hige dura
Dependencies: FatFileSystem mbed
main.cpp
- Committer:
- higedura
- Date:
- 2012-04-21
- Revision:
- 2:307500c991dd
- Parent:
- 1:8048a8bcde59
File content as of revision 2:307500c991dd:
// dot-HR EKF
#include "mbed.h"
#include "SDFileSystem.h"
#include "ADXL345_I2C.h"
#include "ITG3200.h"
#include "HMC5883L.h"
Serial pc(USBTX, USBRX);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
ADXL345_I2C accelerometer(p9, p10);
ITG3200 gyro(p9, p10);
HMC5883L compass(p9, p10);
Serial xbee(p13, p14);
DigitalIn stop(p20);
PwmOut ESC1(p21);
PwmOut ESC2(p22);
PwmOut ESC3(p23);
PwmOut ESC4(p24);
PwmOut ESC5(p25);
PwmOut ESC6(p26);
Serial navi(p28, p27); // tx, rx
DigitalOut navi_flag(p29);
#define pi 3.14159265
#define N 3 // phi, the, psi
#define M 6 // The numbers of rotors
#define L 5 // The numbers of state quantities (optimal regulator)
#define chan 4 // The numbers of channels
#define chan_buf 17
#define N_LWMA 100
int preparing_acc();
double* calib();
double* RK4( double, double[N], double[N] );
double* func( double[N], double[N] );
double* LWMA( double[N] );
double* EKF_predict( double[N], double[N] );
double* EKF_correct( double[N], double[N], double[N] );
// 0 1 2
// [ accXn-1 accXn-2 ... ] 0
// zBuf = [ accYn-1 accYn-2 ... ] 1
// [ accZn-1 accZn-2 ... ] 2
double z_buf[N][N_LWMA] = {0}; // For LWMA
double P[N][N] = {{1,0,0},{0,1,0},{0,0,1}}; // For EKF
int main(){
pc.baud(921600);
navi.baud(57600);
xbee.baud(57600);
FILE *fp = fopen("/sd/sdtest.txt", "w");
if(fp == NULL) {
error("Could not open file for write\n");
while(1){ led2 = 1; wait(.5); led2 = 0; led3 = 0; wait(.5); led3 = 0; }
}
int correct_period = 100;
int navi_period = 10;
int xbee_period = 100;
int correct_loop = 0;
int navi_loop = 10;
int xbee_loop = 100;
double dt_wait = 0.00043;
//double dt_wait = 0.01;
double dt = 0.01;
double t = 0;
int bit_acc[N] = {0}; // Buffer of the accelerometer
int get_mag[N] = {0}; // Buffer of the compass
// Calibration routine
double calib_acc[N] = {0};
double calib_gyro[N] = {0};
//double compass_basis_rad = 0;
// Getting data
double acc[N] = {0, 0, 1};
double acc0[N] = {0, 0, 1};
double d_acc[N] = {0};
double gyro_deg[N] = {0};
double gyro_rad[N] = {0};
//int mag[N] = {0};
// Measurement algorithm
//double angle_acc[2] = {0};
double angle_deg[N] = {0};
double angle_rad[N] = {0};
double zLWMA[N] = {0};
//double compass_rad = 0;
//double compass_deg = 0;
// Gravity z
for( int i=0;i<N_LWMA;i++ ){ z_buf[2][i] = 1; }
double* p_calib;
double* p_RK4;
double* p_EKF;
double* p_zLWMA;
// Optimal regulator
double state[L];
// Gain (q1=10, q2=10, q3=10, q4=10, q5=1)
/* double Kr[M][L] = {{ 0, 1.826, 0, 1.984, 0.408},
{-1.581, 0.913,-1.718, 0.992,-0.408},
{-1.581,-0.913,-1.718,-0.992, 0.408},
{ 0,-1.826, 0,-1.984,-0.408},
{ 1.581,-0.913, 1.718,-0.992, 0.408},
{ 1.581, 0.913, 1.718, 0.992,-0.408}};
*/
// Gain (q1=100, q2=100, q3=1, q4=1, q5=1)
/* double Kr[M][L] = {{ 0, 5.774, 0, 1.496, 0.408},
{-5, 2.887,-1.296, 0.748,-0.408},
{-5,-2.887,-1.296,-0.748, 0.408},
{ 0,-5.774, 0,-1.496,-0.408},
{ 5,-2.887, 1.296,-0.748, 0.408},
{ 5, 2.887, 1.296, 0.748,-0.408}};
*/
// Gain (q1=100, q2=100, q3=10, q4=10, q5=1)
/* double Kr[M][L] = {{ 0, 5.774, 0, 2.288, 0.408},
{-5, 2.887,-1.982, 1.144,-0.408},
{-5,-2.887,-1.982,-1.144, 0.408},
{ 0,-5.774, 0,-2.288,-0.408},
{ 5,-2.887, 1.982,-1.144, 0.408},
{ 5, 2.887, 1.982, 1.144,-0.408}};
*/
// Gain (q1=100, q2=100, q3=50, q4=50, q5=1)
double Kr[M][L] = {{ 0, 5.774, 0, 4.309, 0.408},
{-5, 2.887,-3.732, 2.155,-0.408},
{-5,-2.887,-3.732,-2.155, 0.408},
{ 0,-5.774, 0,-4.309,-0.408},
{ 5,-2.887, 3.732,-2.155, 0.408},
{ 5, 2.887, 3.732, 2.155,-0.408}};
// Gain (q1=100, q2=100, q3=100, q4=100, q5=1)
/* double Kr[M][L] = {{ 0, 5.774, 0, 5.936, 0.408},
{-5, 2.887,-5.141, 2.968,-0.408},
{-5,-2.887,-5.141,-2.968, 0.408},
{ 0,-5.774, 0,-5.936,-0.408},
{ 5,-2.887, 5.141,-2.968, 0.408},
{ 5, 2.887, 5.141, 2.968,-0.408}};
*/
// Gain (q1=300, q2=300, q3=100, q4=100, q5=1)
/* double Kr[M][L] = {{ 0, 10, 0, 6.052, 0.408},
{-8.66, 5,-5.242, 3.026,-0.408},
{-8.66, -5,-5.242,-3.026, 0.408},
{ 0,-10, 0,-6.052,-0.408},
{ 8.66, -5, 5.242,-3.026, 0.408},
{ 8.66, 5, 5.242, 3.026,-0.408}};
*/
// Gain (q1=400, q2=400, q3=100, q4=100, q5=1)
/* double Kr[M][L] = {{ 0, 11.547, 0, 6.094, 0.408},
{-10, 5.774,-5.278, 3.047,-0.408},
{-10, -5.774,-5.278,-3.047, 0.408},
{ 0,-11.547, 0,-6.094,-0.408},
{ 10, -5.774, 5.278,-3.047, 0.408},
{ 10, 5.774, 5.278, 3.047,-0.408}};
*/
// Gain (q1=500, q2=500, q3=50, q4=50, q5=1)
/* double Kr[M][L] = {{ 0, 12.910, 0, 4.574, 0.408},
{-11.18, 6.455,-3.962, 2.287,-0.408},
{-11.18, -6.455,-3.962,-2.287, 0.408},
{ 0,-12.910, 0,-4.574,-0.408},
{ 11.18, -6.455, 3.962,-2.287, 0.408},
{ 11.18, 6.455, 3.962, 2.287,-0.408}};
*/
// Gain (q1=500, q2=500, q3=100, q4=100, q5=1)
/* double Kr[M][L] = {{ 0, 12.910, 0, 6.131, 0.408},
{-11.18, 6.455,-5.31, 3.066,-0.408},
{-11.18, -6.455,-5.31,-3.066, 0.408},
{ 0,-12.910, 0,-6.131,-0.408},
{ 11.18, -6.455, 5.31,-3.066, 0.408},
{ 11.18, 6.455, 5.31, 3.066,-0.408}};
*/
double Ccom_r = 0.2;
double Ccom_p = 0.2;
double Ccom_y = 0.1;
double motor[M] = {0};
double motor_control[M] = {0}; // Pulth width generated by the transmitter
double motor_attitude[M] = {0}; // Pulth width generated by the attitude control
// Coefficient of transfering Force to Puls
double Cfp = 2*pow(10.0, -7);
// Navigation
char command_buf1[chan_buf] = {0};
int command_buf2[chan_buf] = {0};
double command[chan] = {0};
int set_navi_flag = 0;
// *** Setting up sensors ***
//pc.printf("\r\n\r\nSetting up sensors\r\n");
xbee.printf("\r\n\r\nSetting up sensors\r\n");
// These are here to test whether any of the initialization fails. It will print the failure.
if (accelerometer.setPowerControl(0x00)){
//pc.printf("didn't intitialize power control\n\r");
xbee.printf("didn't intitialize power control\n\r");
return 0;
}
// Full resolution, +/-16g, 4mg/LSB.
wait(.1);
if(accelerometer.setDataFormatControl(0x0B)){
//pc.printf("didn't set data format\n\r");
xbee.printf("didn't set data format\n\r");
return 0;
}
wait(.1);
// 3.2kHz data rate.
if(accelerometer.setDataRate(ADXL345_3200HZ)){
//pc.printf("didn't set data rate\n\r");
xbee.printf("didn't set data rate\n\r");
return 0;
}
wait(.1);
if(accelerometer.setPowerControl(MeasurementMode)) {
//pc.printf("didn't set the power control to measurement\n\r");
xbee.printf("didn't set the power control to measurement\n\r");
return 0;
}
wait(.1);
gyro.setLpBandwidth(LPFBW_42HZ);
compass.setDefault();
wait(.1); // Wait some time for all sensors (Need at least 5ms)
// *** Setting up motors ***
//pc.printf("Setting up motors\r\n");
xbee.printf("Setting up motors\r\n");
ESC1.period(0.016044); ESC2.period(0.016044); ESC3.period(0.016044); ESC4.period(0.016044); ESC5.period(0.016044); ESC6.period(0.016044);
// pulsewidth 0.0011~0.00195
ESC1.pulsewidth(0.001); ESC2.pulsewidth(0.001); ESC3.pulsewidth(0.001); ESC4.pulsewidth(0.001); ESC5.pulsewidth(0.001); ESC6.pulsewidth(0.001);
// Wait some time for ESC (about 10s)
wait(5);
// *** Setting up navigator ***
//pc.printf("Setting up navigator\r\n");
xbee.printf("Setting up navigator\r\n");
while( set_navi_flag==0 ){
navi_flag = 1;
for( int i=0;i<chan_buf;i++ ){
navi.scanf("%c",&command_buf1[i]);
if(command_buf1[i]=='a'){
set_navi_flag=1;
break;
}
}
navi_flag = 0;
wait(.1);
}
// *** Calibration routine ***
p_calib = calib();
for( int i=0;i<3;i++ ){ calib_acc[i] = *p_calib; p_calib = p_calib+1; }
for( int i=3;i<6;i++ ){ calib_gyro[i-3] = *p_calib; p_calib = p_calib+1; }
//compass_basis_rad = *p_calib;
led1 = 1; led2 = 1; led3 = 1; led4 = 1;
//pc.printf("Starting IMU unit\n\r");
xbee.printf("Starting IMU unit\n\r");
//pc.printf(" time phi the P Q R accX accY accZ LWMAX LWMAY LWMAZ alt T1 T2 T3 T4 T5 T6 thro roll pitch yaw\n\r");
xbee.printf(" time phi the P Q R accX accY accZ LWMAX LWMAY LWMAZ T1 T2 T3 T4 T5 T6 thro roll pitch yaw\n\r");
//while(1){
while( stop==0 ){
// Navigation
if( navi_loop>=navi_period ){
navi_flag = 1;
for( int i=0;i<chan_buf;i++ ){ navi.scanf("%c",&command_buf1[i]); }
for( int i=0;i<chan_buf;i++ ){
command_buf2[i] = (int)command_buf1[i]-48;
if( command_buf2[i]==-16 ){ command_buf2[i]=0; }
}
//for( int i=0;i<chan;i++ ){ command[i] = 0.0001*command_buf2[1+i*4]+0.00001*command_buf2[2+i*4]+0.000001*command_buf2[3+i*4]+0.001; }
command[0] = 0.0001*command_buf2[1]+0.00001*command_buf2[2]+0.000001*command_buf2[3]+0.001;
for( int i=1;i<chan;i++ ){ command[i] = 0.0001*command_buf2[1+i*4]+0.00001*command_buf2[2+i*4]+0.000001*command_buf2[3+i*4]-0.0005; }
navi_flag = 0;
navi_loop = 0;
}
navi_loop++;
//command[0] = 0.0016; // Shiyougo comentout surukoto!!
// Updating accelerometer and compass
accelerometer.getOutput(bit_acc);
compass.readData(get_mag);
for( int i=0;i<N;i++ ){ acc0[i] = acc[i]; }
// Transfering units and Coordinate transform
acc[0] = (((int16_t)bit_acc[0]-calib_acc[0])-((int16_t)bit_acc[1]-calib_acc[1]))*0.004/sqrt(2.0);
acc[1] = (((int16_t)bit_acc[0]-calib_acc[0])+((int16_t)bit_acc[1]-calib_acc[1]))*0.004/sqrt(2.0);
acc[2] = ((int16_t)bit_acc[2]-calib_acc[2])*0.004+1;
gyro_deg[0] = ((gyro.getGyroX()-calib_gyro[0])-(gyro.getGyroY()-calib_gyro[1]))/14.375/sqrt(2.0);
gyro_deg[1] = (-(gyro.getGyroX()-calib_gyro[0])-(gyro.getGyroY()-calib_gyro[1]))/14.375/sqrt(2.0); // Modify the differencial of the sensor axis
gyro_deg[2] = -(gyro.getGyroZ()-calib_gyro[2])/14.375;
/*
for( int i=0;i<N;i++ ){ acc[i] = (int16_t)bit_acc[i]; }
gyro_deg[0] = gyro.getGyroX();
gyro_deg[1] = gyro.getGyroY();
gyro_deg[2] = gyro.getGyroZ();
*/
//for( int i=0;i<N;i++ ){ mag[0] = (int16_t)get_mag[0]; }
// Low pass filter for acc
//if( -0.05<acc[0] && acc[0]<0.05 ){ acc[0]=0; }
//if( -0.05<acc[1] && acc[1]<0.05 ){ acc[1]=0; }
//if( 0.95<acc[2] && acc[2]<1.05 ){ acc[2]=0; }
// Limitter for acc
if( acc[0]<-1 ){ acc[0]=-1; } if( 1<acc[0] ){ acc[0]=1; }
if( acc[1]<-1 ){ acc[1]=-1; } if( 1<acc[1] ){ acc[1]=1; }
if( acc[2]<-0 ){ acc[2]=-0; } if( 2<acc[2] ){ acc[2]=2; }
for( int i=0;i<N;i++ ){ d_acc[i] = acc[i]-acc0[i]; }
if( abs(d_acc[0])>=0.5 && abs(acc[0])>=0.3 ){ acc[0] = acc0[0]; }
if( abs(d_acc[1])>=0.5 && abs(acc[1])>=0.3 ){ acc[1] = acc0[1]; }
if( abs(d_acc[2])>=0.5 ){ acc[2] = acc0[2]; }
// Low pass filter for gyro
//for( int i=0;i<N;i++ ){if( -0.5<gyro_deg[i] && gyro_deg[i]<0.5 ){ gyro_deg[i] = 0; }}
// Limitter for gyro
//for( int i=0;i<N;i++ ){if( gyro_deg[i]<-90 ){ gyro_deg[i]=-90; }} for( int i=0;i<N;i++ ){if( 90<gyro_deg[i] ){ gyro_deg[i]=90; }}
for( int i=0;i<N;i++ ){ gyro_rad[i] = gyro_deg[i]*pi/180; }
/*
// Compass yaw
compass_rad = (double)mag[1]/mag[0];
compass_rad = atan(compass_rad);
//compass_rad = compass_rad-compass_basis_rad;
compass_deg = compass_rad*180/pi;
*/
// LWMA (Observation)
p_zLWMA = LWMA(acc);
for( int i=0;i<N;i++ ){ zLWMA[i] = *p_zLWMA; p_zLWMA = p_zLWMA+1; }
// LWMA angle
//angle_acc[0] = asin(zLWMA[1])*180/pi;
//angle_acc[1] = asin(zLWMA[0])*180/pi;
// RK4 (Prediction)
p_RK4 = RK4(dt,angle_rad,gyro_rad);
for( int i=0;i<N;i++ ){ angle_rad[i] = *p_RK4; p_RK4 = p_RK4+1; }
// EKF (Correction)
EKF_predict(angle_rad,gyro_rad);
if ( correct_loop>=correct_period ){
p_EKF = EKF_correct(angle_rad,gyro_rad,zLWMA);
for ( int i=0;i<N;i++ ){ angle_rad[i] = *p_EKF; p_EKF = p_EKF+1; }
correct_loop = 0;
}
correct_loop++;
for( int i=0;i<N;i++ ){ angle_deg[i] = angle_rad[i]*180/pi; }
state[0] = angle_deg[0]; state[1] = angle_deg[1];
state[2] = gyro_deg[0]; state[3] = gyro_deg[1]; state[4] = gyro_deg[2];
for( int i=0;i<M;i++ ){
motor_attitude[i] = 0;
for( int j=0;j<L;j++ ){ motor_attitude[i] += -Kr[i][j]*state[j]; }
}
motor_control[0] = command[0]+0*Ccom_r*command[1]+2*Ccom_p*command[2]+1*Ccom_y*command[3];
motor_control[1] = command[0]-1*Ccom_r*command[1]-1*Ccom_p*command[2]-1*Ccom_y*command[3];
motor_control[2] = command[0]+1*Ccom_r*command[1]-1*Ccom_p*command[2]+1*Ccom_y*command[3];
motor_control[3] = command[0]+0*Ccom_r*command[1]+2*Ccom_p*command[2]-1*Ccom_y*command[3];
motor_control[4] = command[0]-1*Ccom_r*command[1]-1*Ccom_p*command[2]+1*Ccom_y*command[3];
motor_control[5] = command[0]+1*Ccom_r*command[1]-1*Ccom_p*command[2]-1*Ccom_y*command[3];
for( int i=0;i<M;i++ ){ motor[i] = motor_control[i]+motor_attitude[i]*Cfp; }
//for( int i=0;i<M;i++ ){ motor[i] = command[0]; }
// pulsewidth 0.0011~0.0019 (0.001~0.002?)
for( int i=0;i<M;i++ ){
if( motor[i]>0.00195 ){ motor[i]=0.00195; }
if( motor[i]<0.0011 ){ motor[i]=0.00105; }
if( command[0]<0.0011 ){ motor[i]=0.00105; }
}
ESC1.pulsewidth(motor[0]); ESC2.pulsewidth(motor[1]); ESC3.pulsewidth(motor[2]); ESC4.pulsewidth(motor[3]); ESC5.pulsewidth(motor[4]); ESC6.pulsewidth(motor[5]);
//for( int i=0;i<M;i++ ){ thrust[i] = 630000.0*motor[i]*motor[i]-700.0*motor[i]; }
//pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, acc[0], acc[1], acc[2], gyro_deg[0], gyro_deg[1], gyro_deg[2], mag[0], mag[1], mag[2]);
//pc.printf("%7.2f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.3f, %7.3f, %7.3f, %7.1f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f\n\r", t, state[0], state[1], state[2], state[3], state[4], zLWMA[0], zLWMA[1], zLWMA[2], alt, motor[0]*1000, motor[1]*1000, motor[2]*1000, motor[3]*1000, motor[4]*1000, motor[5]*1000, command[0]*1000, command[1]*1000, command[2]*1000, command[3]*1000);
//fprintf(fp,"%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %6.3f\r", t, acc[0], acc[1], acc[2], gyro_deg[0], gyro_deg[1], gyro_deg[2], command[0]*1000);
fprintf(fp,"%7.2f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f\n", t, state[0], state[1], state[2], state[3], state[4], acc[0], acc[1], acc[2], zLWMA[0], zLWMA[1], zLWMA[2], motor[0]*1000, motor[1]*1000, motor[2]*1000, motor[3]*1000, motor[4]*1000, motor[5]*1000, command[0]*1000, command[1]*1000, command[2]*1000, command[3]*1000);
if( xbee_loop>=xbee_period ){
xbee.printf("%7.2f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f, %6.3f\n\r", t, state[0], state[1], state[2], state[3], state[4], acc[0], acc[1], acc[2], zLWMA[0], zLWMA[1], zLWMA[2], motor[0]*1000, motor[1]*1000, motor[2]*1000, motor[3]*1000, motor[4]*1000, motor[5]*1000, command[0]*1000, command[1]*1000, command[2]*1000, command[3]*1000);
xbee_loop = 0;
}
xbee_loop++;
wait(dt_wait);
t += dt;
}
// pulsewidth 0.0011~0.00195
ESC1.pulsewidth(0.001); ESC2.pulsewidth(0.001); ESC3.pulsewidth(0.001); ESC4.pulsewidth(0.001); ESC5.pulsewidth(0.001); ESC6.pulsewidth(0.001);
led1 = 0; led2 = 0; led3 = 0; led4 = 0;
fclose(fp);
}
double* EKF_predict( double y[N], double x[N] ){
// x = F * x;
// P = F * P * F' + G * Q * G';
//double Q[N][N] = { {0.1, 0, 0}, {0, 0.1, 0}, {0, 0, 0.1} };
double Q[N][N] = { {5198, 0, 0}, {0, 5518, 0}, {0, 0, 5722} };
double Fjac[N][N] = {{x[1]*cos(y[0])*tan(y[1])-x[2]*sin(y[0])*tan(y[1]), x[1]*sin(y[0])/(cos(y[1])*cos(y[1]))+x[2]*cos(y[0])/(cos(y[1])*cos(y[1])), 0}, {-x[1]*sin(y[0])-x[2]*cos(y[0]), 0, 0}, {x[1]*cos(y[0])/cos(y[1])-x[2]*sin(y[0])/cos(y[1]), x[1]*sin(y[0])*sin(y[1])/(cos(y[1])*cos(y[1]))+x[2]*cos(y[0])*sin(y[1])/(cos(y[1])*cos(y[1])), 0}};
double Fjac_t[N][N] = {{x[1]*cos(y[0])*tan(y[1])-x[2]*sin(y[0])*tan(y[1]), -x[1]*sin(y[0])-x[2]*cos(y[0]), x[1]*cos(y[0])/cos(y[1])-x[2]*sin(y[0])/cos(y[1])}, {x[1]*sin(y[0])/(cos(y[1])*cos(y[1]))+x[2]*cos(y[0])/(cos(y[1])*cos(y[1])), 0, x[1]*sin(y[0])*sin(y[1])/(cos(y[1])*cos(y[1]))+x[2]*cos(y[0])*sin(y[1])/(cos(y[1])*cos(y[1]))}, {0, 0, 0}};
double Gjac[N][N] = {{1, sin(y[0])*tan(y[1]), cos(y[0])*tan(y[1])}, {0, cos(y[0]), -sin(y[0])}, {0, sin(y[0])/cos(y[1]), cos(y[0])/cos(y[1])}};
double Gjac_t[N][N] = {{1, 0, 0}, {sin(y[0])*tan(y[1]), cos(y[0]), sin(y[0])/cos(y[1])}, {cos(y[0])*tan(y[1]), -sin(y[0]), cos(y[0])/cos(y[1])}};
double FPF[N][N] = {0};
double GQG[N][N] = {0};
double FP[N][N] = {0};
double GQ[N][N] = {0};
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
FP[i][j] += Fjac[i][k]*P[k][j];
GQ[i][j] += Gjac[i][k]*Q[k][j];
}
}
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
FPF[i][j] += FP[i][k]*Fjac_t[k][j];
GQG[i][j] += GQ[i][k]*Gjac_t[k][j];
}
}
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
P[i][j] = FPF[i][j]+GQG[i][j];
}
}
return 0;
}
double* EKF_correct( double y[N], double x[N], double z[N] ){
// K = P * H' / ( H * P * H' + R )
// x = x + K * ( yobs(t) - H * x )
// P = P - K * H * P
//double R[N][N] = { {0.15, 0, 0}, {0, 0.15, 0}, {0, 0, 0.15} };
//double R[N][N] = { {0.00015, 0, 0}, {0, 0.00016, 0}, {0, 0, 0.00032} };
double R[N][N] = { {272528, 0, 0}, {0, 295812, 0}, {0, 0, 908451} };
double Hjac[N][N] = {{0, cos(y[1]), 0}, {cos(y[0]), 0, 0}, {-sin(y[0])*cos(y[1]), -cos(y[0])*sin(y[1]), 0}};
double Hjac_t[N][N] = {{0, cos(y[0]), -sin(y[0])*cos(y[1])}, {cos(y[1]), 0, -cos(y[0])*sin(y[1])}, {0, 0, 0}};
double K[N][N] = {0}; // Kalman gain
double K_deno[N][N] = {0}; // Denominator of the kalman gain
double det_K_deno_inv = 0;
double K_deno_inv[N][N] = {0};
double HPH[N][N] = {0};
double HP[N][N] = {0};
double PH[N][N] = {0};
double KHP[N][N] = {0};
double Hx[N] = {0};
double z_Hx[N] = {0};
double Kz_Hx[N] = {0};
double* py = y;
// Kalman gain
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
HP[i][j] += Hjac[i][k]*P[k][j];
PH[i][j] += P[i][k]*Hjac_t[k][j];
}
}
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
HPH[i][j] += HP[i][k]*Hjac_t[k][j];
}
}
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
K_deno[i][j] = HPH[i][j]+R[i][j];
}
}
// Inverce matrix
det_K_deno_inv = K_deno[0][0]*K_deno[1][1]*K_deno[2][2]+K_deno[1][0]*K_deno[2][1]*K_deno[0][2]+K_deno[2][0]*K_deno[0][1]*K_deno[1][2]-K_deno[0][0]*K_deno[2][1]*K_deno[1][2]-K_deno[2][0]*K_deno[1][1]*K_deno[0][2]-K_deno[1][0]*K_deno[0][1]*K_deno[2][2];
K_deno_inv[0][0] = (K_deno[1][1]*K_deno[2][2]-K_deno[1][2]*K_deno[2][1])/det_K_deno_inv;
K_deno_inv[0][1] = (K_deno[0][2]*K_deno[2][1]-K_deno[0][1]*K_deno[2][2])/det_K_deno_inv;
K_deno_inv[0][2] = (K_deno[0][1]*K_deno[1][2]-K_deno[0][2]*K_deno[1][1])/det_K_deno_inv;
K_deno_inv[1][0] = (K_deno[1][2]*K_deno[2][0]-K_deno[1][0]*K_deno[2][2])/det_K_deno_inv;
K_deno_inv[1][1] = (K_deno[0][0]*K_deno[2][2]-K_deno[0][2]*K_deno[2][0])/det_K_deno_inv;
K_deno_inv[1][2] = (K_deno[0][2]*K_deno[1][0]-K_deno[0][0]*K_deno[1][2])/det_K_deno_inv;
K_deno_inv[2][0] = (K_deno[1][0]*K_deno[2][1]-K_deno[1][1]*K_deno[2][0])/det_K_deno_inv;
K_deno_inv[2][1] = (K_deno[0][1]*K_deno[2][0]-K_deno[0][0]*K_deno[2][1])/det_K_deno_inv;
K_deno_inv[2][2] = (K_deno[0][0]*K_deno[1][1]-K_deno[0][1]*K_deno[1][0])/det_K_deno_inv;
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
K[i][j] += PH[i][k]*K_deno_inv[k][j];
}
}
}
// Filtering
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
Hx[i] += Hjac[i][j]*y[j];
}
}
for( int i=0;i<N;i++ ){
z_Hx[i] = z[i]-Hx[i];
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
Kz_Hx[i] += K[i][j]*z_Hx[j];
}
}
for( int i=0;i<N;i++ ){
y[i] = y[i]+Kz_Hx[i];
}
// Covarience
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
for( int k=0;k<N;k++ ){
KHP[i][j] += K[i][k]*HP[k][j];
}
}
}
for( int i=0;i<N;i++ ){
for( int j=0;j<N;j++ ){
P[i][j] = P[i][j]-KHP[i][j];
}
}
return py;
}
double* LWMA( double z[N] ){
double zLWMA[N] = {0};
double zLWMA_num[N] = {0};
double zLWMA_den = 0;
double* pzLWMA = zLWMA;
for( int i=1;i<N_LWMA;i++ ){
for( int j=0;j<N;j++ ){
z_buf[j][N_LWMA-i] = z_buf[j][N_LWMA-i-1];
}
}
for( int i=0;i<N;i++ ){
z_buf[i][0] = z[i];
}
for( int i=0;i<N_LWMA;i++ ){
for( int j=0;j<N;j++ ){
zLWMA_num[j] += (N_LWMA-i)*z_buf[j][i];
}
zLWMA_den += N_LWMA-i;
}
for( int i=0;i<N;i++ ){
zLWMA[i] = zLWMA_num[i]/zLWMA_den;
}
return pzLWMA;
}
double* RK4( double dt, double y[N], double x[N] ){
double yBuf[N] = {0};
double k[N][4] = {0};
double* p_y = y;
double* pk1;
double* pk2;
double* pk3;
double* pk4;
for( int i=0;i<N;i++){ yBuf[i] = y[i]; }
pk1 = func (yBuf,x);
for( int i=0;i<N;i++ ){ k[i][0] = *pk1; pk1 = pk1+1; }
for( int i=0;i<N;i++){ yBuf[i] = y[i]+0.5*dt*k[i][1]; }
pk2 = func (yBuf,x);
for( int i=0;i<N;i++ ){ k[i][1] = *pk2; pk2 = pk2+1; }
for( int i=0;i<N;i++){ yBuf[i] = y[i]+0.5*dt*k[i][2]; }
pk3 = func (yBuf,x);
for( int i=0;i<N;i++ ){ k[i][2] = *pk3; pk3 = pk3+1; }
for( int i=0;i<N;i++){ yBuf[i] = y[i]+dt*k[i][3]; }
pk4 = func (yBuf,x);
for( int i=0;i<N;i++ ){ k[i][3] = *pk4; pk4 = pk4+1; }
for( int i=0;i<N;i++){ y[i] = y[i]+dt*(k[i][0]+2.0*k[i][1]+2.0*k[i][2]+k[i][3])/6.0; }
return p_y;
}
double* func( double y[N], double x[N] ){
double f[N] = {0};
double* p_f = f;
f[0] = x[0]+x[1]*sin(y[0])*tan(y[1])+x[2]*cos(y[0])*tan(y[1]);
f[1] = x[1]*cos(y[0])-x[2]*sin(y[0]);
f[2] = x[1]*sin(y[0])/cos(y[1])+x[2]*cos(y[0])/cos(y[1]);
return p_f;
}
double* calib(){
int calib_loop = 1000;
int bit_acc[N] = {0}; // Buffer of the accelerometer
int get_mag[N] = {0}; // Buffer of the compass
double calib_acc[N] = {0};
double calib_gyro_buf[N] = {0};
double calib_gyro[N] = {0};
double compass_basis_buf[N] = {0};
double compass_basis_rad = 0;
double calib_result[7] = {0};
double* p_calib_result = calib_result;
pc.printf("Don't touch... Calibrating now!!\n\r");
xbee.printf("Don't touch... Calibrating now!!\n\r");
led1 = 1;
for( int i=0;i<calib_loop;i++ ){
accelerometer.getOutput(bit_acc);
compass.readData(get_mag);
calib_gyro_buf[0] = gyro.getGyroX();
calib_gyro_buf[1] = gyro.getGyroY();
calib_gyro_buf[2] = gyro.getGyroZ();
for( int j=0;j<N;j++ ){
calib_acc[j] += (int16_t)bit_acc[j];
calib_gyro[j] += calib_gyro_buf[j];
compass_basis_buf[j] += (int16_t)get_mag[j];
}
if( i>calib_loop*3/4 ){
led4 = 1;
}else if( i>calib_loop/2 ){
led3 = 1;
}else if( i>calib_loop/4 ){
led2 = 1;
}
}
for( int i=0;i<N;i++ ){
calib_acc[i] = calib_acc[i]/calib_loop;
calib_gyro[i] = calib_gyro[i]/calib_loop;
compass_basis_buf[i] = compass_basis_buf[i]/calib_loop;
}
compass_basis_rad = compass_basis_buf[1]/compass_basis_buf[0];
compass_basis_rad = atan(compass_basis_rad);
led1 = 0; led2 = 0; led3 = 0; led4 = 0;
pc.printf(" accX accY accZ gyroX gyroY gyroZ yaw_basis\n\r");
xbee.printf(" accX accY accZ gyroX gyroY gyroZ yaw_basis\n\r");
pc.printf("%6.1f, %6.1f, %6.1f, %6.1f, %6.1f, %6.1f, %6.1f\n\r",calib_acc[0],calib_acc[1],calib_acc[2],calib_gyro[0],calib_gyro[1],calib_gyro[2],compass_basis_rad*180/pi);
xbee.printf("%6.1f, %6.1f, %6.1f, %6.1f, %6.1f, %6.1f, %6.1f\n\r",calib_acc[0],calib_acc[1],calib_acc[2],calib_gyro[0],calib_gyro[1],calib_gyro[2],compass_basis_rad*180/pi);
for( int i=0;i<3;i++ ){ calib_result[i] = calib_acc[i]; }
for( int i=3;i<6;i++ ){ calib_result[i] = calib_gyro[i-3]; }
calib_result[6] = compass_basis_rad;
if( calib_result[0]==0 && calib_result[1]==0 && calib_result[2]==0 ){
pc.printf("Accelerometer is not available.\r\n");
xbee.printf("Accelerometer is not available.\r\n");
}
for( int i=0;i<3;i++ ){
wait(.5);
led1 = 1; led2 = 1; led3 = 1; led4 = 1;
wait(.5);
led1 = 0; led2 = 0; led3 = 0; led4 = 0;
}
return p_calib_result;
}