM_STATE_AUTO: + printf("try to switch to auto/takeoff\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + printf("state: auto\n"); + ret = 0; + } + + break; + + case SYSTEM_STATE_MANUAL: + printf("try to switch to manual\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + printf("state: manual\n"); + ret = 0; + } + + break; + + default: + break; + } + + return ret; +} + diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h new file mode 100644 index 000000000..2f2ccc729 --- /dev/null +++ b/src/modules/commander/state_machine_helper.h @@ -0,0 +1,209 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 state_machine_helper.h + * State machine helper functions definitions + */ + +#ifndef STATE_MACHINE_HELPER_H_ +#define STATE_MACHINE_HELPER_H_ + +#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor) +#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_status.h> + +/** + * Switch to new state with no checking. + * + * do_state_update: this is the functions that all other functions have to call in order to update the state. + * the function does not question the state change, this must be done before + * The function performs actions that are connected with the new state (buzzer, reboot, ...) + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + * + * @return 0 (macro OK) or 1 on error (macro ERROR) + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); + +/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + + +/** + * Handle state machine if got position fix + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if position fix lost + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to arm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to disarm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is manual + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is stabilized + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is guided + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is auto + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish current state information + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + + +/* + * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). + * If the request is obeyed the functions return 0 + * + */ + +/** + * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); + +/** + * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode); + +/** + * Always switches to critical mode under any circumstances. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Switches to emergency if required. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish the armed state depending on the current system state + * + * @param current_status the current system status + */ +void publish_armed_status(const struct vehicle_status_s *current_status); + + + +#endif /* STATE_MACHINE_HELPER_H_ */ |