hige dura
/
dotHR_EKF_phithe
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Dependencies: mbed FatFileSystem
main.cpp@0:75227c386257, 2012-06-10 (annotated)
- Committer:
- higedura
- Date:
- Sun Jun 10 08:44:32 2012 +0000
- Revision:
- 0:75227c386257
- Child:
- 1:0c42db451cb9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| higedura | 0:75227c386257 | 1 | // dot-HR EKF |
| higedura | 0:75227c386257 | 2 | |
| higedura | 0:75227c386257 | 3 | #include "mbed.h" |
| higedura | 0:75227c386257 | 4 | #include "SDFileSystem.h" |
| higedura | 0:75227c386257 | 5 | #include "ADXL345_I2C.h" |
| higedura | 0:75227c386257 | 6 | #include "ITG3200.h" |
| higedura | 0:75227c386257 | 7 | #include "HMC5883L.h" |
| higedura | 0:75227c386257 | 8 | |
| higedura | 0:75227c386257 | 9 | Serial pc(USBTX, USBRX); |
| higedura | 0:75227c386257 | 10 | DigitalOut led1(LED1); |
| higedura | 0:75227c386257 | 11 | DigitalOut led2(LED2); |
| higedura | 0:75227c386257 | 12 | DigitalOut led3(LED3); |
| higedura | 0:75227c386257 | 13 | DigitalOut led4(LED4); |
| higedura | 0:75227c386257 | 14 | SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board |
| higedura | 0:75227c386257 | 15 | ADXL345_I2C accelerometer(p9, p10); |
| higedura | 0:75227c386257 | 16 | ITG3200 gyro(p9, p10); |
| higedura | 0:75227c386257 | 17 | HMC5883L compass(p9, p10); |
| higedura | 0:75227c386257 | 18 | Serial xbee(p13, p14); |
| higedura | 0:75227c386257 | 19 | DigitalIn stop(p20); |
| higedura | 0:75227c386257 | 20 | PwmOut ESC1(p21); |
| higedura | 0:75227c386257 | 21 | PwmOut ESC2(p22); |
| higedura | 0:75227c386257 | 22 | PwmOut ESC3(p23); |
| higedura | 0:75227c386257 | 23 | PwmOut ESC4(p24); |
| higedura | 0:75227c386257 | 24 | PwmOut ESC5(p25); |
| higedura | 0:75227c386257 | 25 | PwmOut ESC6(p26); |
| higedura | 0:75227c386257 | 26 | Serial navi(p28, p27); // tx, rx |
| higedura | 0:75227c386257 | 27 | DigitalOut navi_flag(p29); |
| higedura | 0:75227c386257 | 28 | |
| higedura | 0:75227c386257 | 29 | #define pi 3.14159265 |
| higedura | 0:75227c386257 | 30 | |
| higedura | 0:75227c386257 | 31 | #define N 3 // gyro, acc |
| higedura | 0:75227c386257 | 32 | #define N_2 2 // phi, the |
| higedura | 0:75227c386257 | 33 | #define M 6 // The numbers of rotors |
| higedura | 0:75227c386257 | 34 | #define L 5 // The numbers of state quantities (optimal regulator) |
| higedura | 0:75227c386257 | 35 | #define chan 4 // The numbers of channels |
| higedura | 0:75227c386257 | 36 | #define chan_buf 17 |
| higedura | 0:75227c386257 | 37 | #define N_LWMA 100 |
| higedura | 0:75227c386257 | 38 | |
| higedura | 0:75227c386257 | 39 | double* calib(); |
| higedura | 0:75227c386257 | 40 | double* RK4( double, double[N_2], double[N_2] ); |
| higedura | 0:75227c386257 | 41 | double* func( double[N_2], double[N_2] ); |
| higedura | 0:75227c386257 | 42 | double* LWMA( double[N] ); |
| higedura | 0:75227c386257 | 43 | double* EKF_predict( double[N_2], double[N_2] ); |
| higedura | 0:75227c386257 | 44 | double* EKF_correct( double[N_2], double[N_2], double[N_2] ); |
| higedura | 0:75227c386257 | 45 | |
| higedura | 0:75227c386257 | 46 | // 0 1 2 |
| higedura | 0:75227c386257 | 47 | // [ accXn-1 accXn-2 ... ] 0 |
| higedura | 0:75227c386257 | 48 | // zBuf = [ accYn-1 accYn-2 ... ] 1 |
| higedura | 0:75227c386257 | 49 | // [ accZn-1 accZn-2 ... ] 2 |
| higedura | 0:75227c386257 | 50 | double z_buf[N][N_LWMA] = {0}; // For LWMA |
| higedura | 0:75227c386257 | 51 | |
| higedura | 0:75227c386257 | 52 | double P[N_2][N_2] = {{1,0},{0,1}}; // For EKF |
| higedura | 0:75227c386257 | 53 | |
| higedura | 0:75227c386257 | 54 | int main(){ |
| higedura | 0:75227c386257 | 55 | |
| higedura | 0:75227c386257 | 56 | pc.baud(921600); |
| higedura | 0:75227c386257 | 57 | navi.baud(57600); |
| higedura | 0:75227c386257 | 58 | xbee.baud(57600); |
| higedura | 0:75227c386257 | 59 | |
| higedura | 0:75227c386257 | 60 | FILE *fp = fopen("/sd/sdtest.txt", "w"); |
| higedura | 0:75227c386257 | 61 | if(fp == NULL) { |
| higedura | 0:75227c386257 | 62 | error("Could not open file for write\n"); |
| higedura | 0:75227c386257 | 63 | while(1){ led2 = 1; wait(.5); led2 = 0; led3 = 0; wait(.5); led3 = 0; } |
| higedura | 0:75227c386257 | 64 | } |
| higedura | 0:75227c386257 | 65 | |
| higedura | 0:75227c386257 | 66 | int correct_period = 100; |
| higedura | 0:75227c386257 | 67 | int navi_period = 10; |
| higedura | 0:75227c386257 | 68 | int xbee_period = 100; |
| higedura | 0:75227c386257 | 69 | int correct_loop = 0; |
| higedura | 0:75227c386257 | 70 | int navi_loop = 10; |
| higedura | 0:75227c386257 | 71 | int xbee_loop = 100; |
| higedura | 0:75227c386257 | 72 | |
| higedura | 0:75227c386257 | 73 | double dt_wait = 0.002; |
| higedura | 0:75227c386257 | 74 | //double dt_wait = 0.01; |
| higedura | 0:75227c386257 | 75 | double dt = 0.01; |
| higedura | 0:75227c386257 | 76 | double t = 0; |
| higedura | 0:75227c386257 | 77 | |
| higedura | 0:75227c386257 | 78 | int bit_acc[N] = {0}; // Buffer of the accelerometer |
| higedura | 0:75227c386257 | 79 | int get_mag[N] = {0}; // Buffer of the compass |
| higedura | 0:75227c386257 | 80 | |
| higedura | 0:75227c386257 | 81 | // Calibration routine |
| higedura | 0:75227c386257 | 82 | double calib_acc[N] = {0}; |
| higedura | 0:75227c386257 | 83 | double calib_gyro[N] = {0}; |
| higedura | 0:75227c386257 | 84 | //double compass_basis_rad = 0; |
| higedura | 0:75227c386257 | 85 | |
| higedura | 0:75227c386257 | 86 | // Getting data |
| higedura | 0:75227c386257 | 87 | double acc[N] = {0, 0, 1}; |
| higedura | 0:75227c386257 | 88 | double acc_pre[N] = {0, 0, 1}; |
| higedura | 0:75227c386257 | 89 | double d_acc[N] = {0}; |
| higedura | 0:75227c386257 | 90 | double gyro_deg[N] = {0}; |
| higedura | 0:75227c386257 | 91 | //double gyro_deg_pre[N] = {0}; |
| higedura | 0:75227c386257 | 92 | double gyro_rad[N_2] = {0}; |
| higedura | 0:75227c386257 | 93 | |
| higedura | 0:75227c386257 | 94 | // Measurement algorithm |
| higedura | 0:75227c386257 | 95 | double angle_deg[N_2] = {0}; |
| higedura | 0:75227c386257 | 96 | double angle_rad[N_2] = {0}; |
| higedura | 0:75227c386257 | 97 | double angle_rad_pre[N_2] = {0}; |
| higedura | 0:75227c386257 | 98 | double zLWMA[N] = {0}; |
| higedura | 0:75227c386257 | 99 | double zLWMA_2[N_2] = {0}; |
| higedura | 0:75227c386257 | 100 | |
| higedura | 0:75227c386257 | 101 | // Gravity z |
| higedura | 0:75227c386257 | 102 | for( int i=0;i<N_LWMA;i++ ){ z_buf[2][i] = 1; } |
| higedura | 0:75227c386257 | 103 | |
| higedura | 0:75227c386257 | 104 | double* p_calib; |
| higedura | 0:75227c386257 | 105 | double* p_RK4; |
| higedura | 0:75227c386257 | 106 | double* p_EKF; |
| higedura | 0:75227c386257 | 107 | double* p_zLWMA; |
| higedura | 0:75227c386257 | 108 | |
| higedura | 0:75227c386257 | 109 | // Optimal regulator |
| higedura | 0:75227c386257 | 110 | double state[L]; |
| higedura | 0:75227c386257 | 111 | |
| higedura | 0:75227c386257 | 112 | |
| higedura | 0:75227c386257 | 113 | // Gain (q1=100, q2=100, q3=50, q4=50, q5=1) |
| higedura | 0:75227c386257 | 114 | |
| higedura | 0:75227c386257 | 115 | // Gain (q1=100, q2=100, q3=50, q4=50, q5=5) |
| higedura | 0:75227c386257 | 116 | |
| higedura | 0:75227c386257 | 117 | // Gain (q1=100, q2=100, q3=50, q4=50, q5=10) |
| higedura | 0:75227c386257 | 118 | |
| higedura | 0:75227c386257 | 119 | // Gain (q1=100, q2=100, q3=50, q4=50, q5=20) |
| higedura | 0:75227c386257 | 120 | |
| higedura | 0:75227c386257 | 121 | // Gain (q1=100, q2=100, q3=50, q4=50, q5=30) |
| higedura | 0:75227c386257 | 122 | double Kr[M][L] = {{ 0, 5.774, 0, 4.168, 0.408}, |
| higedura | 0:75227c386257 | 123 | {-5, 2.887,-3.610, 2.084,-0.408}, |
| higedura | 0:75227c386257 | 124 | {-5,-2.887,-3.610,-2.084,-0.408}, |
| higedura | 0:75227c386257 | 125 | { 0,-5.774, 0,-4.168, 0.408}, |
| higedura | 0:75227c386257 | 126 | { 5,-2.887, 3.610,-2.084,-0.408}, |
| higedura | 0:75227c386257 | 127 | { 5, 2.887, 3.610, 2.084, 0.408}}; |
| higedura | 0:75227c386257 | 128 | |
| higedura | 0:75227c386257 | 129 | // Coefficient for moving control |
| higedura | 0:75227c386257 | 130 | double Ccom_r = 0.2; |
| higedura | 0:75227c386257 | 131 | double Ccom_p = 0.2; |
| higedura | 0:75227c386257 | 132 | double Ccom_y = 0.1; |
| higedura | 0:75227c386257 | 133 | |
| higedura | 0:75227c386257 | 134 | double motor[M] = {0}; |
| higedura | 0:75227c386257 | 135 | double motor_control[M] = {0}; // Pulth width generated by the transmitter |
| higedura | 0:75227c386257 | 136 | double motor_attitude[M] = {0}; // Pulth width generated by the attitude control |
| higedura | 0:75227c386257 | 137 | |
| higedura | 0:75227c386257 | 138 | // Coefficient of transfering Force to Puls |
| higedura | 0:75227c386257 | 139 | double Cfp = 2*pow(10.0, -7); |
| higedura | 0:75227c386257 | 140 | |
| higedura | 0:75227c386257 | 141 | // Navigation |
| higedura | 0:75227c386257 | 142 | char command_buf1[chan_buf] = {0}; |
| higedura | 0:75227c386257 | 143 | int command_buf2[chan_buf] = {0}; |
| higedura | 0:75227c386257 | 144 | double command[chan] = {0}; |
| higedura | 0:75227c386257 | 145 | int set_navi_flag = 0; |
| higedura | 0:75227c386257 | 146 | |
| higedura | 0:75227c386257 | 147 | // *** Setting up sensors *** |
| higedura | 0:75227c386257 | 148 | //pc.printf("\r\n\r\nSetting up sensors\r\n"); |
| higedura | 0:75227c386257 | 149 | xbee.printf("\r\n\r\nSetting up sensors\r\n"); |
| higedura | 0:75227c386257 | 150 | |
| higedura | 0:75227c386257 | 151 | // These are here to test whether any of the initialization fails. It will print the failure. |
| higedura | 0:75227c386257 | 152 | if (accelerometer.setPowerControl(0x00)){ |
| higedura | 0:75227c386257 | 153 | //pc.printf("didn't intitialize power control\n\r"); |
| higedura | 0:75227c386257 | 154 | xbee.printf("didn't intitialize power control\n\r"); |
| higedura | 0:75227c386257 | 155 | return 0; |
| higedura | 0:75227c386257 | 156 | } |
| higedura | 0:75227c386257 | 157 | // Full resolution, +/-16g, 4mg/LSB. |
| higedura | 0:75227c386257 | 158 | wait(.1); |
| higedura | 0:75227c386257 | 159 | |
| higedura | 0:75227c386257 | 160 | if(accelerometer.setDataFormatControl(0x0B)){ |
| higedura | 0:75227c386257 | 161 | //pc.printf("didn't set data format\n\r"); |
| higedura | 0:75227c386257 | 162 | xbee.printf("didn't set data format\n\r"); |
| higedura | 0:75227c386257 | 163 | return 0; |
| higedura | 0:75227c386257 | 164 | } |
| higedura | 0:75227c386257 | 165 | wait(.1); |
| higedura | 0:75227c386257 | 166 | |
| higedura | 0:75227c386257 | 167 | // 3.2kHz data rate. |
| higedura | 0:75227c386257 | 168 | if(accelerometer.setDataRate(ADXL345_3200HZ)){ |
| higedura | 0:75227c386257 | 169 | //pc.printf("didn't set data rate\n\r"); |
| higedura | 0:75227c386257 | 170 | xbee.printf("didn't set data rate\n\r"); |
| higedura | 0:75227c386257 | 171 | return 0; |
| higedura | 0:75227c386257 | 172 | } |
| higedura | 0:75227c386257 | 173 | wait(.1); |
| higedura | 0:75227c386257 | 174 | |
| higedura | 0:75227c386257 | 175 | if(accelerometer.setPowerControl(MeasurementMode)) { |
| higedura | 0:75227c386257 | 176 | //pc.printf("didn't set the power control to measurement\n\r"); |
| higedura | 0:75227c386257 | 177 | xbee.printf("didn't set the power control to measurement\n\r"); |
| higedura | 0:75227c386257 | 178 | return 0; |
| higedura | 0:75227c386257 | 179 | } |
| higedura | 0:75227c386257 | 180 | wait(.1); |
| higedura | 0:75227c386257 | 181 | |
| higedura | 0:75227c386257 | 182 | gyro.setLpBandwidth(LPFBW_42HZ); |
| higedura | 0:75227c386257 | 183 | compass.setDefault(); |
| higedura | 0:75227c386257 | 184 | wait(.1); // Wait some time for all sensors (Need at least 5ms) |
| higedura | 0:75227c386257 | 185 | |
| higedura | 0:75227c386257 | 186 | // *** Setting up motors *** |
| higedura | 0:75227c386257 | 187 | //pc.printf("Setting up motors\r\n"); |
| higedura | 0:75227c386257 | 188 | xbee.printf("Setting up motors\r\n"); |
| higedura | 0:75227c386257 | 189 | ESC1.period(0.016044); ESC2.period(0.016044); ESC3.period(0.016044); ESC4.period(0.016044); ESC5.period(0.016044); ESC6.period(0.016044); |
| higedura | 0:75227c386257 | 190 | // pulsewidth 0.0011~0.00195 |
| higedura | 0:75227c386257 | 191 | ESC1.pulsewidth(0.001); ESC2.pulsewidth(0.001); ESC3.pulsewidth(0.001); ESC4.pulsewidth(0.001); ESC5.pulsewidth(0.001); ESC6.pulsewidth(0.001); |
| higedura | 0:75227c386257 | 192 | // Wait some time for ESC (about 10s) |
| higedura | 0:75227c386257 | 193 | wait(5); |
| higedura | 0:75227c386257 | 194 | |
| higedura | 0:75227c386257 | 195 | // *** Setting up navigator *** |
| higedura | 0:75227c386257 | 196 | //pc.printf("Setting up navigator\r\n"); |
| higedura | 0:75227c386257 | 197 | xbee.printf("Setting up navigator\r\n"); |
| higedura | 0:75227c386257 | 198 | while( set_navi_flag==0 ){ |
| higedura | 0:75227c386257 | 199 | navi_flag = 1; |
| higedura | 0:75227c386257 | 200 | for( int i=0;i<chan_buf;i++ ){ |
| higedura | 0:75227c386257 | 201 | navi.scanf("%c",&command_buf1[i]); |
| higedura | 0:75227c386257 | 202 | if(command_buf1[i]=='a'){ |
| higedura | 0:75227c386257 | 203 | set_navi_flag=1; |
| higedura | 0:75227c386257 | 204 | break; |
| higedura | 0:75227c386257 | 205 | } |
| higedura | 0:75227c386257 | 206 | } |
| higedura | 0:75227c386257 | 207 | navi_flag = 0; |
| higedura | 0:75227c386257 | 208 | wait(.1); |
| higedura | 0:75227c386257 | 209 | } |
| higedura | 0:75227c386257 | 210 | |
| higedura | 0:75227c386257 | 211 | // *** Calibration routine *** |
| higedura | 0:75227c386257 | 212 | p_calib = calib(); |
| higedura | 0:75227c386257 | 213 | for( int i=0;i<3;i++ ){ calib_acc[i] = *p_calib; p_calib = p_calib+1; } |
| higedura | 0:75227c386257 | 214 | for( int i=3;i<6;i++ ){ calib_gyro[i-3] = *p_calib; p_calib = p_calib+1; } |
| higedura | 0:75227c386257 | 215 | //compass_basis_rad = *p_calib; |
| higedura | 0:75227c386257 | 216 | |
| higedura | 0:75227c386257 | 217 | led1 = 1; led2 = 1; led3 = 1; led4 = 1; |
| higedura | 0:75227c386257 | 218 | |
| higedura | 0:75227c386257 | 219 | //pc.printf("Starting IMU unit\n\r"); |
| higedura | 0:75227c386257 | 220 | xbee.printf("Starting IMU unit\n\r"); |
| higedura | 0:75227c386257 | 221 | //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"); |
| higedura | 0:75227c386257 | 222 | 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"); |
| higedura | 0:75227c386257 | 223 | |
| higedura | 0:75227c386257 | 224 | //while(1){ |
| higedura | 0:75227c386257 | 225 | while( stop==0 ){ |
| higedura | 0:75227c386257 | 226 | |
| higedura | 0:75227c386257 | 227 | // Navigation |
| higedura | 0:75227c386257 | 228 | if( navi_loop>=navi_period ){ |
| higedura | 0:75227c386257 | 229 | |
| higedura | 0:75227c386257 | 230 | navi_flag = 1; |
| higedura | 0:75227c386257 | 231 | |
| higedura | 0:75227c386257 | 232 | for( int i=0;i<chan_buf;i++ ){ navi.scanf("%c",&command_buf1[i]); } |
| higedura | 0:75227c386257 | 233 | for( int i=0;i<chan_buf;i++ ){ |
| higedura | 0:75227c386257 | 234 | command_buf2[i] = (int)command_buf1[i]-48; |
| higedura | 0:75227c386257 | 235 | if( command_buf2[i]==-16 ){ command_buf2[i]=0; } |
| higedura | 0:75227c386257 | 236 | } |
| higedura | 0:75227c386257 | 237 | //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; } |
| higedura | 0:75227c386257 | 238 | command[0] = 0.0001*command_buf2[1]+0.00001*command_buf2[2]+0.000001*command_buf2[3]+0.001; |
| higedura | 0:75227c386257 | 239 | 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; } |
| higedura | 0:75227c386257 | 240 | |
| higedura | 0:75227c386257 | 241 | navi_flag = 0; |
| higedura | 0:75227c386257 | 242 | navi_loop = 0; |
| higedura | 0:75227c386257 | 243 | |
| higedura | 0:75227c386257 | 244 | } |
| higedura | 0:75227c386257 | 245 | navi_loop++; |
| higedura | 0:75227c386257 | 246 | //command[0] = 0.0016; // Shiyougo comentout surukoto!! |
| higedura | 0:75227c386257 | 247 | |
| higedura | 0:75227c386257 | 248 | // Updating accelerometer and compass |
| higedura | 0:75227c386257 | 249 | accelerometer.getOutput(bit_acc); |
| higedura | 0:75227c386257 | 250 | compass.readData(get_mag); |
| higedura | 0:75227c386257 | 251 | |
| higedura | 0:75227c386257 | 252 | // Transfering units and Coordinate transform |
| higedura | 0:75227c386257 | 253 | acc[0] = (((int16_t)bit_acc[0]-calib_acc[0])-((int16_t)bit_acc[1]-calib_acc[1]))*0.004/sqrt(2.0); |
| higedura | 0:75227c386257 | 254 | acc[1] = (((int16_t)bit_acc[0]-calib_acc[0])+((int16_t)bit_acc[1]-calib_acc[1]))*0.004/sqrt(2.0); |
| higedura | 0:75227c386257 | 255 | acc[2] = ((int16_t)bit_acc[2]-calib_acc[2])*0.004+1; |
| higedura | 0:75227c386257 | 256 | |
| higedura | 0:75227c386257 | 257 | gyro_deg[0] = ((gyro.getGyroX()-calib_gyro[0])-(gyro.getGyroY()-calib_gyro[1]))/14.375/sqrt(2.0); |
| higedura | 0:75227c386257 | 258 | 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 |
| higedura | 0:75227c386257 | 259 | gyro_deg[2] = -(gyro.getGyroZ()-calib_gyro[2])/14.375; |
| higedura | 0:75227c386257 | 260 | |
| higedura | 0:75227c386257 | 261 | // Limitter for acc |
| higedura | 0:75227c386257 | 262 | if( acc[0]<-1 ){ acc[0] = -1; } if( 1<acc[0] ){ acc[0] = 1; } |
| higedura | 0:75227c386257 | 263 | if( acc[1]<-1 ){ acc[1] = -1; } if( 1<acc[1] ){ acc[1] = 1; } |
| higedura | 0:75227c386257 | 264 | if( acc[2]<-0 ){ acc[2] = -0; } if( 2<acc[2] ){ acc[2] = 2; } |
| higedura | 0:75227c386257 | 265 | |
| higedura | 0:75227c386257 | 266 | for( int i=0;i<N;i++ ){ d_acc[i] = acc[i]-acc_pre[i]; } |
| higedura | 0:75227c386257 | 267 | if( abs(d_acc[0])>=0.5 && abs(acc[0])>=0.3 ){ acc[0] = acc_pre[0]; } |
| higedura | 0:75227c386257 | 268 | if( abs(d_acc[1])>=0.5 && abs(acc[1])>=0.3 ){ acc[1] = acc_pre[1]; } |
| higedura | 0:75227c386257 | 269 | if( abs(d_acc[2])>=0.5 ){ acc[2] = acc_pre[2]; } |
| higedura | 0:75227c386257 | 270 | |
| higedura | 0:75227c386257 | 271 | for( int i=0;i<N_2;i++ ){ gyro_rad[i] = gyro_deg[i]*pi/180; } |
| higedura | 0:75227c386257 | 272 | |
| higedura | 0:75227c386257 | 273 | // LWMA (Observation) |
| higedura | 0:75227c386257 | 274 | p_zLWMA = LWMA(acc); |
| higedura | 0:75227c386257 | 275 | for( int i=0;i<N;i++ ){ zLWMA[i] = *p_zLWMA; p_zLWMA = p_zLWMA+1; } |
| higedura | 0:75227c386257 | 276 | |
| higedura | 0:75227c386257 | 277 | for( int i=0;i<N_2;i++ ){ zLWMA_2[i] = zLWMA[i]; } |
| higedura | 0:75227c386257 | 278 | |
| higedura | 0:75227c386257 | 279 | // RK4 (Prediction) |
| higedura | 0:75227c386257 | 280 | p_RK4 = RK4(dt,angle_rad,gyro_rad); |
| higedura | 0:75227c386257 | 281 | for( int i=0;i<N_2;i++ ){ angle_rad[i] = *p_RK4; p_RK4 = p_RK4+1; } |
| higedura | 0:75227c386257 | 282 | |
| higedura | 0:75227c386257 | 283 | // EKF (Correction) |
| higedura | 0:75227c386257 | 284 | EKF_predict(angle_rad,gyro_rad); |
| higedura | 0:75227c386257 | 285 | if ( correct_loop>=correct_period ){ |
| higedura | 0:75227c386257 | 286 | p_EKF = EKF_correct(angle_rad,gyro_rad,zLWMA_2); |
| higedura | 0:75227c386257 | 287 | for ( int i=0;i<N_2;i++ ){ angle_rad[i] = *p_EKF; p_EKF = p_EKF+1; } |
| higedura | 0:75227c386257 | 288 | correct_loop = 0; |
| higedura | 0:75227c386257 | 289 | } |
| higedura | 0:75227c386257 | 290 | correct_loop++; |
| higedura | 0:75227c386257 | 291 | |
| higedura | 0:75227c386257 | 292 | // Limitter for angle |
| higedura | 0:75227c386257 | 293 | for( int i=0;i<N_2;i++ ){ if( abs(angle_rad[i])>=1.05 ){ angle_rad[i] = angle_rad_pre[i]; } } |
| higedura | 0:75227c386257 | 294 | |
| higedura | 0:75227c386257 | 295 | for( int i=0;i<N_2;i++ ){ angle_deg[i] = angle_rad[i]*180/pi; } |
| higedura | 0:75227c386257 | 296 | |
| higedura | 0:75227c386257 | 297 | state[0] = angle_deg[0]; state[1] = angle_deg[1]; |
| higedura | 0:75227c386257 | 298 | state[2] = gyro_deg[0]; state[3] = gyro_deg[1]; state[4] = gyro_deg[2]; |
| higedura | 0:75227c386257 | 299 | |
| higedura | 0:75227c386257 | 300 | for( int i=0;i<M;i++ ){ |
| higedura | 0:75227c386257 | 301 | motor_attitude[i] = 0; |
| higedura | 0:75227c386257 | 302 | for( int j=0;j<L;j++ ){ motor_attitude[i] += -Kr[i][j]*state[j]; } |
| higedura | 0:75227c386257 | 303 | } |
| higedura | 0:75227c386257 | 304 | |
| higedura | 0:75227c386257 | 305 | motor_control[0] = command[0]+0*Ccom_r*command[1]+2*Ccom_p*command[2]+1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 306 | motor_control[1] = command[0]-1*Ccom_r*command[1]-1*Ccom_p*command[2]-1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 307 | motor_control[2] = command[0]+1*Ccom_r*command[1]-1*Ccom_p*command[2]+1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 308 | motor_control[3] = command[0]+0*Ccom_r*command[1]+2*Ccom_p*command[2]-1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 309 | motor_control[4] = command[0]-1*Ccom_r*command[1]-1*Ccom_p*command[2]+1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 310 | motor_control[5] = command[0]+1*Ccom_r*command[1]-1*Ccom_p*command[2]-1*Ccom_y*command[3]; |
| higedura | 0:75227c386257 | 311 | |
| higedura | 0:75227c386257 | 312 | for( int i=0;i<M;i++ ){ motor[i] = motor_control[i]+motor_attitude[i]*Cfp; } |
| higedura | 0:75227c386257 | 313 | //for( int i=0;i<M;i++ ){ motor[i] = command[0]; } |
| higedura | 0:75227c386257 | 314 | |
| higedura | 0:75227c386257 | 315 | // pulsewidth 0.0011~0.0019 (0.001~0.002?) |
| higedura | 0:75227c386257 | 316 | for( int i=0;i<M;i++ ){ |
| higedura | 0:75227c386257 | 317 | if( motor[i]>0.00195 ){ motor[i]=0.00195; } |
| higedura | 0:75227c386257 | 318 | if( motor[i]<0.0012 ){ motor[i]=0.00105; } |
| higedura | 0:75227c386257 | 319 | if( command[0]<0.0011 ){ motor[i]=0.00105; } |
| higedura | 0:75227c386257 | 320 | } |
| higedura | 0:75227c386257 | 321 | |
| higedura | 0:75227c386257 | 322 | ESC1.pulsewidth(motor[0]); ESC2.pulsewidth(motor[1]); ESC3.pulsewidth(motor[2]); ESC4.pulsewidth(motor[3]); ESC5.pulsewidth(motor[4]); ESC6.pulsewidth(motor[5]); |
| higedura | 0:75227c386257 | 323 | |
| higedura | 0:75227c386257 | 324 | //for( int i=0;i<M;i++ ){ thrust[i] = 630000.0*motor[i]*motor[i]-700.0*motor[i]; } |
| higedura | 0:75227c386257 | 325 | |
| higedura | 0:75227c386257 | 326 | //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]); |
| higedura | 0:75227c386257 | 327 | //pc.printf("%7.2f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %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], 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); |
| higedura | 0:75227c386257 | 328 | //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); |
| higedura | 0:75227c386257 | 329 | 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); |
| higedura | 0:75227c386257 | 330 | if( xbee_loop>=xbee_period ){ |
| higedura | 0:75227c386257 | 331 | 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); |
| higedura | 0:75227c386257 | 332 | xbee_loop = 0; |
| higedura | 0:75227c386257 | 333 | } |
| higedura | 0:75227c386257 | 334 | |
| higedura | 0:75227c386257 | 335 | for( int i=0;i<N;i++ ){ acc_pre[i] = acc[i]; } |
| higedura | 0:75227c386257 | 336 | //for( int i=0;i<N;i++ ){ gyro_deg_pre[i] = gyro_deg[i]; } |
| higedura | 0:75227c386257 | 337 | for( int i=0;i<N_2;i++ ){ angle_rad_pre[i] = angle_rad[i]; } |
| higedura | 0:75227c386257 | 338 | |
| higedura | 0:75227c386257 | 339 | xbee_loop++; |
| higedura | 0:75227c386257 | 340 | wait(dt_wait); |
| higedura | 0:75227c386257 | 341 | t += dt; |
| higedura | 0:75227c386257 | 342 | |
| higedura | 0:75227c386257 | 343 | } |
| higedura | 0:75227c386257 | 344 | |
| higedura | 0:75227c386257 | 345 | // pulsewidth 0.0011~0.00195 |
| higedura | 0:75227c386257 | 346 | ESC1.pulsewidth(0.001); ESC2.pulsewidth(0.001); ESC3.pulsewidth(0.001); ESC4.pulsewidth(0.001); ESC5.pulsewidth(0.001); ESC6.pulsewidth(0.001); |
| higedura | 0:75227c386257 | 347 | led1 = 0; led2 = 0; led3 = 0; led4 = 0; |
| higedura | 0:75227c386257 | 348 | fclose(fp); |
| higedura | 0:75227c386257 | 349 | |
| higedura | 0:75227c386257 | 350 | } |
| higedura | 0:75227c386257 | 351 | |
| higedura | 0:75227c386257 | 352 | double* EKF_predict( double y[N_2], double x[N_2] ){ |
| higedura | 0:75227c386257 | 353 | // x = F * x; |
| higedura | 0:75227c386257 | 354 | // P = F * P * F' + G * Q * G'; |
| higedura | 0:75227c386257 | 355 | |
| higedura | 0:75227c386257 | 356 | //double Q[N][N] = { {0.1, 0, 0}, {0, 0.1, 0}, {0, 0, 0.1} }; |
| higedura | 0:75227c386257 | 357 | double Q[N_2][N_2] = { {5198, 0}, {0, 5518} }; |
| higedura | 0:75227c386257 | 358 | |
| higedura | 0:75227c386257 | 359 | double Fjac[N_2][N_2] = { {x[1]*cos(y[0])*tan(y[1]), x[1]*sin(y[0])/(cos(y[1])*cos(y[1]))}, {-x[1]*sin(y[0]), 0} }; |
| higedura | 0:75227c386257 | 360 | double Fjac_t[N_2][N_2] = { {x[1]*cos(y[0])*tan(y[1]), -x[1]*sin(y[0])}, {x[1]*sin(y[0])/(cos(y[1])*cos(y[1])), 0} }; |
| higedura | 0:75227c386257 | 361 | double Gjac[N_2][N_2] = { {1, sin(y[0])*tan(y[1])}, {0, cos(y[0])} }; |
| higedura | 0:75227c386257 | 362 | double Gjac_t[N_2][N_2] = { {1, 0}, {sin(y[0])*tan(y[1]), cos(y[0])} }; |
| higedura | 0:75227c386257 | 363 | |
| higedura | 0:75227c386257 | 364 | double FPF[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 365 | double GQG[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 366 | |
| higedura | 0:75227c386257 | 367 | double FP[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 368 | double GQ[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 369 | |
| higedura | 0:75227c386257 | 370 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 371 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 372 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 373 | FP[i][j] += Fjac[i][k]*P[k][j]; |
| higedura | 0:75227c386257 | 374 | GQ[i][j] += Gjac[i][k]*Q[k][j]; |
| higedura | 0:75227c386257 | 375 | |
| higedura | 0:75227c386257 | 376 | } |
| higedura | 0:75227c386257 | 377 | } |
| higedura | 0:75227c386257 | 378 | } |
| higedura | 0:75227c386257 | 379 | |
| higedura | 0:75227c386257 | 380 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 381 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 382 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 383 | FPF[i][j] += FP[i][k]*Fjac_t[k][j]; |
| higedura | 0:75227c386257 | 384 | GQG[i][j] += GQ[i][k]*Gjac_t[k][j]; |
| higedura | 0:75227c386257 | 385 | } |
| higedura | 0:75227c386257 | 386 | } |
| higedura | 0:75227c386257 | 387 | } |
| higedura | 0:75227c386257 | 388 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 389 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 390 | P[i][j] = FPF[i][j]+GQG[i][j]; |
| higedura | 0:75227c386257 | 391 | } |
| higedura | 0:75227c386257 | 392 | } |
| higedura | 0:75227c386257 | 393 | |
| higedura | 0:75227c386257 | 394 | return 0; |
| higedura | 0:75227c386257 | 395 | |
| higedura | 0:75227c386257 | 396 | } |
| higedura | 0:75227c386257 | 397 | |
| higedura | 0:75227c386257 | 398 | double* EKF_correct( double y[N_2], double x[N_2], double z[N_2] ){ |
| higedura | 0:75227c386257 | 399 | // K = P * H' / ( H * P * H' + R ) |
| higedura | 0:75227c386257 | 400 | // x = x + K * ( yobs(t) - H * x ) |
| higedura | 0:75227c386257 | 401 | // P = P - K * H * P |
| higedura | 0:75227c386257 | 402 | |
| higedura | 0:75227c386257 | 403 | //double R[N][N] = { {0.15, 0, 0}, {0, 0.15, 0}, {0, 0, 0.15} }; |
| higedura | 0:75227c386257 | 404 | //double R[N][N] = { {0.00015, 0, 0}, {0, 0.00016, 0}, {0, 0, 0.00032} }; |
| higedura | 0:75227c386257 | 405 | double R[N_2][N_2] = { {272528, 0}, {0, 295812} }; |
| higedura | 0:75227c386257 | 406 | |
| higedura | 0:75227c386257 | 407 | double Hjac[N_2][N_2] = { {0, cos(y[1])}, {cos(y[0]), 0} }; |
| higedura | 0:75227c386257 | 408 | double Hjac_t[N_2][N_2] = { {0, cos(y[0])}, {cos(y[1]), 0} }; |
| higedura | 0:75227c386257 | 409 | double K[N_2][N_2] = {0}; // Kalman gain |
| higedura | 0:75227c386257 | 410 | double K_deno[N_2][N_2] = {0}; // Denominator of the kalman gain |
| higedura | 0:75227c386257 | 411 | double det_K_deno_inv = 0; |
| higedura | 0:75227c386257 | 412 | double K_deno_inv[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 413 | double HPH[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 414 | double HP[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 415 | double PH[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 416 | double KHP[N_2][N_2] = {0}; |
| higedura | 0:75227c386257 | 417 | |
| higedura | 0:75227c386257 | 418 | double Hx[N_2] = {0}; |
| higedura | 0:75227c386257 | 419 | double z_Hx[N_2] = {0}; |
| higedura | 0:75227c386257 | 420 | double Kz_Hx[N_2] = {0}; |
| higedura | 0:75227c386257 | 421 | |
| higedura | 0:75227c386257 | 422 | double* py = y; |
| higedura | 0:75227c386257 | 423 | |
| higedura | 0:75227c386257 | 424 | // Kalman gain |
| higedura | 0:75227c386257 | 425 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 426 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 427 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 428 | HP[i][j] += Hjac[i][k]*P[k][j]; |
| higedura | 0:75227c386257 | 429 | PH[i][j] += P[i][k]*Hjac_t[k][j]; |
| higedura | 0:75227c386257 | 430 | } |
| higedura | 0:75227c386257 | 431 | } |
| higedura | 0:75227c386257 | 432 | } |
| higedura | 0:75227c386257 | 433 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 434 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 435 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 436 | HPH[i][j] += HP[i][k]*Hjac_t[k][j]; |
| higedura | 0:75227c386257 | 437 | } |
| higedura | 0:75227c386257 | 438 | } |
| higedura | 0:75227c386257 | 439 | } |
| higedura | 0:75227c386257 | 440 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 441 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 442 | K_deno[i][j] = HPH[i][j]+R[i][j]; |
| higedura | 0:75227c386257 | 443 | } |
| higedura | 0:75227c386257 | 444 | } |
| higedura | 0:75227c386257 | 445 | // Inverce matrix |
| higedura | 0:75227c386257 | 446 | det_K_deno_inv = K_deno[0][0]*K_deno[1][1]-K_deno[1][0]*K_deno[0][1]; |
| higedura | 0:75227c386257 | 447 | K_deno_inv[0][0] = K_deno[1][1]/det_K_deno_inv; |
| higedura | 0:75227c386257 | 448 | K_deno_inv[0][1] = -K_deno[0][1]/det_K_deno_inv; |
| higedura | 0:75227c386257 | 449 | K_deno_inv[1][0] = -K_deno[1][0]/det_K_deno_inv; |
| higedura | 0:75227c386257 | 450 | K_deno_inv[1][1] = K_deno[0][0]/det_K_deno_inv; |
| higedura | 0:75227c386257 | 451 | |
| higedura | 0:75227c386257 | 452 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 453 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 454 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 455 | K[i][j] += PH[i][k]*K_deno_inv[k][j]; |
| higedura | 0:75227c386257 | 456 | } |
| higedura | 0:75227c386257 | 457 | } |
| higedura | 0:75227c386257 | 458 | } |
| higedura | 0:75227c386257 | 459 | |
| higedura | 0:75227c386257 | 460 | // Filtering |
| higedura | 0:75227c386257 | 461 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 462 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 463 | Hx[i] += Hjac[i][j]*y[j]; |
| higedura | 0:75227c386257 | 464 | } |
| higedura | 0:75227c386257 | 465 | } |
| higedura | 0:75227c386257 | 466 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 467 | z_Hx[i] = z[i]-Hx[i]; |
| higedura | 0:75227c386257 | 468 | } |
| higedura | 0:75227c386257 | 469 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 470 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 471 | Kz_Hx[i] += K[i][j]*z_Hx[j]; |
| higedura | 0:75227c386257 | 472 | } |
| higedura | 0:75227c386257 | 473 | } |
| higedura | 0:75227c386257 | 474 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 475 | y[i] = y[i]+Kz_Hx[i]; |
| higedura | 0:75227c386257 | 476 | } |
| higedura | 0:75227c386257 | 477 | |
| higedura | 0:75227c386257 | 478 | // Covarience |
| higedura | 0:75227c386257 | 479 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 480 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 481 | for( int k=0;k<N_2;k++ ){ |
| higedura | 0:75227c386257 | 482 | KHP[i][j] += K[i][k]*HP[k][j]; |
| higedura | 0:75227c386257 | 483 | } |
| higedura | 0:75227c386257 | 484 | } |
| higedura | 0:75227c386257 | 485 | } |
| higedura | 0:75227c386257 | 486 | for( int i=0;i<N_2;i++ ){ |
| higedura | 0:75227c386257 | 487 | for( int j=0;j<N_2;j++ ){ |
| higedura | 0:75227c386257 | 488 | P[i][j] = P[i][j]-KHP[i][j]; |
| higedura | 0:75227c386257 | 489 | } |
| higedura | 0:75227c386257 | 490 | } |
| higedura | 0:75227c386257 | 491 | |
| higedura | 0:75227c386257 | 492 | return py; |
| higedura | 0:75227c386257 | 493 | |
| higedura | 0:75227c386257 | 494 | } |
| higedura | 0:75227c386257 | 495 | |
| higedura | 0:75227c386257 | 496 | double* LWMA( double z[N] ){ |
| higedura | 0:75227c386257 | 497 | |
| higedura | 0:75227c386257 | 498 | double zLWMA[N] = {0}; |
| higedura | 0:75227c386257 | 499 | double zLWMA_num[N] = {0}; |
| higedura | 0:75227c386257 | 500 | double zLWMA_den = 0; |
| higedura | 0:75227c386257 | 501 | |
| higedura | 0:75227c386257 | 502 | double* pzLWMA = zLWMA; |
| higedura | 0:75227c386257 | 503 | |
| higedura | 0:75227c386257 | 504 | for( int i=1;i<N_LWMA;i++ ){ |
| higedura | 0:75227c386257 | 505 | for( int j=0;j<N;j++ ){ |
| higedura | 0:75227c386257 | 506 | z_buf[j][N_LWMA-i] = z_buf[j][N_LWMA-i-1]; |
| higedura | 0:75227c386257 | 507 | } |
| higedura | 0:75227c386257 | 508 | } |
| higedura | 0:75227c386257 | 509 | for( int i=0;i<N;i++ ){ |
| higedura | 0:75227c386257 | 510 | z_buf[i][0] = z[i]; |
| higedura | 0:75227c386257 | 511 | } |
| higedura | 0:75227c386257 | 512 | |
| higedura | 0:75227c386257 | 513 | for( int i=0;i<N_LWMA;i++ ){ |
| higedura | 0:75227c386257 | 514 | for( int j=0;j<N;j++ ){ |
| higedura | 0:75227c386257 | 515 | zLWMA_num[j] += (N_LWMA-i)*z_buf[j][i]; |
| higedura | 0:75227c386257 | 516 | } |
| higedura | 0:75227c386257 | 517 | zLWMA_den += N_LWMA-i; |
| higedura | 0:75227c386257 | 518 | } |
| higedura | 0:75227c386257 | 519 | for( int i=0;i<N;i++ ){ |
| higedura | 0:75227c386257 | 520 | zLWMA[i] = zLWMA_num[i]/zLWMA_den; |
| higedura | 0:75227c386257 | 521 | } |
| higedura | 0:75227c386257 | 522 | |
| higedura | 0:75227c386257 | 523 | return pzLWMA; |
| higedura | 0:75227c386257 | 524 | |
| higedura | 0:75227c386257 | 525 | } |
| higedura | 0:75227c386257 | 526 | |
| higedura | 0:75227c386257 | 527 | double* RK4( double dt, double y[N_2], double x[N_2] ){ |
| higedura | 0:75227c386257 | 528 | |
| higedura | 0:75227c386257 | 529 | double yBuf[N_2] = {0}; |
| higedura | 0:75227c386257 | 530 | double k[N_2][4] = {0}; |
| higedura | 0:75227c386257 | 531 | |
| higedura | 0:75227c386257 | 532 | double* p_y = y; |
| higedura | 0:75227c386257 | 533 | |
| higedura | 0:75227c386257 | 534 | double* pk1; |
| higedura | 0:75227c386257 | 535 | double* pk2; |
| higedura | 0:75227c386257 | 536 | double* pk3; |
| higedura | 0:75227c386257 | 537 | double* pk4; |
| higedura | 0:75227c386257 | 538 | |
| higedura | 0:75227c386257 | 539 | for( int i=0;i<N_2;i++){ yBuf[i] = y[i]; } |
| higedura | 0:75227c386257 | 540 | pk1 = func (yBuf,x); |
| higedura | 0:75227c386257 | 541 | for( int i=0;i<N_2;i++ ){ k[i][0] = *pk1; pk1 = pk1+1; } |
| higedura | 0:75227c386257 | 542 | |
| higedura | 0:75227c386257 | 543 | for( int i=0;i<N_2;i++){ yBuf[i] = y[i]+0.5*dt*k[i][1]; } |
| higedura | 0:75227c386257 | 544 | pk2 = func (yBuf,x); |
| higedura | 0:75227c386257 | 545 | for( int i=0;i<N_2;i++ ){ k[i][1] = *pk2; pk2 = pk2+1; } |
| higedura | 0:75227c386257 | 546 | |
| higedura | 0:75227c386257 | 547 | for( int i=0;i<N_2;i++){ yBuf[i] = y[i]+0.5*dt*k[i][2]; } |
| higedura | 0:75227c386257 | 548 | pk3 = func (yBuf,x); |
| higedura | 0:75227c386257 | 549 | for( int i=0;i<N_2;i++ ){ k[i][2] = *pk3; pk3 = pk3+1; } |
| higedura | 0:75227c386257 | 550 | |
| higedura | 0:75227c386257 | 551 | for( int i=0;i<N_2;i++){ yBuf[i] = y[i]+dt*k[i][3]; } |
| higedura | 0:75227c386257 | 552 | pk4 = func (yBuf,x); |
| higedura | 0:75227c386257 | 553 | for( int i=0;i<N_2;i++ ){ k[i][3] = *pk4; pk4 = pk4+1; } |
| higedura | 0:75227c386257 | 554 | |
| higedura | 0:75227c386257 | 555 | for( int i=0;i<N_2;i++){ y[i] = y[i]+dt*(k[i][0]+2.0*k[i][1]+2.0*k[i][2]+k[i][3])/6.0; } |
| higedura | 0:75227c386257 | 556 | |
| higedura | 0:75227c386257 | 557 | return p_y; |
| higedura | 0:75227c386257 | 558 | |
| higedura | 0:75227c386257 | 559 | } |
| higedura | 0:75227c386257 | 560 | |
| higedura | 0:75227c386257 | 561 | double* func( double y[N_2], double x[N_2] ){ |
| higedura | 0:75227c386257 | 562 | |
| higedura | 0:75227c386257 | 563 | double f[N_2] = {0}; |
| higedura | 0:75227c386257 | 564 | double* p_f = f; |
| higedura | 0:75227c386257 | 565 | double a; |
| higedura | 0:75227c386257 | 566 | double b; |
| higedura | 0:75227c386257 | 567 | |
| higedura | 0:75227c386257 | 568 | f[0] = x[0]+x[1]*sin(y[0])*tan(y[1]); |
| higedura | 0:75227c386257 | 569 | f[1] = x[1]*cos(y[0]); |
| higedura | 0:75227c386257 | 570 | a = sin(b); |
| higedura | 0:75227c386257 | 571 | |
| higedura | 0:75227c386257 | 572 | return p_f; |
| higedura | 0:75227c386257 | 573 | |
| higedura | 0:75227c386257 | 574 | } |
| higedura | 0:75227c386257 | 575 | |
| higedura | 0:75227c386257 | 576 | double* calib(){ |
| higedura | 0:75227c386257 | 577 | |
| higedura | 0:75227c386257 | 578 | int calib_loop = 1000; |
| higedura | 0:75227c386257 | 579 | |
| higedura | 0:75227c386257 | 580 | int bit_acc[N] = {0}; // Buffer of the accelerometer |
| higedura | 0:75227c386257 | 581 | int get_mag[N] = {0}; // Buffer of the compass |
| higedura | 0:75227c386257 | 582 | |
| higedura | 0:75227c386257 | 583 | double calib_acc[N] = {0}; |
| higedura | 0:75227c386257 | 584 | double calib_gyro_buf[N] = {0}; |
| higedura | 0:75227c386257 | 585 | double calib_gyro[N] = {0}; |
| higedura | 0:75227c386257 | 586 | double compass_basis_buf[N] = {0}; |
| higedura | 0:75227c386257 | 587 | double compass_basis_rad = 0; |
| higedura | 0:75227c386257 | 588 | double calib_result[7] = {0}; |
| higedura | 0:75227c386257 | 589 | |
| higedura | 0:75227c386257 | 590 | double* p_calib_result = calib_result; |
| higedura | 0:75227c386257 | 591 | |
| higedura | 0:75227c386257 | 592 | pc.printf("Don't touch... Calibrating now!!\n\r"); |
| higedura | 0:75227c386257 | 593 | xbee.printf("Don't touch... Calibrating now!!\n\r"); |
| higedura | 0:75227c386257 | 594 | led1 = 1; |
| higedura | 0:75227c386257 | 595 | |
| higedura | 0:75227c386257 | 596 | for( int i=0;i<calib_loop;i++ ){ |
| higedura | 0:75227c386257 | 597 | |
| higedura | 0:75227c386257 | 598 | accelerometer.getOutput(bit_acc); |
| higedura | 0:75227c386257 | 599 | compass.readData(get_mag); |
| higedura | 0:75227c386257 | 600 | |
| higedura | 0:75227c386257 | 601 | calib_gyro_buf[0] = gyro.getGyroX(); |
| higedura | 0:75227c386257 | 602 | calib_gyro_buf[1] = gyro.getGyroY(); |
| higedura | 0:75227c386257 | 603 | calib_gyro_buf[2] = gyro.getGyroZ(); |
| higedura | 0:75227c386257 | 604 | |
| higedura | 0:75227c386257 | 605 | for( int j=0;j<N;j++ ){ |
| higedura | 0:75227c386257 | 606 | calib_acc[j] += (int16_t)bit_acc[j]; |
| higedura | 0:75227c386257 | 607 | calib_gyro[j] += calib_gyro_buf[j]; |
| higedura | 0:75227c386257 | 608 | compass_basis_buf[j] += (int16_t)get_mag[j]; |
| higedura | 0:75227c386257 | 609 | } |
| higedura | 0:75227c386257 | 610 | |
| higedura | 0:75227c386257 | 611 | if( i>calib_loop*3/4 ){ |
| higedura | 0:75227c386257 | 612 | led4 = 1; |
| higedura | 0:75227c386257 | 613 | }else if( i>calib_loop/2 ){ |
| higedura | 0:75227c386257 | 614 | led3 = 1; |
| higedura | 0:75227c386257 | 615 | }else if( i>calib_loop/4 ){ |
| higedura | 0:75227c386257 | 616 | led2 = 1; |
| higedura | 0:75227c386257 | 617 | } |
| higedura | 0:75227c386257 | 618 | |
| higedura | 0:75227c386257 | 619 | } |
| higedura | 0:75227c386257 | 620 | |
| higedura | 0:75227c386257 | 621 | for( int i=0;i<N;i++ ){ |
| higedura | 0:75227c386257 | 622 | calib_acc[i] = calib_acc[i]/calib_loop; |
| higedura | 0:75227c386257 | 623 | calib_gyro[i] = calib_gyro[i]/calib_loop; |
| higedura | 0:75227c386257 | 624 | compass_basis_buf[i] = compass_basis_buf[i]/calib_loop; |
| higedura | 0:75227c386257 | 625 | } |
| higedura | 0:75227c386257 | 626 | |
| higedura | 0:75227c386257 | 627 | compass_basis_rad = compass_basis_buf[1]/compass_basis_buf[0]; |
| higedura | 0:75227c386257 | 628 | compass_basis_rad = atan(compass_basis_rad); |
| higedura | 0:75227c386257 | 629 | led1 = 0; led2 = 0; led3 = 0; led4 = 0; |
| higedura | 0:75227c386257 | 630 | |
| higedura | 0:75227c386257 | 631 | pc.printf(" accX accY accZ gyroX gyroY gyroZ yaw_basis\n\r"); |
| higedura | 0:75227c386257 | 632 | xbee.printf(" accX accY accZ gyroX gyroY gyroZ yaw_basis\n\r"); |
| higedura | 0:75227c386257 | 633 | 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); |
| higedura | 0:75227c386257 | 634 | 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); |
| higedura | 0:75227c386257 | 635 | |
| higedura | 0:75227c386257 | 636 | for( int i=0;i<3;i++ ){ calib_result[i] = calib_acc[i]; } |
| higedura | 0:75227c386257 | 637 | for( int i=3;i<6;i++ ){ calib_result[i] = calib_gyro[i-3]; } |
| higedura | 0:75227c386257 | 638 | calib_result[6] = compass_basis_rad; |
| higedura | 0:75227c386257 | 639 | |
| higedura | 0:75227c386257 | 640 | if( calib_result[0]==0 && calib_result[1]==0 && calib_result[2]==0 ){ |
| higedura | 0:75227c386257 | 641 | pc.printf("Accelerometer is not available.\r\n"); |
| higedura | 0:75227c386257 | 642 | xbee.printf("Accelerometer is not available.\r\n"); |
| higedura | 0:75227c386257 | 643 | } |
| higedura | 0:75227c386257 | 644 | |
| higedura | 0:75227c386257 | 645 | for( int i=0;i<3;i++ ){ |
| higedura | 0:75227c386257 | 646 | wait(.5); |
| higedura | 0:75227c386257 | 647 | led1 = 1; led2 = 1; led3 = 1; led4 = 1; |
| higedura | 0:75227c386257 | 648 | wait(.5); |
| higedura | 0:75227c386257 | 649 | led1 = 0; led2 = 0; led3 = 0; led4 = 0; |
| higedura | 0:75227c386257 | 650 | } |
| higedura | 0:75227c386257 | 651 | |
| higedura | 0:75227c386257 | 652 | return p_calib_result; |
| higedura | 0:75227c386257 | 653 | |
| higedura | 0:75227c386257 | 654 | } |