diff options
Diffstat (limited to 'apps')
55 files changed, 3177 insertions, 691 deletions
diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile index 4d531867c..734af7cc1 100644..100755 --- a/apps/attitude_estimator_ekf/Makefile +++ b/apps/attitude_estimator_ekf/Makefile @@ -47,8 +47,6 @@ CSRCS = attitude_estimator_ekf_main.c \ codegen/rtGetInf.c \ codegen/rtGetNaN.c \ codegen/norm.c \ - codegen/diag.c \ - codegen/power.c \ codegen/cross.c diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 1c3b9976b..7ca77e513 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -431,6 +431,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) 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)); diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 91fec9ccb..7d3812abd 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -44,34 +44,20 @@ /* Extended Kalman Filter covariances */ /* gyro process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f); +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_Q3, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f); -/* accelerometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f); -/* magnetometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f); +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_R0, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f); +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_R3, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e2f); -/* magnetometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f); +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); @@ -80,28 +66,16 @@ 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_Q0"); - h->q1 = param_find("EKF_ATT_Q1"); - h->q2 = param_find("EKF_ATT_Q2"); - h->q3 = param_find("EKF_ATT_Q3"); - h->q4 = param_find("EKF_ATT_Q4"); - h->q5 = param_find("EKF_ATT_Q5"); - h->q6 = param_find("EKF_ATT_Q6"); - h->q7 = param_find("EKF_ATT_Q7"); - h->q8 = param_find("EKF_ATT_Q8"); - h->q9 = param_find("EKF_ATT_Q9"); - h->q10 = param_find("EKF_ATT_Q10"); - h->q11 = param_find("EKF_ATT_Q11"); + 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_R0"); - h->r1 = param_find("EKF_ATT_R1"); - h->r2 = param_find("EKF_ATT_R2"); - h->r3 = param_find("EKF_ATT_R3"); - h->r4 = param_find("EKF_ATT_R4"); - h->r5 = param_find("EKF_ATT_R5"); - h->r6 = param_find("EKF_ATT_R6"); - h->r7 = param_find("EKF_ATT_R7"); - h->r8 = param_find("EKF_ATT_R8"); + 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"); @@ -117,23 +91,11 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->q2, &(p->q[2])); param_get(h->q3, &(p->q[3])); param_get(h->q4, &(p->q[4])); - param_get(h->q5, &(p->q[5])); - param_get(h->q6, &(p->q[6])); - param_get(h->q7, &(p->q[7])); - param_get(h->q8, &(p->q[8])); - param_get(h->q9, &(p->q[9])); - param_get(h->q10, &(p->q[10])); - param_get(h->q11, &(p->q[11])); 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->r4, &(p->r[4])); - param_get(h->r5, &(p->r[5])); - param_get(h->r6, &(p->r[6])); - param_get(h->r7, &(p->r[7])); - param_get(h->r8, &(p->r[8])); param_get(h->roll_off, &(p->roll_off)); param_get(h->pitch_off, &(p->pitch_off)); diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h index b315d5fe8..09817d58e 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -50,8 +50,8 @@ struct attitude_estimator_ekf_params { }; struct attitude_estimator_ekf_param_handles { - param_t r0, r1, r2, r3, r4, r5, r6, r7, r8; - param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11; + param_t r0, r1, r2, r3; + param_t q0, q1, q2, q3, q4; param_t roll_off, pitch_off, yaw_off; }; diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 04f6ea267..9e97ad11a 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -15,8 +15,6 @@ #include "cross.h"
#include "eye.h"
#include "mrdivide.h"
-#include "diag.h"
-#include "power.h"
/* Type Definitions */
@@ -50,7 +48,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) b_u1 = -1;
}
- y = (real32_T)atan2f((real32_T)b_u0, (real32_T)b_u1);
+ 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;
@@ -60,7 +58,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) y = 0.0F;
}
} else {
- y = (real32_T)atan2f(u0, u1);
+ y = (real32_T)atan2(u0, u1);
}
return y;
@@ -71,80 +69,88 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) */
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], const real32_T r[9], 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 a[12];
- real32_T b_a[12];
- int32_T i;
- real32_T Q[144];
+ real32_T wak[3];
real32_T O[9];
real_T dv0[9];
- real32_T c_a[9];
- real32_T d_a[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 m_n_b[3];
real32_T z_n_b[3];
- real32_T x_apriori[12];
+ 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 f0;
- real32_T R[81];
real32_T b_P_apriori[108];
- static const int8_T iv0[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
+ 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];
- static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ 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 fv0[81];
+ real32_T b_r[81];
+ real32_T fv1[81];
+ real32_T f0;
real32_T c_P_apriori[36];
- static const int8_T iv2[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 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 fv1[36];
- static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 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 S_k[36];
+ real32_T c_r[9];
+ real32_T b_K_k[36];
real32_T d_P_apriori[72];
- static const int8_T iv4[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 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 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,
+ 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_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, 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 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 };
- real32_T fv2[6];
- real32_T b_z[6];
+ 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 */
/* */
@@ -160,44 +166,31 @@ 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 */
- /* '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]; */
+ /* Q = diag(q.^2*dt); */
/* observation matrix */
- /* 'attitudeKalmanfilter:44' wx= x_aposteriori_k(1); */
- /* 'attitudeKalmanfilter:45' wy= x_aposteriori_k(2); */
- /* 'attitudeKalmanfilter:46' wz= x_aposteriori_k(3); */
- /* 'attitudeKalmanfilter:48' wox= x_aposteriori_k(4); */
- /* 'attitudeKalmanfilter:49' woy= x_aposteriori_k(5); */
- /* 'attitudeKalmanfilter:50' woz= x_aposteriori_k(6); */
- /* 'attitudeKalmanfilter:52' zex= x_aposteriori_k(7); */
- /* 'attitudeKalmanfilter:53' zey= x_aposteriori_k(8); */
- /* 'attitudeKalmanfilter:54' zez= x_aposteriori_k(9); */
- /* 'attitudeKalmanfilter:56' mux= x_aposteriori_k(10); */
- /* 'attitudeKalmanfilter:57' muy= x_aposteriori_k(11); */
- /* 'attitudeKalmanfilter:58' muz= x_aposteriori_k(12); */
- /* 'attitudeKalmanfilter:61' wk =[wx; */
- /* 'attitudeKalmanfilter:62' wy; */
- /* 'attitudeKalmanfilter:63' wz]; */
- /* 'attitudeKalmanfilter:65' wok =[wox;woy;woz]; */
- /* 'attitudeKalmanfilter:66' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
+ /* '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];
@@ -208,69 +201,73 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const O[7] = x_aposteriori_k[0];
O[8] = 0.0F;
- /* 'attitudeKalmanfilter:67' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
+ /* prediction of the earth z vector */
+ /* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
eye(dv0);
for (i = 0; i < 9; i++) {
- c_a[i] = (real32_T)dv0[i] + O[i] * dt;
+ a[i] = (real32_T)dv0[i] + O[i] * dt;
}
- /* 'attitudeKalmanfilter:68' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
+ /* prediction of the magnetic vector */
+ /* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
eye(dv0);
for (i = 0; i < 9; i++) {
- d_a[i] = (real32_T)dv0[i] + O[i] * dt;
+ b_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
- /* 'attitudeKalmanfilter:70' EZ=[0,zez,-zey; */
- /* 'attitudeKalmanfilter:71' -zez,0,zex; */
- /* 'attitudeKalmanfilter:72' zey,-zex,0]'; */
- /* 'attitudeKalmanfilter:73' MA=[0,muz,-muy; */
- /* 'attitudeKalmanfilter:74' -muz,0,mux; */
- /* 'attitudeKalmanfilter:75' zey,-mux,0]'; */
- /* 'attitudeKalmanfilter:79' E=eye(3); */
- /* 'attitudeKalmanfilter:80' Es=[1,0,0; */
- /* 'attitudeKalmanfilter:81' 0,1,0; */
- /* 'attitudeKalmanfilter:82' 0,0,0]; */
- /* 'attitudeKalmanfilter:83' Z=zeros(3); */
- /* 'attitudeKalmanfilter:84' x_apriori=[wk;wok;zek;muk]; */
- x_n_b[0] = x_aposteriori_k[6];
- x_n_b[1] = x_aposteriori_k[7];
- x_n_b[2] = x_aposteriori_k[8];
- b_x_aposteriori_k[0] = x_aposteriori_k[9];
- b_x_aposteriori_k[1] = x_aposteriori_k[10];
- b_x_aposteriori_k[2] = x_aposteriori_k[11];
- x_apriori[0] = x_aposteriori_k[0];
- x_apriori[1] = x_aposteriori_k[1];
- x_apriori[2] = x_aposteriori_k[2];
- x_apriori[3] = x_aposteriori_k[3];
- x_apriori[4] = x_aposteriori_k[4];
- x_apriori[5] = x_aposteriori_k[5];
+ /* '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++) {
- m_n_b[i] = 0.0F;
+ c_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- m_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
+ c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0];
}
- z_n_b[i] = 0.0F;
+ d_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- z_n_b[i] += d_a[i + 3 * i0] * b_x_aposteriori_k[i0];
+ d_a[i] += b_a[i + 3 * i0] * z_n_b[i0];
}
- x_apriori[i + 6] = m_n_b[i];
+ 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] = z_n_b[i];
+ x_apriori[i + 9] = d_a[i];
}
- /* 'attitudeKalmanfilter:86' A_lin=[ Z, Z, Z, Z */
- /* 'attitudeKalmanfilter:87' Z, Z, Z, Z */
- /* 'attitudeKalmanfilter:88' EZ, Z, O, Z */
- /* 'attitudeKalmanfilter:89' MA, Z, Z, O]; */
- /* 'attitudeKalmanfilter:92' A_lin=eye(12)+A_lin*dt; */
+ /* '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] = 0.0F;
+ A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i];
}
for (i0 = 0; i0 < 3; i0++) {
@@ -339,7 +336,164 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const }
}
- /* 'attitudeKalmanfilter:98' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
+ /* '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;
@@ -347,38 +501,63 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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 (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
- f0 = 0.0F;
+ d_A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
+ d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
- P_apriori[i + 12 * i0] = f0 + Q[i + 12 * i0];
+ 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];
+ }
}
}
- /* %update */
- /* 'attitudeKalmanfilter:102' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
+ 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:103' R=diag(r); */
- b_diag(r, R);
+ /* '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 */
- /* '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; */
- /* 'attitudeKalmanfilter:112' S_k=H_k*P_apriori*H_k'+R; */
- /* 'attitudeKalmanfilter:113' K_k=(P_apriori*H_k'/(S_k)); */
+ /* [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)iv0[i1
+ b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1
+ 12 * i0];
}
}
@@ -388,53 +567,136 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const 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)iv1[i + 9 * i1] * P_apriori[i1 + 12 * i0];
+ K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0];
}
}
- }
- for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 9; i0++) {
- f0 = 0.0F;
+ fv0[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
+ fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0];
}
+ }
+ }
- fv0[i + 9 * i0] = f0 + R[i + 9 * 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, fv0, K_k);
+ mrdivide(b_P_apriori, fv1, K_k);
- /* 'attitudeKalmanfilter:116' x_aposteriori=x_apriori+K_k*y_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)iv1[i + 9 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0];
}
- c_a[i] = z[i] - f0;
+ 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] * c_a[i0];
+ f0 += K_k[i + 12 * i0] * O[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:117' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
+ /* '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)iv1[i1 + 9 * i0];
+ f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -442,60 +704,72 @@ 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] += Q[i + 12 * i1] * P_apriori[i1 + 12 * i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12
+ * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:118' else */
- /* 'attitudeKalmanfilter:119' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
+ /* '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:120' R=diag(r(1:3)); */
- c_diag(*(real32_T (*)[3])&r[0], O);
-
+ /* 'attitudeKalmanfilter:141' R=[r(1),0,0; */
+ /* 'attitudeKalmanfilter:142' 0,r(1),0; */
+ /* 'attitudeKalmanfilter:143' 0,0,r(1)]; */
/* observation matrix */
- /* '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)); */
+ /* '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)
- iv2[i1 + 12 * i0];
+ iv3[i1 + 12 * i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 12; i0++) {
- fv1[i + 3 * i0] = 0.0F;
+ fv2[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- fv1[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *
+ fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 *
i0];
}
}
- }
- for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
- f0 = 0.0F;
+ O[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
+ O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0];
}
+ }
+ }
- c_a[i + 3 * i0] = f0 + O[i + 3 * 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, c_a, S_k);
+ b_mrdivide(c_P_apriori, a, b_K_k);
- /* 'attitudeKalmanfilter:131' x_aposteriori=x_apriori+K_k*y_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)iv3[i + 3 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0];
}
x_n_b[i] = z[i] - f0;
@@ -504,22 +778,22 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
- f0 += S_k[i + 12 * i0] * x_n_b[i0];
+ f0 += b_K_k[i + 12 * i0] * x_n_b[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:132' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
+ /* '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 += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
+ f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -527,87 +801,134 @@ 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] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
- i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 +
+ 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:133' else */
- /* 'attitudeKalmanfilter:134' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
+ /* '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:135' R=diag(r(1:6)); */
- d_diag(*(real32_T (*)[6])&r[0], S_k);
+ /* '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: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); */
- /* 'attitudeKalmanfilter:144' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
+ /* '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)
- iv4[i1 + 12 * i0];
+ iv5[i1 + 12 * i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
- b_K_k[i + 6 * i0] = 0.0F;
+ c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- b_K_k[i + 6 * i0] += (real32_T)iv5[i + 6 * i1] * P_apriori[i1 + 12
+ c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12
* i0];
}
}
- }
- for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
- f0 = 0.0F;
+ fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0];
}
+ }
+ }
- fv1[i + 6 * i0] = f0 + S_k[i + 6 * 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, fv1, b_K_k);
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
- /* 'attitudeKalmanfilter:147' x_aposteriori=x_apriori+K_k*y_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)iv5[i + 6 * i0] * x_apriori[i0];
+ f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
}
- b_r[i] = z[i] - f0;
+ b_z[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
- f0 += b_K_k[i + 12 * i0] * b_r[i0];
+ f0 += c_K_k[i + 12 * i0] * b_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:148' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ /* '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 += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -615,98 +936,137 @@ 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] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
- i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1
+ + 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:149' else */
- /* 'attitudeKalmanfilter:150' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
+ /* '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:151' R=diag([r(1:3);r(7:9)]); */
+ /* '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: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); */
+ /* '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++) {
- b_K_k[i + 6 * i0] = 0.0F;
+ c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- b_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 +
+ c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 +
12 * i0];
}
}
- }
- for (i = 0; i < 3; i++) {
- b_r[i << 1] = r[i];
- b_r[1 + (i << 1)] = r[6 + i];
- }
-
- for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
- f0 = 0.0F;
+ fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
- f0 += b_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * i0];
+ fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 *
+ i0];
}
-
- S_k[i + 6 * i0] = f0 + b_r[3 * (i + i0)];
}
}
- /* 'attitudeKalmanfilter:160' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
- for (i = 0; i < 12; i++) {
+ 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++) {
- 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];
- }
+ c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
}
}
- c_mrdivide(d_P_apriori, S_k, b_K_k);
+ c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
- /* 'attitudeKalmanfilter:163' x_aposteriori=x_apriori+K_k*y_k; */
+ /* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
- b_r[i] = z[i];
+ b_z[i] = z[i];
}
for (i = 0; i < 3; i++) {
- b_r[i + 3] = z[i + 6];
+ b_z[i + 3] = z[i + 6];
}
for (i = 0; i < 6; i++) {
- fv2[i] = 0.0F;
+ fv3[i] = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
- fv2[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
+ fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0];
}
- b_z[i] = b_r[i] - fv2[i];
+ c_z[i] = b_z[i] - fv3[i];
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
- f0 += b_K_k[i + 12 * i0] * b_z[i0];
+ f0 += c_K_k[i + 12 * i0] * c_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
- /* 'attitudeKalmanfilter:164' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
+ /* '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 += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
+ f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0];
}
- Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
+ b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
@@ -714,19 +1074,19 @@ 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] += Q[i + 12 * i1] * P_apriori[i1 + 12
- * i0];
+ P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] *
+ P_apriori[i1 + 12 * i0];
}
}
}
} else {
- /* 'attitudeKalmanfilter:165' else */
- /* 'attitudeKalmanfilter:166' x_aposteriori=x_apriori; */
+ /* 'attitudeKalmanfilter:202' else */
+ /* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */
for (i = 0; i < 12; i++) {
x_aposteriori[i] = x_apriori[i];
}
- /* 'attitudeKalmanfilter:167' P_aposteriori=P_apriori; */
+ /* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */
memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T));
}
}
@@ -734,54 +1094,54 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const }
/* % euler anglels extraction */
- /* 'attitudeKalmanfilter:176' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
+ /* '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:177' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
+ /* '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]), m_n_b);
+ x_aposteriori[9]), wak);
- /* 'attitudeKalmanfilter:179' y_n_b=cross(z_n_b,m_n_b); */
+ /* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */
for (i = 0; i < 3; i++) {
- x_n_b[i] = m_n_b[i];
+ x_n_b[i] = wak[i];
}
- cross(z_n_b, x_n_b, m_n_b);
+ cross(z_n_b, x_n_b, wak);
- /* 'attitudeKalmanfilter:180' y_n_b=y_n_b./norm(y_n_b); */
+ /* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */
for (i = 0; i < 3; i++) {
- x_n_b[i] = m_n_b[i];
+ x_n_b[i] = wak[i];
}
- rdivide(x_n_b, norm(m_n_b), m_n_b);
+ rdivide(x_n_b, norm(wak), wak);
- /* 'attitudeKalmanfilter:182' x_n_b=(cross(y_n_b,z_n_b)); */
- cross(m_n_b, z_n_b, x_n_b);
+ /* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */
+ cross(wak, z_n_b, x_n_b);
- /* 'attitudeKalmanfilter:183' x_n_b=x_n_b./norm(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:189' Rot_matrix=[x_n_b,y_n_b,z_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] = m_n_b[i];
+ Rot_matrix[3 + i] = wak[i];
Rot_matrix[6 + i] = z_n_b[i];
}
- /* 'attitudeKalmanfilter:193' phi=atan2f(Rot_matrix(2,3),Rot_matrix(3,3)); */
- /* 'attitudeKalmanfilter:194' theta=-asinf(Rot_matrix(1,3)); */
- /* 'attitudeKalmanfilter:195' psi=atan2f(Rot_matrix(1,2),Rot_matrix(1,1)); */
- /* 'attitudeKalmanfilter:196' eulerAngles=[phi;theta;psi]; */
+ /* '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)asinf(Rot_matrix[6]);
+ eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
}
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h index c93d7f4bb..afa63c1a9 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -29,6 +29,6 @@ /* 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], const real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
+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/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c index 67b6fa422..7d620d7fa 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h index 610924d75..8b599be66 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c index c89602723..7f9727419 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h index a19630775..da84a5024 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h index eba83d0d9..30fd1e75e 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/apps/attitude_estimator_ekf/codegen/cross.c index 42cd70971..84ada9002 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/apps/attitude_estimator_ekf/codegen/cross.h index c90d6b3a5..e727f0684 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/diag.c b/apps/attitude_estimator_ekf/codegen/diag.c deleted file mode 100644 index 7c28e873a..000000000 --- a/apps/attitude_estimator_ekf/codegen/diag.c +++ /dev/null @@ -1,78 +0,0 @@ -/*
- * diag.c
- *
- * Code generation for function 'diag'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "attitudeKalmanfilter.h"
-#include "diag.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-
-/*
- *
- */
-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++) {
- d[j] = 0.0F;
- }
-
- for (j = 0; j < 3; j++) {
- d[j + 3 * j] = v[j];
- }
-}
-
-/*
- *
- */
-void d_diag(const real32_T v[6], real32_T d[36])
-{
- int32_T j;
- memset(&d[0], 0, 36U * sizeof(real32_T));
- for (j = 0; j < 6; j++) {
- d[j + 6 * j] = v[j];
- }
-}
-
-/*
- *
- */
-void diag(const real32_T v[12], real32_T d[144])
-{
- int32_T j;
- memset(&d[0], 0, 144U * sizeof(real32_T));
- for (j = 0; j < 12; j++) {
- d[j + 12 * j] = v[j];
- }
-}
-
-/* End of code generation (diag.c) */
diff --git a/apps/attitude_estimator_ekf/codegen/diag.h b/apps/attitude_estimator_ekf/codegen/diag.h deleted file mode 100644 index 98b411c2d..000000000 --- a/apps/attitude_estimator_ekf/codegen/diag.h +++ /dev/null @@ -1,37 +0,0 @@ -/*
- * diag.h
- *
- * Code generation for function 'diag'
- *
- * C source code generated on: Tue Oct 16 15:27:58 2012
- *
- */
-
-#ifndef __DIAG_H__
-#define __DIAG_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_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 dbd44c6a8..b89ab58ef 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/apps/attitude_estimator_ekf/codegen/eye.h index 325fd23ec..94fbe7671 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c index 0a540775a..a810f22e4 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/apps/attitude_estimator_ekf/codegen/mrdivide.h index d286eda5a..2d3b0d51f 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c index deb71dc60..0c418cc7b 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/apps/attitude_estimator_ekf/codegen/norm.h index 3459cbdb5..60cf77b57 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/power.c b/apps/attitude_estimator_ekf/codegen/power.c deleted file mode 100644 index fc602fb5c..000000000 --- a/apps/attitude_estimator_ekf/codegen/power.c +++ /dev/null @@ -1,84 +0,0 @@ -/*
- * 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 deleted file mode 100644 index 40a0d9353..000000000 --- a/apps/attitude_estimator_ekf/codegen/power.h +++ /dev/null @@ -1,34 +0,0 @@ -/*
- * 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 11e4e6f1f..d035dae5e 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/apps/attitude_estimator_ekf/codegen/rdivide.h index 4e2430374..4bbebebe2 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/apps/attitude_estimator_ekf/codegen/rtGetInf.c index d20fa13fc..34164d104 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/apps/attitude_estimator_ekf/codegen/rtGetInf.h index 83a355873..145373cd0 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c index d357102af..d84ca9573 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h index 415927709..65fdaa96f 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/apps/attitude_estimator_ekf/codegen/rt_defines.h index 608391608..356498363 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c index 69069562b..303d1d9d2 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h index 9686964ae..bd56b30d9 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/apps/attitude_estimator_ekf/codegen/rtwtypes.h index 77fd3ec7a..9a5c96267 100644..100755 --- 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: Tue Oct 16 15:27:58 2012
+ * C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
@@ -26,8 +26,8 @@ * Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
- * Signed integer division rounds to: Undefined
- * Shift right on a signed integer as arithmetic shift: off
+ * Signed integer division rounds to: Zero
+ * Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 3a6fecf74..6b1bc0f9b 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1678,12 +1678,13 @@ int commander_thread_main(int argc, char *argv[]) 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 / 100.0f; - float vdop_m = gps_position.epv / 100.0f; + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; /* check if gps fix is ok */ // XXX magic number - float dop_threshold_m = 2.0f; + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; /* * If horizontal dilution of precision (hdop / eph) @@ -1694,10 +1695,12 @@ int commander_thread_main(int argc, char *argv[]) * the system is currently not armed, set home * position to the current position. */ - if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m) - && (vdop_m < dop_threshold_m) + + 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 < 2000000) + && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) && !current_status.flag_system_armed) { warnx("setting home position"); @@ -1706,11 +1709,11 @@ int commander_thread_main(int argc, char *argv[]) home.lon = gps_position.lon; home.alt = gps_position.alt; - home.eph = gps_position.eph; - home.epv = gps_position.epv; + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; - home.s_variance = gps_position.s_variance; - home.p_variance = gps_position.p_variance; + 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) { diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 03da35a0a..d9637b4a7 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -322,11 +322,24 @@ void BlockMultiModeBacksideAutopilot::update() _att.roll, _att.pitch, _att.yaw, _att.rollspeed, _att.pitchspeed, _att.yawspeed ); - _actuators.control[CH_AIL] = _backsideAutopilot.getAileron(); - _actuators.control[CH_ELV] = _backsideAutopilot.getElevator(); + _actuators.control[CH_AIL] = - _backsideAutopilot.getAileron(); + _actuators.control[CH_ELV] = - _backsideAutopilot.getElevator(); _actuators.control[CH_RDR] = _backsideAutopilot.getRudder(); _actuators.control[CH_THR] = _backsideAutopilot.getThrottle(); + // XXX limit throttle to manual setting (safety) for now. + // If it turns out to be confusing, it can be removed later once + // a first binary release can be targeted. + // This is not a hack, but a design choice. + + /* do not limit in HIL */ + if (!_status.flag_hil_enabled) { + /* limit to value of manual throttle */ + _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? + _actuators.control[CH_THR] : _manual.throttle; + } + + } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { @@ -337,11 +350,12 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_THR] = _manual.throttle; } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - _stabilization.update( - _ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw, + + _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, _att.rollspeed, _att.pitchspeed, _att.yawspeed); + _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); + _actuators.control[CH_ELV] = - _stabilization.getElevator(); _actuators.control[CH_RDR] = _stabilization.getRudder(); _actuators.control[CH_THR] = _manual.throttle; } diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h new file mode 100644 index 000000000..1dda8ef0b --- /dev/null +++ b/apps/drivers/drv_gps.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file GPS driver interface. + */ + +#ifndef _DRV_GPS_H +#define _DRV_GPS_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define GPS_DEFAULT_UART_PORT "/dev/ttyS3" + +#define GPS_DEVICE_PATH "/dev/gps" + +typedef enum { + GPS_DRIVER_MODE_NONE = 0, + GPS_DRIVER_MODE_UBX, + GPS_DRIVER_MODE_MTK, + GPS_DRIVER_MODE_NMEA, +} gps_driver_mode_t; + + +/* + * ObjDev tag for GPS data. + */ +ORB_DECLARE(gps); + +/* + * ioctl() definitions + */ +#define _GPSIOCBASE (0x2800) //TODO: arbitrary choice... +#define _GPSIOC(_n) (_IOC(_GPSIOCBASE, _n)) + +#endif /* _DRV_GPS_H */ diff --git a/apps/drivers/gps/Makefile b/apps/drivers/gps/Makefile new file mode 100644 index 000000000..3859a88a5 --- /dev/null +++ b/apps/drivers/gps/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# GPS driver +# + +APPNAME = gps +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp new file mode 100644 index 000000000..6d7cfcc68 --- /dev/null +++ b/apps/drivers/gps/gps.cpp @@ -0,0 +1,536 @@ +/**************************************************************************** + * + * Copyright (C) 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. + * + ****************************************************************************/ + +/** + * @file gps.cpp + * Driver for the GPS on a serial port + */ + +#include <nuttx/clock.h> +#include <sys/types.h> +#include <stdint.h> +#include <stdio.h> +#include <stdbool.h> +#include <stdlib.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> +#include <fcntl.h> +#include <nuttx/config.h> +#include <nuttx/arch.h> +#include <arch/board/board.h> +#include <drivers/drv_hrt.h> +#include <drivers/device/i2c.h> +#include <systemlib/perf_counter.h> +#include <systemlib/scheduling_priorities.h> +#include <systemlib/err.h> +#include <drivers/drv_gps.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> + +#include "ubx.h" +#include "mtk.h" + + +#define TIMEOUT_5HZ 400 +#define RATE_MEASUREMENT_PERIOD 5000000 + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + + + +class GPS : public device::CDev +{ +public: + GPS(const char* uart_path); + ~GPS(); + + virtual int init(); + + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +private: + + bool _task_should_exit; ///< flag to make the main worker task exit + int _serial_fd; ///< serial interface to GPS + unsigned _baudrate; ///< current baudrate + char _port[20]; ///< device / serial port path + volatile int _task; //< worker task + bool _healthy; ///< flag to signal if the GPS is ok + bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed + bool _mode_changed; ///< flag that the GPS mode has changed + gps_driver_mode_t _mode; ///< current mode + GPS_Helper *_Helper; ///< instance of GPS parser + struct vehicle_gps_position_s _report; ///< uORB topic for gps position + orb_advert_t _report_pub; ///< uORB pub for gps position + float _rate; ///< position update rate + + + /** + * Try to configure the GPS, handle outgoing communication to the GPS + */ + void config(); + + /** + * Trampoline to the worker task + */ + static void task_main_trampoline(void *arg); + + + /** + * Worker task: main GPS thread that configures the GPS and parses incoming data, always running + */ + void task_main(void); + + /** + * Set the baudrate of the UART to the GPS + */ + int set_baudrate(unsigned baud); + + /** + * Send a reset command to the GPS + */ + void cmd_reset(); + +}; + + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int gps_main(int argc, char *argv[]); + +namespace +{ + +GPS *g_dev; + +} + + +GPS::GPS(const char* uart_path) : + CDev("gps", GPS_DEVICE_PATH), + _task_should_exit(false), + _healthy(false), + _mode_changed(false), + _mode(GPS_DRIVER_MODE_UBX), + _Helper(nullptr), + _report_pub(-1), + _rate(0.0f) +{ + /* store port name */ + strncpy(_port, uart_path, sizeof(_port)); + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; + + /* we need this potentially before it could be set in task_main */ + g_dev = this; + memset(&_report, 0, sizeof(_report)); + + _debug_enabled = true; +} + +GPS::~GPS() +{ + /* tell the task we want it to go away */ + _task_should_exit = true; + + /* spin waiting for the task to stop */ + for (unsigned i = 0; (i < 10) && (_task != -1); i++) { + /* give it another 100ms */ + usleep(100000); + } + + /* well, kill it anyway, though this will probably crash */ + if (_task != -1) + task_delete(_task); + g_dev = nullptr; + +} + +int +GPS::init() +{ + int ret = ERROR; + + /* do regular cdev init */ + if (CDev::init() != OK) + goto out; + + /* start the GPS driver worker task */ + _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + + if (_task < 0) { + warnx("task start failed: %d", errno); + return -errno; + } + + ret = OK; +out: + return ret; +} + +int +GPS::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + lock(); + + int ret = OK; + + switch (cmd) { + case SENSORIOCRESET: + cmd_reset(); + break; + } + + unlock(); + + return ret; +} + +void +GPS::task_main_trampoline(void *arg) +{ + g_dev->task_main(); +} + +void +GPS::task_main() +{ + log("starting"); + + /* open the serial port */ + _serial_fd = ::open(_port, O_RDWR); + + if (_serial_fd < 0) { + log("failed to open serial port: %s err: %d", _port, errno); + /* tell the dtor that we are exiting, set error code */ + _task = -1; + _exit(1); + } + + uint64_t last_rate_measurement = hrt_absolute_time(); + unsigned last_rate_count = 0; + + /* loop handling received serial bytes and also configuring in between */ + while (!_task_should_exit) { + + if (_Helper != nullptr) { + delete(_Helper); + /* set to zero to ensure parser is not used while not instantiated */ + _Helper = nullptr; + } + + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _Helper = new UBX(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_MTK: + _Helper = new MTK(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_NMEA: + //_Helper = new NMEA(); //TODO: add NMEA + break; + default: + break; + } + unlock(); + if (_Helper->configure(_baudrate) == 0) { + unlock(); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { +// lock(); + /* opportunistic publishing - else invalid data would end up on the bus */ + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } + + last_rate_count++; + + /* measure update rate every 5 seconds */ + if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { + _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); + last_rate_measurement = hrt_absolute_time(); + last_rate_count = 0; + } + + if (!_healthy) { + warnx("module found"); + _healthy = true; + } + } + if (_healthy) { + warnx("module lost"); + _healthy = false; + _rate = 0.0f; + } + + lock(); + } + lock(); + + /* select next mode */ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _mode = GPS_DRIVER_MODE_MTK; + break; + case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_UBX; + break; + // case GPS_DRIVER_MODE_NMEA: + // _mode = GPS_DRIVER_MODE_UBX; + // break; + default: + break; + } + + } + debug("exiting"); + + ::close(_serial_fd); + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + + + +void +GPS::cmd_reset() +{ + //XXX add reset? +} + +void +GPS::print_info() +{ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + warnx("protocol: UBX"); + break; + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); + break; + case GPS_DRIVER_MODE_NMEA: + warnx("protocol: NMEA"); + break; + default: + break; + } + warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + if (_report.timestamp_position != 0) { + warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, + (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); + warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); + warnx("update rate: %6.2f Hz", (double)_rate); + } + + usleep(100000); +} + +/** + * Local functions in support of the shell command. + */ +namespace gps +{ + +GPS *g_dev; + +void start(const char *uart_path); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(const char *uart_path) +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new GPS(uart_path); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); + goto fail; + } + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver. + */ +void +stop() +{ + delete g_dev; + g_dev = nullptr; + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + exit(0); +} + +/** + * Print the status of the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + g_dev->print_info(); + + exit(0); +} + +} // namespace + + +int +gps_main(int argc, char *argv[]) +{ + + /* set to default */ + char* device_name = GPS_DEFAULT_UART_PORT; + + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + /* work around getopt unreliability */ + if (argc > 3) { + if (!strcmp(argv[2], "-d")) { + device_name = argv[3]; + } else { + goto out; + } + } + gps::start(device_name); + } + + if (!strcmp(argv[1], "stop")) + gps::stop(); + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + gps::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + gps::reset(); + + /* + * Print driver status. + */ + if (!strcmp(argv[1], "status")) + gps::info(); + +out: + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]"); +} diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp new file mode 100644 index 000000000..9c1fad569 --- /dev/null +++ b/apps/drivers/gps/gps_helper.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 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. + * + ****************************************************************************/ + +#include <termios.h> +#include <errno.h> +#include <systemlib/err.h> +#include "gps_helper.h" + +/* @file gps_helper.cpp */ + +int +GPS_Helper::set_baudrate(const int &fd, unsigned baud) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + warnx("try baudrate: %d\n", speed); + + default: + warnx("ERROR: Unsupported baudrate: %d\n", baud); + return -EINVAL; + } + struct termios uart_config; + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); + return -1; + } + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); + return -1; + } + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate (tcsetattr)\n"); + return -1; + } + /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ + return 0; +} diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h new file mode 100644 index 000000000..f3d3bc40b --- /dev/null +++ b/apps/drivers/gps/gps_helper.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 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 gps_helper.h */ + +#ifndef GPS_HELPER_H +#define GPS_HELPER_H + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> + +class GPS_Helper +{ +public: + virtual int configure(unsigned &baud) = 0; + virtual int receive(unsigned timeout) = 0; + int set_baudrate(const int &fd, unsigned baud); +}; + +#endif /* GPS_HELPER_H */ diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp new file mode 100644 index 000000000..4762bd503 --- /dev/null +++ b/apps/drivers/gps/mtk.cpp @@ -0,0 +1,274 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 mkt.cpp */ + +#include <unistd.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <drivers/drv_hrt.h> + +#include "mtk.h" + + +MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_mtk_revision(0) +{ + decode_init(); +} + +MTK::~MTK() +{ +} + +int +MTK::configure(unsigned &baudrate) +{ + /* set baudrate first */ + if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0) + return -1; + + baudrate = MTK_BAUDRATE; + + /* Write config messages, don't wait for an answer */ + if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { + warnx("mtk: config write failed"); + return -1; + } + + return 0; +} + +int +MTK::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + gps_mtk_packet_t packet; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* first read whatever is left */ + if (j < count) { + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j], packet) > 0) { + handle_message(packet); + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + /* everything is read */ + j = count = 0; + } + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +void +MTK::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = MTK_DECODE_UNINIT; +} +int +MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) +{ + int ret = 0; + + if (_decode_state == MTK_DECODE_UNINIT) { + + if (b == MTK_SYNC1_V16) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 16; + } else if (b == MTK_SYNC1_V19) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 19; + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_A) { + if (b == MTK_SYNC2) { + _decode_state = MTK_DECODE_GOT_CK_B; + + } else { + // Second start symbol was wrong, reset state machine + decode_init(); + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_B) { + // Add to checksum + if (_rx_count < 33) + add_byte_to_checksum(b); + + // Fill packet buffer + ((uint8_t*)(&packet))[_rx_count] = b; + _rx_count++; + + /* Packet size minus checksum, XXX ? */ + if (_rx_count >= sizeof(packet)) { + /* Compare checksum */ + if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) { + ret = 1; + } else { + warnx("MTK Checksum invalid"); + ret = -1; + } + // Reset state machine to decode next packet + decode_init(); + } + } + return ret; +} + +void +MTK::handle_message(gps_mtk_packet_t &packet) +{ + if (_mtk_revision == 16) { + _gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7 + _gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7 + } else if (_mtk_revision == 19) { + _gps_position->lat = packet.latitude; // both degrees*1e7 + _gps_position->lon = packet.longitude; // both degrees*1e7 + } else { + warnx("mtk: unknown revision"); + _gps_position->lat = 0; + _gps_position->lon = 0; + } + _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm + _gps_position->fix_type = packet.fix_type; + _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit + _gps_position->epv_m = 0.0; //unknown in mtk custom mode + _gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s + _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad + _gps_position->satellites_visible = packet.satellites; + + /* convert time and date information to unix timestamp */ + struct tm timeinfo; //TODO: test this conversion + uint32_t timeinfo_conversion_temp; + + timeinfo.tm_mday = packet.date * 1e-4; + timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4; + timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; + timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; + + timeinfo.tm_hour = packet.utc_time * 1e-7; + timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7; + timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; + timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; + timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; + timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this + _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; + _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); + + return; +} + +void +MTK::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h new file mode 100644 index 000000000..d4e390b01 --- /dev/null +++ b/apps/drivers/gps/mtk.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 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 mtk.h */ + +#ifndef MTK_H_ +#define MTK_H_ + +#include "gps_helper.h" + +#define MTK_SYNC1_V16 0xd0 +#define MTK_SYNC1_V19 0xd1 +#define MTK_SYNC2 0xdd + +#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" +#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" +#define SBAS_ON "$PMTK313,1*2E\r\n" +#define WAAS_ON "$PMTK301,2*2E\r\n" +#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" + +#define MTK_TIMEOUT_5HZ 400 +#define MTK_BAUDRATE 38400 + +typedef enum { + MTK_DECODE_UNINIT = 0, + MTK_DECODE_GOT_CK_A = 1, + MTK_DECODE_GOT_CK_B = 2 +} mtk_decode_state_t; + +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint8_t payload; ///< Number of payload bytes + int32_t latitude; ///< Latitude in degrees * 10^7 + int32_t longitude; ///< Longitude in degrees * 10^7 + uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 + uint32_t ground_speed; ///< velocity in m/s + int32_t heading; ///< heading in degrees * 10^2 + uint8_t satellites; ///< number of sattelites used + uint8_t fix_type; ///< fix type: XXX correct for that + uint32_t date; + uint32_t utc_time; + uint16_t hdop; ///< horizontal dilution of position (without unit) + uint8_t ck_a; + uint8_t ck_b; +} gps_mtk_packet_t; + +#pragma pack(pop) + +#define MTK_RECV_BUFFER_SIZE 40 + +class MTK : public GPS_Helper +{ +public: + MTK(const int &fd, struct vehicle_gps_position_s *gps_position); + ~MTK(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b, gps_mtk_packet_t &packet); + + /** + * Handle the package once it has arrived + */ + void handle_message(gps_mtk_packet_t &packet); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + mtk_decode_state_t _decode_state; + uint8_t _mtk_revision; + uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; +}; + +#endif /* MTK_H_ */ diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp new file mode 100644 index 000000000..74cbc5aaf --- /dev/null +++ b/apps/drivers/gps/ubx.cpp @@ -0,0 +1,745 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 U-Blox protocol implementation */ + +#include <unistd.h> +#include <stdio.h> +#include <poll.h> +#include <math.h> +#include <string.h> +#include <assert.h> +#include <systemlib/err.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <drivers/drv_hrt.h> + +#include "ubx.h" + +#define UBX_CONFIG_TIMEOUT 100 + +UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_waiting_for_ack(false) +{ + decode_init(); +} + +UBX::~UBX() +{ +} + +int +UBX::configure(unsigned &baudrate) +{ + _waiting_for_ack = true; + + /* try different baudrates */ + const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + + for (int baud_i = 0; baud_i < 5; baud_i++) { + baudrate = baudrates_to_try[baud_i]; + set_baudrate(_fd, baudrate); + + /* Send a CFG-PRT message to set the UBX protocol for in and out + * and leave the baudrate as it is, we just want an ACK-ACK from this + */ + type_gps_bin_cfg_prt_packet_t cfg_prt_packet; + /* Set everything else of the packet to 0, otherwise the module wont accept it */ + memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_PRT; + + /* Define the package contents, don't change the baudrate */ + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = baudrate; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* Send a CFG-PRT message again, this time change the baudrate */ + + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { + set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); + baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + } + + /* no ack is ecpected here, keep going configuring */ + + /* send a CFT-RATE message to define update rate */ + type_gps_bin_cfg_rate_packet_t cfg_rate_packet; + memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_RATE; + + cfg_rate_packet.clsID = UBX_CLASS_CFG; + cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; + cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; + cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; + + send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* send a NAV5 message to set the options for the internal filter */ + type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; + memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_NAV5; + + cfg_nav5_packet.clsID = UBX_CLASS_CFG; + cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; + cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; + cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; + cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; + cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; + + send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + type_gps_bin_cfg_msg_packet_t cfg_msg_packet; + memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_MSG; + + cfg_msg_packet.clsID = UBX_CLASS_CFG; + cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; + cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; + /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; + /* For satelites info 1Hz is enough */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } +// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; + +// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + + _waiting_for_ack = false; + return 0; + } + return -1; +} + +int +UBX::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j]) > 0) { + /* return to configure during configuration or to the gps driver during normal work + * if a packet has arrived */ + if (handle_message() > 0) + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + + /* everything is read */ + j = count = 0; + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +int +UBX::parse_char(uint8_t b) +{ + switch (_decode_state) { + /* First, look for sync1 */ + case UBX_DECODE_UNINIT: + if (b == UBX_SYNC1) { + _decode_state = UBX_DECODE_GOT_SYNC1; + } + break; + /* Second, look for sync2 */ + case UBX_DECODE_GOT_SYNC1: + if (b == UBX_SYNC2) { + _decode_state = UBX_DECODE_GOT_SYNC2; + } else { + /* Second start symbol was wrong, reset state machine */ + decode_init(); + } + break; + /* Now look for class */ + case UBX_DECODE_GOT_SYNC2: + /* everything except sync1 and sync2 needs to be added to the checksum */ + add_byte_to_checksum(b); + /* check for known class */ + switch (b) { + case UBX_CLASS_ACK: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = ACK; + break; + + case UBX_CLASS_NAV: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = NAV; + break; + +// case UBX_CLASS_RXM: +// _decode_state = UBX_DECODE_GOT_CLASS; +// _message_class = RXM; +// break; + + case UBX_CLASS_CFG: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = CFG; + break; + default: //unknown class: reset state machine + decode_init(); + break; + } + break; + case UBX_DECODE_GOT_CLASS: + add_byte_to_checksum(b); + switch (_message_class) { + case NAV: + switch (b) { + case UBX_MESSAGE_NAV_POSLLH: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_POSLLH; + break; + + case UBX_MESSAGE_NAV_SOL: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SOL; + break; + + case UBX_MESSAGE_NAV_TIMEUTC: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_TIMEUTC; + break; + +// case UBX_MESSAGE_NAV_DOP: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = NAV_DOP; +// break; + + case UBX_MESSAGE_NAV_SVINFO: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SVINFO; + break; + + case UBX_MESSAGE_NAV_VELNED: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_VELNED; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; +// case RXM: +// switch (b) { +// case UBX_MESSAGE_RXM_SVSI: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = RXM_SVSI; +// break; +// +// default: //unknown class: reset state machine, should not happen +// decode_init(); +// break; +// } +// break; + + case CFG: + switch (b) { + case UBX_MESSAGE_CFG_NAV5: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = CFG_NAV5; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + + case ACK: + switch (b) { + case UBX_MESSAGE_ACK_ACK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_ACK; + break; + case UBX_MESSAGE_ACK_NAK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_NAK; + break; + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + default: //should not happen because we set the class + warnx("UBX Error, we set a class that we don't know"); + decode_init(); +// config_needed = true; + break; + } + break; + case UBX_DECODE_GOT_MESSAGEID: + add_byte_to_checksum(b); + _payload_size = b; //this is the first length byte + _decode_state = UBX_DECODE_GOT_LENGTH1; + break; + case UBX_DECODE_GOT_LENGTH1: + add_byte_to_checksum(b); + _payload_size += b << 8; // here comes the second byte of length + _decode_state = UBX_DECODE_GOT_LENGTH2; + break; + case UBX_DECODE_GOT_LENGTH2: + /* Add to checksum if not yet at checksum byte */ + if (_rx_count < _payload_size) + add_byte_to_checksum(b); + _rx_buffer[_rx_count] = b; + /* once the payload has arrived, we can process the information */ + if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes + + /* compare checksum */ + if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) { + return 1; + } else { + decode_init(); + return -1; + warnx("ubx: Checksum wrong"); + } + + return 1; + } else if (_rx_count < RECV_BUFFER_SIZE) { + _rx_count++; + } else { + warnx("ubx: buffer full"); + decode_init(); + return -1; + } + break; + default: + break; + } + return 0; //XXX ? +} + + +int +UBX::handle_message() +{ + int ret = 0; + + switch (_message_id) { //this enum is unique for all ids --> no need to check the class + case NAV_POSLLH: { +// printf("GOT NAV_POSLLH MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; + + _gps_position->lat = packet->lat; + _gps_position->lon = packet->lon; + _gps_position->alt = packet->height_msl; + + _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m + _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + + /* Add timestamp to finish the report */ + _gps_position->timestamp_position = hrt_absolute_time(); + /* only return 1 when new position is available */ + ret = 1; + } + break; + } + + case NAV_SOL: { +// printf("GOT NAV_SOL MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; + + _gps_position->fix_type = packet->gpsFix; + _gps_position->s_variance_m_s = packet->sAcc; + _gps_position->p_variance_m = packet->pAcc; + + _gps_position->timestamp_variance = hrt_absolute_time(); + } + break; + } + +// case NAV_DOP: { +//// printf("GOT NAV_DOP MESSAGE\n"); +// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer; +// +// _gps_position->eph_m = packet->hDOP; +// _gps_position->epv = packet->vDOP; +// +// _gps_position->timestamp_posdilution = hrt_absolute_time(); +// +// _new_nav_dop = true; +// +// break; +// } + + case NAV_TIMEUTC: { +// printf("GOT NAV_TIMEUTC MESSAGE\n"); + + if (!_waiting_for_ack) { + gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; + + //convert to unix timestamp + struct tm timeinfo; + timeinfo.tm_year = packet->year - 1900; + timeinfo.tm_mon = packet->month - 1; + timeinfo.tm_mday = packet->day; + timeinfo.tm_hour = packet->hour; + timeinfo.tm_min = packet->min; + timeinfo.tm_sec = packet->sec; + + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + + _gps_position->timestamp_time = hrt_absolute_time(); + } + break; + } + + case NAV_SVINFO: { +// printf("GOT NAV_SVINFO MESSAGE\n"); + + if (!_waiting_for_ack) { + //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message + const int length_part1 = 8; + char _rx_buffer_part1[length_part1]; + memcpy(_rx_buffer_part1, _rx_buffer, length_part1); + gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; + + //read checksum + const int length_part3 = 2; + char _rx_buffer_part3[length_part3]; + memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); + + //definitions needed to read numCh elements from the buffer: + const int length_part2 = 12; + gps_bin_nav_svinfo_part2_packet_t *packet_part2; + char _rx_buffer_part2[length_part2]; //for temporal storage + + uint8_t satellites_used = 0; + int i; + + for (i = 0; i < packet_part1->numCh; i++) { //for each channel + + /* Get satellite information from the buffer */ + memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; + + + /* Write satellite information in the global storage */ + _gps_position->satellite_prn[i] = packet_part2->svid; + + //if satellite information is healthy store the data + uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield + + if (!unhealthy) { + if ((packet_part2->flags) & 1) { //flags is a bitfield + _gps_position->satellite_used[i] = 1; + satellites_used++; + + } else { + _gps_position->satellite_used[i] = 0; + } + + _gps_position->satellite_snr[i] = packet_part2->cno; + _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); + _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); + + } else { + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + + } + + for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused + /* Unused channels have to be set to zero for e.g. MAVLink */ + _gps_position->satellite_prn[i] = 0; + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones + + /* set timestamp if any sat info is available */ + if (packet_part1->numCh > 0) { + _gps_position->satellite_info_available = true; + } else { + _gps_position->satellite_info_available = false; + } + _gps_position->timestamp_satellites = hrt_absolute_time(); + } + + break; + } + + case NAV_VELNED: { +// printf("GOT NAV_VELNED MESSAGE\n"); + + if (!_waiting_for_ack) { + gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; + + _gps_position->vel_m_s = (float)packet->speed * 1e-2f; + _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; + _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; + _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; + _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->vel_ned_valid = true; + _gps_position->timestamp_velocity = hrt_absolute_time(); + } + + break; + } + +// case RXM_SVSI: { +// printf("GOT RXM_SVSI MESSAGE\n"); +// const int length_part1 = 7; +// char _rx_buffer_part1[length_part1]; +// memcpy(_rx_buffer_part1, _rx_buffer, length_part1); +// gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1; +// +// _gps_position->satellites_visible = packet->numVis; +// _gps_position->counter++; +// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); +// +// break; +// } + case ACK_ACK: { +// printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; + + if (_waiting_for_ack) { + if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) { + ret = 1; + } + } + } + break; + + case ACK_NAK: { +// printf("GOT ACK_NAK\n"); + warnx("UBX: Received: Not Acknowledged"); + /* configuration obviously not successful */ + ret = -1; + break; + } + + default: //we don't know the message + warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); + ret = -1; + break; + } + // end if _rx_count high enough + decode_init(); + return ret; //XXX? +} + +void +UBX::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = UBX_DECODE_UNINIT; + _message_class = CLASS_UNKNOWN; + _message_id = ID_UNKNOWN; + _payload_size = 0; +} + +void +UBX::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} + +void +UBX::add_checksum_to_message(uint8_t* message, const unsigned length) +{ + uint8_t ck_a = 0; + uint8_t ck_b = 0; + unsigned i; + + for (i = 0; i < length-2; i++) { + ck_a = ck_a + message[i]; + ck_b = ck_b + ck_a; + } + /* The checksum is written to the last to bytes of a message */ + message[length-2] = ck_a; + message[length-1] = ck_b; +} + +void +UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) +{ + ssize_t ret = 0; + + /* Calculate the checksum now */ + add_checksum_to_message(packet, length); + + const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; + + /* Start with the two sync bytes */ + ret += write(fd, sync_bytes, sizeof(sync_bytes)); + ret += write(fd, packet, length); + + if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? + warnx("ubx: config write fail"); +} diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h new file mode 100644 index 000000000..e3dd1c7ea --- /dev/null +++ b/apps/drivers/gps/ubx.h @@ -0,0 +1,395 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 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 U-Blox protocol definitions */ + +#ifndef UBX_H_ +#define UBX_H_ + +#include "gps_helper.h" + +#define UBX_SYNC1 0xB5 +#define UBX_SYNC2 0x62 + +/* ClassIDs (the ones that are used) */ +#define UBX_CLASS_NAV 0x01 +//#define UBX_CLASS_RXM 0x02 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 + +/* MessageIDs (the ones that are used) */ +#define UBX_MESSAGE_NAV_POSLLH 0x02 +#define UBX_MESSAGE_NAV_SOL 0x06 +#define UBX_MESSAGE_NAV_TIMEUTC 0x21 +//#define UBX_MESSAGE_NAV_DOP 0x04 +#define UBX_MESSAGE_NAV_SVINFO 0x30 +#define UBX_MESSAGE_NAV_VELNED 0x12 +//#define UBX_MESSAGE_RXM_SVSI 0x20 +#define UBX_MESSAGE_ACK_ACK 0x01 +#define UBX_MESSAGE_ACK_NAK 0x00 +#define UBX_MESSAGE_CFG_PRT 0x00 +#define UBX_MESSAGE_CFG_NAV5 0x24 +#define UBX_MESSAGE_CFG_MSG 0x01 +#define UBX_MESSAGE_CFG_RATE 0x08 + +#define UBX_CFG_PRT_LENGTH 20 +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ +#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ + +#define UBX_CFG_RATE_LENGTH 6 +#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ +#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ + + +#define UBX_CFG_NAV5_LENGTH 36 +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ + +#define UBX_CFG_MSG_LENGTH 8 +#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ + +#define UBX_MAX_PAYLOAD_LENGTH 500 + +// ************ +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t lon; /**< Longitude * 1e-7, deg */ + int32_t lat; /**< Latitude * 1e-7, deg */ + int32_t height; /**< Height above Ellipsoid, mm */ + int32_t height_msl; /**< Height above mean sea level, mm */ + uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ + uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_posllh_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ + int16_t week; /**< GPS week (GPS time) */ + uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ + uint8_t flags; + int32_t ecefX; + int32_t ecefY; + int32_t ecefZ; + uint32_t pAcc; + int32_t ecefVX; + int32_t ecefVY; + int32_t ecefVZ; + uint32_t sAcc; + uint16_t pDOP; + uint8_t reserved1; + uint8_t numSV; + uint32_t reserved2; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_sol_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ + int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ + uint16_t year; /**< Year, range 1999..2099 (UTC) */ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of Month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ + uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_timeutc_packet_t; + +//typedef struct { +// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ +// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ +// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ +// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ +// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ +// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ +// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ +// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ +// uint8_t ck_a; +// uint8_t ck_b; +//} gps_bin_nav_dop_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint8_t numCh; /**< Number of channels */ + uint8_t globalFlags; + uint16_t reserved2; + +} gps_bin_nav_svinfo_part1_packet_t; + +typedef struct { + uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ + uint8_t svid; /**< Satellite ID */ + uint8_t flags; + uint8_t quality; + uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ + int8_t elev; /**< Elevation in integer degrees */ + int16_t azim; /**< Azimuth in integer degrees */ + int32_t prRes; /**< Pseudo range residual in centimetres */ + +} gps_bin_nav_svinfo_part2_packet_t; + +typedef struct { + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_svinfo_part3_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t velN; //NED north velocity, cm/s + int32_t velE; //NED east velocity, cm/s + int32_t velD; //NED down velocity, cm/s + uint32_t speed; //Speed (3-D), cm/s + uint32_t gSpeed; //Ground Speed (2-D), cm/s + int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 + uint32_t sAcc; //Speed Accuracy Estimate, cm/s + uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_velned_packet_t; + +//typedef struct { +// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ +// int16_t week; /**< Measurement GPS week number */ +// uint8_t numVis; /**< Number of visible satellites */ +// +// //... rest of package is not used in this implementation +// +//} gps_bin_rxm_svsi_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_ack_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_nak_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t portID; + uint8_t res0; + uint16_t res1; + uint32_t mode; + uint32_t baudRate; + uint16_t inProtoMask; + uint16_t outProtoMask; + uint16_t flags; + uint16_t pad; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_prt_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t measRate; + uint16_t navRate; + uint16_t timeRef; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_rate_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t mask; + uint8_t dynModel; + uint8_t fixMode; + int32_t fixedAlt; + uint32_t fixedAltVar; + int8_t minElev; + uint8_t drLimit; + uint16_t pDop; + uint16_t tDop; + uint16_t pAcc; + uint16_t tAcc; + uint8_t staticHoldThresh; + uint8_t dgpsTimeOut; + uint32_t reserved2; + uint32_t reserved3; + uint32_t reserved4; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_nav5_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t msgClass_payload; + uint8_t msgID_payload; + uint8_t rate[6]; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_msg_packet_t; + + +// END the structures of the binary packets +// ************ + +typedef enum { + UBX_CONFIG_STATE_PRT = 0, + UBX_CONFIG_STATE_PRT_NEW_BAUDRATE, + UBX_CONFIG_STATE_RATE, + UBX_CONFIG_STATE_NAV5, + UBX_CONFIG_STATE_MSG_NAV_POSLLH, + UBX_CONFIG_STATE_MSG_NAV_TIMEUTC, + UBX_CONFIG_STATE_MSG_NAV_DOP, + UBX_CONFIG_STATE_MSG_NAV_SVINFO, + UBX_CONFIG_STATE_MSG_NAV_SOL, + UBX_CONFIG_STATE_MSG_NAV_VELNED, +// UBX_CONFIG_STATE_MSG_RXM_SVSI, + UBX_CONFIG_STATE_CONFIGURED +} ubx_config_state_t; + +typedef enum { + CLASS_UNKNOWN = 0, + NAV = 1, + RXM = 2, + ACK = 3, + CFG = 4 +} ubx_message_class_t; + +typedef enum { + //these numbers do NOT correspond to the message id numbers of the ubx protocol + ID_UNKNOWN = 0, + NAV_POSLLH, + NAV_SOL, + NAV_TIMEUTC, +// NAV_DOP, + NAV_SVINFO, + NAV_VELNED, +// RXM_SVSI, + CFG_NAV5, + ACK_ACK, + ACK_NAK, +} ubx_message_id_t; + +typedef enum { + UBX_DECODE_UNINIT = 0, + UBX_DECODE_GOT_SYNC1, + UBX_DECODE_GOT_SYNC2, + UBX_DECODE_GOT_CLASS, + UBX_DECODE_GOT_MESSAGEID, + UBX_DECODE_GOT_LENGTH1, + UBX_DECODE_GOT_LENGTH2 +} ubx_decode_state_t; + +//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; +#pragma pack(pop) + +#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer + +class UBX : public GPS_Helper +{ +public: + UBX(const int &fd, struct vehicle_gps_position_s *gps_position); + ~UBX(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b); + + /** + * Handle the package once it has arrived + */ + int handle_message(void); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + /** + * Add the two checksum bytes to an outgoing message + */ + void add_checksum_to_message(uint8_t* message, const unsigned length); + + /** + * Helper to send a config packet + */ + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + ubx_config_state_t _config_state; + bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; + ubx_decode_state_t _decode_state; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; + ubx_message_class_t _message_class; + ubx_message_id_t _message_id; + unsigned _payload_size; +}; + +#endif /* UBX_H_ */ diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index 55b7cfa85..27e200e40 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -267,6 +267,11 @@ private: */ int self_test(); + /* + set low pass filter frequency + */ + void _set_dlpf_filter(uint16_t frequency_hz); + }; /** @@ -379,7 +384,7 @@ MPU6000::init() // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) // was 90 Hz, but this ruins quality and does not improve the // system response - write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_20HZ); + _set_dlpf_filter(20); usleep(1000); // Gyro scale 2000 deg/s () write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); @@ -418,6 +423,9 @@ MPU6000::init() case MPU6000_REV_D8: case MPU6000_REV_D9: case MPU6000_REV_D10: + // default case to cope with new chip revisions, which + // presumably won't have the accel scaling bug + default: // Accel scale 8g (4096 LSB/g) write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); break; @@ -485,6 +493,37 @@ MPU6000::probe() return -EIO; } +/* + set the DLPF filter frequency. This affects both accel and gyro. + */ +void +MPU6000::_set_dlpf_filter(uint16_t frequency_hz) +{ + uint8_t filter; + + /* + choose next highest filter frequency available + */ + if (frequency_hz <= 5) { + filter = BITS_DLPF_CFG_5HZ; + } else if (frequency_hz <= 10) { + filter = BITS_DLPF_CFG_10HZ; + } else if (frequency_hz <= 20) { + filter = BITS_DLPF_CFG_20HZ; + } else if (frequency_hz <= 42) { + filter = BITS_DLPF_CFG_42HZ; + } else if (frequency_hz <= 98) { + filter = BITS_DLPF_CFG_98HZ; + } else if (frequency_hz <= 188) { + filter = BITS_DLPF_CFG_188HZ; + } else if (frequency_hz <= 256) { + filter = BITS_DLPF_CFG_256HZ_NOLPF2; + } else { + filter = BITS_DLPF_CFG_2100HZ_NOLPF; + } + write_reg(MPUREG_CONFIG, filter); +} + ssize_t MPU6000::read(struct file *filp, char *buffer, size_t buflen) { @@ -610,8 +649,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) case ACCELIOCSLOWPASS: case ACCELIOCGLOWPASS: - /* XXX not implemented */ - return -EINVAL; + _set_dlpf_filter((uint16_t)arg); + return OK; case ACCELIOCSSCALE: { @@ -668,8 +707,8 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) case GYROIOCSLOWPASS: case GYROIOCGLOWPASS: - /* XXX not implemented */ - return -EINVAL; + _set_dlpf_filter((uint16_t)arg); + return OK; case GYROIOCSSCALE: /* copy scale in */ diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 7e89dffb2..db851221b 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -190,11 +190,12 @@ void KalmanNav::update() if (!_positionInitialized && _attitudeInitialized && // wait for attitude first gpsUpdate && - _gps.fix_type > 2 && - _gps.counter_pos_valid > 10) { - vN = _gps.vel_n; - vE = _gps.vel_e; - vD = _gps.vel_d; + _gps.fix_type > 2 + //&& _gps.counter_pos_valid > 10 + ) { + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; setLatDegE7(_gps.lat); setLonDegE7(_gps.lon); setAltE3(_gps.alt); @@ -259,7 +260,7 @@ void KalmanNav::updatePublications() // position publication _pos.timestamp = _pubTimeStamp; - _pos.time_gps_usec = _gps.timestamp; + _pos.time_gps_usec = _gps.timestamp_position; _pos.valid = true; _pos.lat = getLatDegE7(); _pos.lon = getLonDegE7(); @@ -290,7 +291,6 @@ void KalmanNav::updatePublications() _att.R_valid = true; _att.q_valid = true; - _att.counter = _navFrames; // selectively update publications, // do NOT call superblock do-all method @@ -631,8 +631,8 @@ int KalmanNav::correctPos() // residual Vector y(5); - y(0) = _gps.vel_n - vN; - y(1) = _gps.vel_e - vE; + y(0) = _gps.vel_n_m_s - vN; + y(1) = _gps.vel_e_m_s - vE; y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; y(4) = double(_gps.alt) / 1.0e3 - alt; @@ -651,9 +651,9 @@ int KalmanNav::correctPos() // abort correction and return printf("[kalman_demo] numerical failure in gps correction\n"); // fallback to GPS - vN = _gps.vel_n; - vE = _gps.vel_e; - vD = _gps.vel_d; + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; setLatDegE7(_gps.lat); setLonDegE7(_gps.lon); setAltE3(_gps.alt); diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 87b6e925c..ba5b593e2 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -196,9 +196,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* roll rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); /* pitch rate (PI) */ - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* set pitch minus feedforward throttle compensation (nose pitches up from throttle */ - actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust; + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); /* yaw rate (PI) */ actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index ceb7c2554..b958d5f96 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[]) /* 20 Hz / 50 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 2 Hz */ + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); } else if (baudrate >= 115200) { @@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 100 ms */ + /* 5 Hz / 200 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); @@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); } else { /* very low baud rate, limit to 1 Hz / 1000 ms */ diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 86732d07c..4d9cd964d 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg) static uint64_t old_timestamp = 0; /* gps */ - hil_gps.timestamp = gps.time_usec; - hil_gps.counter = hil_counter++; + hil_gps.timestamp_position = gps.time_usec; +// hil_gps.counter = hil_counter++; hil_gps.time_gps_usec = gps.time_usec; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; - hil_gps.counter_pos_valid = hil_counter++; - hil_gps.eph = gps.eph; - hil_gps.epv = gps.epv; - hil_gps.s_variance = 100; - hil_gps.p_variance = 100; - hil_gps.vel = gps.vel; - hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f); - hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f); - hil_gps.vel_d = 0.0f; - hil_gps.cog = gps.cog; +// hil_gps.counter_pos_valid = hil_counter++; + hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m + hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance? + hil_gps.p_variance_m = 100; // XXX 100 m variance? + hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s + hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f); + hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f); + hil_gps.vel_d_m_s = 0.0f; + hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad hil_gps.fix_type = gps.fix_type; hil_gps.satellites_visible = gps.satellites_visible; @@ -511,7 +511,6 @@ handle_message(mavlink_message_t *msg) hil_attitude.yawspeed = hil_state.yawspeed; /* set timestamp and notify processes (broadcast) */ - hil_attitude.counter++; hil_attitude.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); } diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index ec5149745..9f85d5801 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l) /* GPS position */ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp, + gps.timestamp_position, gps.fix_type, gps.lat, gps.lon, gps.alt, - gps.eph, - gps.epv, - gps.vel, - gps.cog, + (uint16_t)(gps.eph_m * 1e2f), // from m to cm + (uint16_t)(gps.epv_m * 1e2f), // from m to cm + (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s + (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100 gps.satellites_visible); if (gps.satellite_info_available && (gps_counter % 4 == 0)) { @@ -698,7 +698,7 @@ uorb_receive_start(void) /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */ + orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ /* --- HOME POSITION --- */ mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c index 4c021303f..030ac6e23 100644 --- a/apps/px4/tests/test_adc.c +++ b/apps/px4/tests/test_adc.c @@ -60,8 +60,10 @@ int test_adc(int argc, char *argv[]) { int fd = open(ADC_DEVICE_PATH, O_RDONLY); - if (fd < 0) - err(1, "can't open ADC device"); + if (fd < 0) { + warnx("ERROR: can't open ADC device"); + return 1; + } for (unsigned i = 0; i < 5; i++) { /* make space for a maximum of eight channels */ @@ -82,7 +84,7 @@ int test_adc(int argc, char *argv[]) usleep(150000); } - message("\t ADC test successful.\n"); + warnx("\t ADC test successful.\n"); errout_with_dev: diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c index ad6828f20..9f8c5c9ea 100644 --- a/apps/px4/tests/tests_main.c +++ b/apps/px4/tests/tests_main.c @@ -135,6 +135,7 @@ test_all(int argc, char *argv[]) unsigned i; char *args[2] = {"all", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -156,6 +157,7 @@ test_all(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -178,7 +180,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); @@ -187,7 +189,7 @@ test_all(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); @@ -245,6 +247,7 @@ int test_jig(int argc, char *argv[]) unsigned i; char *args[2] = {"jig", NULL}; unsigned int failcount = 0; + unsigned int testcount = 0; bool passed[NTESTS]; printf("\nRunning all tests...\n\n"); @@ -264,6 +267,7 @@ int test_jig(int argc, char *argv[]) fflush(stdout); passed[i] = true; } + testcount++; } } @@ -284,7 +288,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); printf("\n"); - printf(" All tests passed (%d of %d)\n", i, i); + printf(" All tests passed (%d of %d)\n", testcount, testcount); } else { printf(" ______ ______ __ __ \n"); printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); @@ -292,7 +296,7 @@ int test_jig(int argc, char *argv[]) printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, i); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); } printf("\n"); diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h index dec34b6ab..7e1b82a0f 100644 --- a/apps/uORB/topics/home_position.h +++ b/apps/uORB/topics/home_position.h @@ -61,10 +61,10 @@ struct home_position_s int32_t lat; /**< Latitude in 1E7 degrees */ int32_t lon; /**< Longitude in 1E7 degrees */ int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - float s_variance; /**< speed accuracy estimate cm/s */ - float p_variance; /**< position accuracy estimate cm */ + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ }; /** diff --git a/apps/uORB/topics/vehicle_attitude.h b/apps/uORB/topics/vehicle_attitude.h index 009379920..c31c81d0c 100644..100755 --- a/apps/uORB/topics/vehicle_attitude.h +++ b/apps/uORB/topics/vehicle_attitude.h @@ -57,29 +57,26 @@ */ struct vehicle_attitude_s { - /* - * Actual data, this is specific to the type of data which is stored in this struct - * A line containing L0GME will be added by the Python logging code generator to the - * logged dataset. - */ - uint64_t timestamp; /**< in microseconds since system start */ + uint64_t timestamp; /**< in microseconds since system start */ /* This is similar to the mavlink message ATTITUDE, but for onboard use */ - /* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ + /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ - float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */ - float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */ - float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */ - float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */ - float rate_offsets[3];/**< Offsets of the body angular rates from zero */ - float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ - float q[4]; /**< Quaternion (NED) */ - bool R_valid; /**< Rotation matrix valid */ - bool q_valid; /**< Quaternion valid */ - uint16_t counter; /**< Counter of all attitude messages (wraps) */ + float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ + float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q[4]; /**< Quaternion (NED) */ + bool R_valid; /**< Rotation matrix valid */ + bool q_valid; /**< Quaternion valid */ }; diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h index db529da06..5463a460d 100644 --- a/apps/uORB/topics/vehicle_gps_position.h +++ b/apps/uORB/topics/vehicle_gps_position.h @@ -55,35 +55,38 @@ */ struct vehicle_gps_position_s { - uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - uint32_t counter; /**< Count of GPS messages */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + uint64_t timestamp_position; /**< Timestamp for position information */ + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - int32_t lat; /**< Latitude in 1E7 degrees //LOGME */ - int32_t lon; /**< Longitude in 1E7 degrees //LOGME */ - int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */ - uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */ - uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */ - uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ - float s_variance; /**< speed accuracy estimate cm/s */ - float p_variance; /**< position accuracy estimate cm */ - uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */ - float vel_n; /**< GPS ground speed in m/s */ - float vel_e; /**< GPS ground speed in m/s */ - float vel_d; /**< GPS ground speed in m/s */ - uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ - uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ - uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint64_t timestamp_variance; + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ - uint8_t satellite_prn[20]; /**< Global satellite ID */ - uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ - uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ - uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */ + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ - /* flags */ - float vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + uint64_t timestamp_velocity; /**< Timestamp for velocity informations */ + float vel_m_s; /**< GPS ground speed (m/s) */ + float vel_n_m_s; /**< GPS ground speed in m/s */ + float vel_e_m_s; /**< GPS ground speed in m/s */ + float vel_d_m_s; /**< GPS ground speed in m/s */ + float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */ + bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + + uint64_t timestamp_time; /**< Timestamp for time information */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + + uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ + uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint8_t satellite_prn[20]; /**< Global satellite ID */ + uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ + uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ + bool satellite_info_available; /**< 0 for no info, 1 for info available */ }; /** |