diff options
38 files changed, 332 insertions, 273 deletions
diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile index d6ec98f0b..4d531867c 100755..100644 --- a/apps/attitude_estimator_ekf/Makefile +++ b/apps/attitude_estimator_ekf/Makefile @@ -48,6 +48,7 @@ CSRCS = attitude_estimator_ekf_main.c \ codegen/rtGetNaN.c \ codegen/norm.c \ codegen/diag.c \ + codegen/power.c \ codegen/cross.c diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m b/apps/attitude_estimator_ekf/attitudeKalmanfilter.m index 5fb4aa94f..5fb4aa94f 100755..100644 --- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m +++ b/apps/attitude_estimator_ekf/attitudeKalmanfilter.m diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj b/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj index 431ddb71e..431ddb71e 100755..100644 --- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj +++ b/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index f20d1b204..f20d1b204 100755..100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 6a63f9767..6a63f9767 100755..100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 26a696af2..885c01bf3 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 17:51:09 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@@ -16,6 +16,7 @@ #include "eye.h"
#include "mrdivide.h"
#include "diag.h"
+#include "power.h"
/* Type Definitions */
@@ -74,11 +75,14 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T
P_aposteriori[144])
{
+ real32_T a[12];
+ real32_T b_a[12];
+ int32_T i;
+ real32_T Q[144];
real32_T O[9];
real_T dv0[9];
- real32_T a[9];
- int32_T i;
- real32_T b_a[9];
+ real32_T c_a[9];
+ real32_T d_a[9];
real32_T x_n_b[3];
real32_T b_x_aposteriori_k[3];
real32_T m_n_b[3];
@@ -91,69 +95,55 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const int32_T i1;
real32_T P_apriori[144];
real32_T f0;
- static const real32_T fv0[144] = { 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.1F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.1F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F,
- 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.1F };
-
real32_T R[81];
real32_T b_P_apriori[108];
- static const int8_T iv0[108] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 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,
+ static const int8_T iv0[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];
static const int8_T iv1[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, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 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 fv1[81];
+ real32_T fv0[81];
real32_T c_P_apriori[36];
- static const int8_T iv2[36] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
- 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
+ static const int8_T iv2[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 iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0,
+ real32_T fv1[36];
+ static const int8_T iv3[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 S_k[36];
real32_T d_P_apriori[72];
- static const int8_T iv4[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 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,
+ static const int8_T iv4[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 b_K_k[72];
static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
- 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 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, 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_r[6];
static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 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,
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 };
- static const int8_T iv7[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 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,
+ 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 };
- real32_T fv3[6];
+ real32_T fv2[6];
real32_T b_z[6];
/* Extended Attitude Kalmanfilter */
@@ -170,19 +160,26 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* coder.varsize('udpIndVect', [9,1], [1,0]) */
/* udpIndVect=find(updVect); */
/* process and measurement noise covariance matrix */
- /* Q = diag(q.^2*dt); */
- /* 'attitudeKalmanfilter:29' Q=[1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:30' 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:31' 0, 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:32' 0, 0, 0, 1e-10, 0, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
- /* 'attitudeKalmanfilter:33' 0, 0, 0, 0, 1e-10, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
- /* 'attitudeKalmanfilter:34' 0, 0, 0, 0, 0, 1e-10, 0, 0, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:35' 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:36' 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0; */
- /* 'attitudeKalmanfilter:37' 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0; */
- /* 'attitudeKalmanfilter:38' 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0; */
- /* 'attitudeKalmanfilter:39' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0; */
- /* 'attitudeKalmanfilter:40' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1]; */
+ /* 'attitudeKalmanfilter:27' Q = diag(q.^2*dt); */
+ power(q, a);
+ for (i = 0; i < 12; i++) {
+ b_a[i] = a[i] * dt;
+ }
+
+ diag(b_a, Q);
+
+ /* Q=[1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 0, 0, 1e-1, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
+ /* 0, 0, 0, 1e-10, 0, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
+ /* 0, 0, 0, 0, 1e-10, 0, 1e-4, 1e-4, 0, 1e-4, 1e-4, 0; */
+ /* 0, 0, 0, 0, 0, 1e-10, 0, 0, 0, 0, 0, 0; */
+ /* 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0, 0; */
+ /* 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0, 0; */
+ /* 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0, 0; */
+ /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0, 0; */
+ /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1, 0; */
+ /* 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-1]; */
/* observation matrix */
/* 'attitudeKalmanfilter:44' wx= x_aposteriori_k(1); */
/* 'attitudeKalmanfilter:45' wy= x_aposteriori_k(2); */
@@ -214,13 +211,13 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* 'attitudeKalmanfilter:67' 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;
+ c_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:68' 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;
+ d_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:70' EZ=[0,zez,-zey; */
@@ -250,12 +247,12 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i = 0; i < 3; i++) {
m_n_b[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- m_n_b[i] += a[i + 3 * i0] * x_n_b[i0];
+ m_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
}
z_n_b[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- z_n_b[i] += b_a[i + 3 * i0] * b_x_aposteriori_k[i0];
+ z_n_b[i] += d_a[i + 3 * i0] * b_x_aposteriori_k[i0];
}
x_apriori[i + 6] = m_n_b[i];
@@ -360,7 +357,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
- P_apriori[i + 12 * i0] = f0 + fv0[i + 12 * i0];
+ P_apriori[i + 12 * i0] = f0 + Q[i + 12 * i0];
}
}
@@ -368,10 +365,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* 'attitudeKalmanfilter:102' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
/* 'attitudeKalmanfilter:103' R=diag(r); */
- diag(r, R);
+ b_diag(r, R);
/* observation matrix */
- /* 'attitudeKalmanfilter:106' H_k=[ E, Es, Z, Z; */
+ /* 'attitudeKalmanfilter:106' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:107' Z, Z, E, Z; */
/* 'attitudeKalmanfilter:108' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:110' y_k=z(1:9)-H_k*x_apriori; */
@@ -403,11 +400,11 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
}
- fv1[i + 9 * i0] = f0 + R[i + 9 * i0];
+ fv0[i + 9 * i0] = f0 + R[i + 9 * i0];
}
}
- mrdivide(b_P_apriori, fv1, K_k);
+ mrdivide(b_P_apriori, fv0, K_k);
/* 'attitudeKalmanfilter:116' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 9; i++) {
@@ -416,13 +413,13 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];
}
- a[i] = z[i] - f0;
+ c_a[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] * a[i0];
+ f0 += K_k[i + 12 * i0] * c_a[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
@@ -437,7 +434,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];
}
- b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -445,8 +442,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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];
+ P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 * i0];
}
}
}
@@ -455,10 +451,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* 'attitudeKalmanfilter:119' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
/* 'attitudeKalmanfilter:120' R=diag(r(1:3)); */
- b_diag(*(real32_T (*)[3])&r[0], O);
+ c_diag(*(real32_T (*)[3])&r[0], O);
/* observation matrix */
- /* 'attitudeKalmanfilter:123' H_k=[ E, Es, Z, Z]; */
+ /* 'attitudeKalmanfilter:123' H_k=[ E, Z, Z, Z]; */
/* 'attitudeKalmanfilter:125' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:127' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
/* 'attitudeKalmanfilter:128' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
@@ -474,9 +470,9 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 12; i0++) {
- fv2[i + 3 * i0] = 0.0F;
+ fv1[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- fv2[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *
+ fv1[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *
i0];
}
}
@@ -486,14 +482,14 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i0 = 0; i0 < 3; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += fv2[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
+ f0 += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
}
- a[i + 3 * i0] = f0 + O[i + 3 * i0];
+ c_a[i + 3 * i0] = f0 + O[i + 3 * i0];
}
}
- b_mrdivide(c_P_apriori, a, S_k);
+ b_mrdivide(c_P_apriori, c_a, S_k);
/* 'attitudeKalmanfilter:131' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
@@ -523,7 +519,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
}
- b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -531,8 +527,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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];
+ P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
+ i0];
}
}
}
@@ -542,10 +538,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
{
/* 'attitudeKalmanfilter:135' R=diag(r(1:6)); */
- c_diag(*(real32_T (*)[6])&r[0], S_k);
+ d_diag(*(real32_T (*)[6])&r[0], S_k);
/* observation matrix */
- /* 'attitudeKalmanfilter:138' H_k=[ E, Es, Z, Z; */
+ /* 'attitudeKalmanfilter:138' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:139' Z, Z, E, Z]; */
/* 'attitudeKalmanfilter:141' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:143' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
@@ -577,11 +573,11 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
}
- fv2[i + 6 * i0] = f0 + S_k[i + 6 * i0];
+ fv1[i + 6 * i0] = f0 + S_k[i + 6 * i0];
}
}
- c_mrdivide(d_P_apriori, fv2, b_K_k);
+ c_mrdivide(d_P_apriori, fv1, b_K_k);
/* 'attitudeKalmanfilter:147' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 6; i++) {
@@ -611,7 +607,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
}
- b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -619,8 +615,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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];
+ P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
+ i0];
}
}
}
@@ -631,7 +627,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const {
/* 'attitudeKalmanfilter:151' R=diag([r(1:3);r(7:9)]); */
/* observation matrix */
- /* 'attitudeKalmanfilter:154' H_k=[ E, Es, Z, Z; */
+ /* 'attitudeKalmanfilter:154' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:155' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:157' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:159' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
@@ -684,12 +680,12 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const }
for (i = 0; i < 6; i++) {
- fv3[i] = 0.0F;
+ fv2[i] = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- fv3[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
+ fv2[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
}
- b_z[i] = b_r[i] - fv3[i];
+ b_z[i] = b_r[i] - fv2[i];
}
for (i = 0; i < 12; i++) {
@@ -710,7 +706,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const f0 += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
- b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -718,8 +714,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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];
+ P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12
+ * i0];
}
}
}
@@ -785,7 +781,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const /* 'attitudeKalmanfilter:195' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
/* 'attitudeKalmanfilter:196' eulerAngles=[phi;theta;psi]; */
eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
- eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);
+ 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/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h index 9d89705a6..c93d7f4bb 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c index 27eb2763e..67b6fa422 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_initialize'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h index 277df273d..610924d75 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_initialize'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c index ed0993039..c89602723 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_terminate'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h index 0b0ccd073..a19630775 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter_terminate'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h index 95814863f..eba83d0d9 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/apps/attitude_estimator_ekf/codegen/cross.c index d4524fed8..42cd70971 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/cross.c +++ b/apps/attitude_estimator_ekf/codegen/cross.c @@ -3,7 +3,7 @@ *
* Code generation for function 'cross'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/apps/attitude_estimator_ekf/codegen/cross.h index d70b0adc2..c90d6b3a5 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/cross.h +++ b/apps/attitude_estimator_ekf/codegen/cross.h @@ -3,7 +3,7 @@ *
* Code generation for function 'cross'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/diag.c b/apps/attitude_estimator_ekf/codegen/diag.c index 58e9f553f..7c28e873a 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/diag.c +++ b/apps/attitude_estimator_ekf/codegen/diag.c @@ -3,7 +3,7 @@ *
* Code generation for function 'diag'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@@ -27,7 +27,19 @@ /*
*
*/
-void b_diag(const real32_T v[3], real32_T d[9])
+void b_diag(const real32_T v[9], real32_T d[81])
+{
+ int32_T j;
+ memset(&d[0], 0, 81U * sizeof(real32_T));
+ for (j = 0; j < 9; j++) {
+ d[j + 9 * j] = v[j];
+ }
+}
+
+/*
+ *
+ */
+void c_diag(const real32_T v[3], real32_T d[9])
{
int32_T j;
for (j = 0; j < 9; j++) {
@@ -42,7 +54,7 @@ void b_diag(const real32_T v[3], real32_T d[9]) /*
*
*/
-void c_diag(const real32_T v[6], real32_T d[36])
+void d_diag(const real32_T v[6], real32_T d[36])
{
int32_T j;
memset(&d[0], 0, 36U * sizeof(real32_T));
@@ -54,12 +66,12 @@ void c_diag(const real32_T v[6], real32_T d[36]) /*
*
*/
-void diag(const real32_T v[9], real32_T d[81])
+void diag(const real32_T v[12], real32_T d[144])
{
int32_T j;
- memset(&d[0], 0, 81U * sizeof(real32_T));
- for (j = 0; j < 9; j++) {
- d[j + 9 * j] = v[j];
+ memset(&d[0], 0, 144U * sizeof(real32_T));
+ for (j = 0; j < 12; j++) {
+ d[j + 12 * j] = v[j];
}
}
diff --git a/apps/attitude_estimator_ekf/codegen/diag.h b/apps/attitude_estimator_ekf/codegen/diag.h index 85ff0e0e9..98b411c2d 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/diag.h +++ b/apps/attitude_estimator_ekf/codegen/diag.h @@ -3,7 +3,7 @@ *
* Code generation for function 'diag'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
@@ -29,8 +29,9 @@ /* Variable Definitions */
/* Function Declarations */
-extern void b_diag(const real32_T v[3], real32_T d[9]);
-extern void c_diag(const real32_T v[6], real32_T d[36]);
-extern void diag(const real32_T v[9], real32_T d[81]);
+extern void b_diag(const real32_T v[9], real32_T d[81]);
+extern void c_diag(const real32_T v[3], real32_T d[9]);
+extern void d_diag(const real32_T v[6], real32_T d[36]);
+extern void diag(const real32_T v[12], real32_T d[144]);
#endif
/* End of code generation (diag.h) */
diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/apps/attitude_estimator_ekf/codegen/eye.c index d7ae20afd..dbd44c6a8 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/eye.c +++ b/apps/attitude_estimator_ekf/codegen/eye.c @@ -3,7 +3,7 @@ *
* Code generation for function 'eye'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/apps/attitude_estimator_ekf/codegen/eye.h index 77099ec22..325fd23ec 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/eye.h +++ b/apps/attitude_estimator_ekf/codegen/eye.h @@ -3,7 +3,7 @@ *
* Code generation for function 'eye'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c index 1c69f1ef7..0a540775a 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.c +++ b/apps/attitude_estimator_ekf/codegen/mrdivide.c @@ -3,7 +3,7 @@ *
* Code generation for function 'mrdivide'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/apps/attitude_estimator_ekf/codegen/mrdivide.h index 75a396878..d286eda5a 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.h +++ b/apps/attitude_estimator_ekf/codegen/mrdivide.h @@ -3,7 +3,7 @@ *
* Code generation for function 'mrdivide'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c index fbd5d43e0..deb71dc60 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/norm.c +++ b/apps/attitude_estimator_ekf/codegen/norm.c @@ -3,7 +3,7 @@ *
* Code generation for function 'norm'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/apps/attitude_estimator_ekf/codegen/norm.h index a2e9d90d4..3459cbdb5 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/norm.h +++ b/apps/attitude_estimator_ekf/codegen/norm.h @@ -3,7 +3,7 @@ *
* Code generation for function 'norm'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/power.c b/apps/attitude_estimator_ekf/codegen/power.c new file mode 100644 index 000000000..fc602fb5c --- /dev/null +++ b/apps/attitude_estimator_ekf/codegen/power.c @@ -0,0 +1,84 @@ +/*
+ * power.c
+ *
+ * Code generation for function 'power'
+ *
+ * C source code generated on: Tue Oct 16 15:27:58 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "power.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1);
+
+/* Function Definitions */
+static real32_T rt_powf_snf(real32_T u0, real32_T u1)
+{
+ real32_T y;
+ real32_T f1;
+ real32_T f2;
+ if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
+ y = ((real32_T)rtNaN);
+ } else {
+ f1 = (real32_T)fabs(u0);
+ f2 = (real32_T)fabs(u1);
+ if (rtIsInfF(u1)) {
+ if (f1 == 1.0F) {
+ y = ((real32_T)rtNaN);
+ } else if (f1 > 1.0F) {
+ if (u1 > 0.0F) {
+ y = ((real32_T)rtInf);
+ } else {
+ y = 0.0F;
+ }
+ } else if (u1 > 0.0F) {
+ y = 0.0F;
+ } else {
+ y = ((real32_T)rtInf);
+ }
+ } else if (f2 == 0.0F) {
+ y = 1.0F;
+ } else if (f2 == 1.0F) {
+ if (u1 > 0.0F) {
+ y = u0;
+ } else {
+ y = 1.0F / u0;
+ }
+ } else if (u1 == 2.0F) {
+ y = u0 * u0;
+ } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
+ y = (real32_T)sqrt(u0);
+ } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
+ y = ((real32_T)rtNaN);
+ } else {
+ y = (real32_T)pow(u0, u1);
+ }
+ }
+
+ return y;
+}
+
+/*
+ *
+ */
+void power(const real32_T a[12], real32_T y[12])
+{
+ int32_T k;
+ for (k = 0; k < 12; k++) {
+ y[k] = rt_powf_snf(a[k], 2.0F);
+ }
+}
+
+/* End of code generation (power.c) */
diff --git a/apps/attitude_estimator_ekf/codegen/power.h b/apps/attitude_estimator_ekf/codegen/power.h new file mode 100644 index 000000000..40a0d9353 --- /dev/null +++ b/apps/attitude_estimator_ekf/codegen/power.h @@ -0,0 +1,34 @@ +/*
+ * power.h
+ *
+ * Code generation for function 'power'
+ *
+ * C source code generated on: Tue Oct 16 15:27:58 2012
+ *
+ */
+
+#ifndef __POWER_H__
+#define __POWER_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 power(const real32_T a[12], real32_T y[12]);
+#endif
+/* End of code generation (power.h) */
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/apps/attitude_estimator_ekf/codegen/rdivide.c index 32d75bf28..11e4e6f1f 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rdivide.c +++ b/apps/attitude_estimator_ekf/codegen/rdivide.c @@ -3,7 +3,7 @@ *
* Code generation for function 'rdivide'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/apps/attitude_estimator_ekf/codegen/rdivide.h index e488ed87f..4e2430374 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rdivide.h +++ b/apps/attitude_estimator_ekf/codegen/rdivide.h @@ -3,7 +3,7 @@ *
* Code generation for function 'rdivide'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/apps/attitude_estimator_ekf/codegen/rtGetInf.c index 5500ef373..d20fa13fc 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c +++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/apps/attitude_estimator_ekf/codegen/rtGetInf.h index bfef3881e..83a355873 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h +++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c index e5113aef0..d357102af 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c +++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h index 28f35e1f1..415927709 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h +++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/apps/attitude_estimator_ekf/codegen/rt_defines.h index 3ce17dd0f..608391608 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rt_defines.h +++ b/apps/attitude_estimator_ekf/codegen/rt_defines.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c index 6f58e7265..69069562b 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c +++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h index 5c2a0aa61..9686964ae 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h +++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/apps/attitude_estimator_ekf/codegen/rtwtypes.h index 4fbb93f57..77fd3ec7a 100755..100644 --- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h +++ b/apps/attitude_estimator_ekf/codegen/rtwtypes.h @@ -3,7 +3,7 @@ *
* Code generation for function 'attitudeKalmanfilter'
*
- * C source code generated on: Sat Oct 13 16:28:18 2012
+ * C source code generated on: Tue Oct 16 15:27:58 2012
*
*/
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 63c7d0097..cb82036fe 100755..100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -172,7 +172,7 @@ mc_thread_main(int argc, char *argv[]) rates_sp.pitch = offboard_sp.p2; rates_sp.yaw = offboard_sp.p3; rates_sp.thrust = offboard_sp.p4; - //printf("thrust_rate=%8.4f\n",offboard_sp.p4); +// printf("thrust_rate=%8.4f\n",offboard_sp.p4); rates_sp.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { @@ -180,7 +180,7 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = offboard_sp.p2; att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; - //printf("thrust_att=%8.4f\n",offboard_sp.p4); +// printf("thrust_att=%8.4f\n",offboard_sp.p4); att_sp.timestamp = hrt_absolute_time(); /* STEP 2: publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); @@ -193,6 +193,7 @@ mc_thread_main(int argc, char *argv[]) if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) { rates_sp.roll = manual.roll; + rates_sp.pitch = manual.pitch; rates_sp.yaw = manual.yaw; rates_sp.thrust = manual.throttle; @@ -203,7 +204,7 @@ mc_thread_main(int argc, char *argv[]) if (state.flag_control_attitude_enabled) { att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; - att_sp.yaw_body = manual.yaw; // XXX Hack, remove, switch to yaw rate controller + att_sp.yaw_body = manual.yaw; // XXX Hack, clean up /* set yaw rate */ rates_sp.yaw = manual.yaw; att_sp.thrust = manual.throttle; @@ -226,21 +227,15 @@ mc_thread_main(int argc, char *argv[]) } /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - - - /* run attitude controller */ - if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) { - multirotor_control_attitude(&att_sp, &att, NULL, &actuators); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) { + if (state.flag_control_attitude_enabled) { multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } + } if (state.flag_control_rates_enabled) { - float gyro[3] = {0.0f, 0.0f, 0.0f}; + float gyro[3]; /* get current rate setpoint */ bool rates_sp_valid = false; diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 458b86057..00b759d73 100755..100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -54,17 +54,13 @@ #include <systemlib/param/param.h> #include <arch/board/up_hrt.h> -// PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); -// PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); -// PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); -// PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); -// PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); - -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */ -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); + + PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); /* 0.15 F405 Flamewheel */ PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); @@ -76,17 +72,17 @@ PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); struct mc_att_control_params { - // float yaw_p; - // float yaw_i; - // float yaw_d; - // float yaw_awu; - // float yaw_lim; - - float yawrate_p; - float yawrate_i; - float yawrate_d; - float yawrate_awu; - float yawrate_lim; + float yaw_p; + float yaw_i; + float yaw_d; + float yaw_awu; + float yaw_lim; + + // float yawrate_p; + // float yawrate_i; + // float yawrate_d; + // float yawrate_awu; + // float yawrate_lim; float att_p; float att_i; @@ -99,17 +95,17 @@ struct mc_att_control_params { }; struct mc_att_control_param_handles { - // param_t yaw_p; - // param_t yaw_i; - // param_t yaw_d; - // param_t yaw_awu; - // param_t yaw_lim; - - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_d; - param_t yawrate_awu; - param_t yawrate_lim; + param_t yaw_p; + param_t yaw_i; + param_t yaw_d; + param_t yaw_awu; + param_t yaw_lim; + + // param_t yawrate_p; + // param_t yawrate_i; + // param_t yawrate_d; + // param_t yawrate_awu; + // param_t yawrate_lim; param_t att_p; param_t att_i; @@ -137,17 +133,17 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc static int parameters_init(struct mc_att_control_param_handles *h) { /* PID parameters */ - // h->yaw_p = param_find("MC_YAWPOS_P"); - // h->yaw_i = param_find("MC_YAWPOS_I"); - // h->yaw_d = param_find("MC_YAWPOS_D"); - // h->yaw_awu = param_find("MC_YAWPOS_AWU"); - // h->yaw_lim = param_find("MC_YAWPOS_LIM"); - - h->yawrate_p = param_find("MC_YAWRATE_P"); - h->yawrate_i = param_find("MC_YAWRATE_I"); - h->yawrate_d = param_find("MC_YAWRATE_D"); - h->yawrate_awu = param_find("MC_YAWRATE_AWU"); - h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + h->yaw_p = param_find("MC_YAWPOS_P"); + h->yaw_i = param_find("MC_YAWPOS_I"); + h->yaw_d = param_find("MC_YAWPOS_D"); + h->yaw_awu = param_find("MC_YAWPOS_AWU"); + h->yaw_lim = param_find("MC_YAWPOS_LIM"); + + // h->yawrate_p = param_find("MC_YAWRATE_P"); + // h->yawrate_i = param_find("MC_YAWRATE_I"); + // h->yawrate_d = param_find("MC_YAWRATE_D"); + // h->yawrate_awu = param_find("MC_YAWRATE_AWU"); + // h->yawrate_lim = param_find("MC_YAWRATE_LIM"); h->att_p = param_find("MC_ATT_P"); h->att_i = param_find("MC_ATT_I"); @@ -163,17 +159,17 @@ static int parameters_init(struct mc_att_control_param_handles *h) static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p) { - // param_get(h->yaw_p, &(p->yaw_p)); - // param_get(h->yaw_i, &(p->yaw_i)); - // param_get(h->yaw_d, &(p->yaw_d)); - // param_get(h->yaw_awu, &(p->yaw_awu)); - // param_get(h->yaw_lim, &(p->yaw_lim)); - - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_d, &(p->yawrate_d)); - param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); + param_get(h->yaw_p, &(p->yaw_p)); + param_get(h->yaw_i, &(p->yaw_i)); + param_get(h->yaw_d, &(p->yaw_d)); + param_get(h->yaw_awu, &(p->yaw_awu)); + param_get(h->yaw_lim, &(p->yaw_lim)); + + // param_get(h->yawrate_p, &(p->yawrate_p)); + // param_get(h->yawrate_i, &(p->yawrate_i)); + // param_get(h->yawrate_d, &(p->yawrate_d)); + // param_get(h->yawrate_awu, &(p->yawrate_awu)); + // param_get(h->yawrate_lim, &(p->yawrate_lim)); param_get(h->att_p, &(p->att_p)); param_get(h->att_i, &(p->att_i)); @@ -188,16 +184,23 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators) { static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + static uint64_t last_input = 0; + float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; last_run = hrt_absolute_time(); + if (last_input != att_sp->timestamp) { + last_input = att_sp->timestamp; + } + static int sensor_delay; + sensor_delay = hrt_absolute_time() - att->timestamp; static int motor_skip_counter = 0; // static PID_t yaw_pos_controller; - static PID_t yaw_speed_controller; +// static PID_t yaw_speed_controller; static PID_t pitch_controller; static PID_t roll_controller; @@ -213,112 +216,44 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s // pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu, // PID_MODE_DERIVATIV_SET, 154); - pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu, - PID_MODE_DERIVATIV_SET); + // pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu, + // PID_MODE_DERIVATIV_SET); pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + PID_MODE_DERIVATIV_SET); pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + PID_MODE_DERIVATIV_SET); initialized = true; } /* load new parameters with lower rate */ - if (motor_skip_counter % 50 == 0) { + if (motor_skip_counter % 1000 == 0) { /* update parameters from storage */ parameters_update(&h, &p); /* apply parameters */ // pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu); - pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu); + // pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu); pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu); pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu); + printf("delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); } /* calculate current control outputs */ - + /* control pitch (forward) output */ - float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff, - att->pitch, att->pitchspeed, deltaT)*1/10.0f; + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff, + att->pitch, att->pitchspeed, deltaT)*1/10.0f; /* control roll (left/right) output */ - float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, - att->roll, att->rollspeed, deltaT)*1/10.0f; + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, + att->roll, att->rollspeed, deltaT)*1/10.0f; /* control yaw rate */ - float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; - - /* - * compensate the vertical loss of thrust - * when thrust plane has an angle. - * start with a factor of 1.0 (no change) - */ - float zcompensation = 1.0f; - - if (fabsf(att->roll) > 0.3f) { - zcompensation *= 1.04675160154f; - - } else { - zcompensation *= 1.0f / cosf(att->roll); - } - - if (fabsf(att->pitch) > 0.3f) { - zcompensation *= 1.04675160154f; - - } else { - zcompensation *= 1.0f / cosf(att->pitch); - } + //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; + rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body)); - float motor_thrust = 0.0f; - motor_thrust = att_sp->thrust; - /* compensate thrust vector for roll / pitch contributions */ - motor_thrust *= zcompensation; + rates_sp->thrust = att_sp->thrust; - /* limit yaw rate output */ - if (yaw_rate_control > p.yawrate_lim) { - yaw_rate_control = p.yawrate_lim; - yaw_speed_controller.saturated = 1; - } - - if (yaw_rate_control < -p.yawrate_lim) { - yaw_rate_control = -p.yawrate_lim; - yaw_speed_controller.saturated = 1; - } - - if (pitch_control > p.att_lim) { - pitch_control = p.att_lim; - pitch_controller.saturated = 1; - } - - if (pitch_control < -p.att_lim) { - pitch_control = -p.att_lim; - pitch_controller.saturated = 1; - } - - - if (roll_control > p.att_lim) { - roll_control = p.att_lim; - roll_controller.saturated = 1; - } - - if (roll_control < -p.att_lim) { - roll_control = -p.att_lim; - roll_controller.saturated = 1; - } - - if (actuators) { - actuators->control[0] = roll_control; - actuators->control[1] = pitch_control; - actuators->control[2] = yaw_rate_control; - actuators->control[3] = motor_thrust; - } - - // XXX change yaw rate to yaw pos controller - if (rates_sp) { - rates_sp->roll = roll_control; - rates_sp->pitch = pitch_control; - rates_sp->yaw = yaw_rate_control; - rates_sp->thrust = motor_thrust; - } motor_skip_counter++; } diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h index d9d3c0444..d9d3c0444 100755..100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.h +++ b/apps/multirotor_att_control/multirotor_attitude_control.h diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h index 3c3c50801..3c3c50801 100755..100644 --- a/apps/multirotor_att_control/multirotor_rate_control.h +++ b/apps/multirotor_att_control/multirotor_rate_control.h |