Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Eurobot_shared/Kalman/Kalman.cpp@17:bafcef1c3579, 2012-04-29 (annotated)
- Committer:
- narshu
- Date:
- Sun Apr 29 00:09:35 2012 +0000
- Revision:
- 17:bafcef1c3579
uptodate kalman lib; edit this one only!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 17:bafcef1c3579 | 1 | //*************************************************************************************** |
narshu | 17:bafcef1c3579 | 2 | //Kalman Filter implementation |
narshu | 17:bafcef1c3579 | 3 | //*************************************************************************************** |
narshu | 17:bafcef1c3579 | 4 | #include "Kalman.h" |
narshu | 17:bafcef1c3579 | 5 | #include "rtos.h" |
narshu | 17:bafcef1c3579 | 6 | #include "RFSRF05.h" |
narshu | 17:bafcef1c3579 | 7 | #include "math.h" |
narshu | 17:bafcef1c3579 | 8 | #include "globals.h" |
narshu | 17:bafcef1c3579 | 9 | #include "motors.h" |
narshu | 17:bafcef1c3579 | 10 | #include "system.h" |
narshu | 17:bafcef1c3579 | 11 | #include "geometryfuncs.h" |
narshu | 17:bafcef1c3579 | 12 | |
narshu | 17:bafcef1c3579 | 13 | #include <tvmet/Matrix.h> |
narshu | 17:bafcef1c3579 | 14 | #include <tvmet/Vector.h> |
narshu | 17:bafcef1c3579 | 15 | using namespace tvmet; |
narshu | 17:bafcef1c3579 | 16 | |
narshu | 17:bafcef1c3579 | 17 | Kalman::Kalman(Motors &motorsin, |
narshu | 17:bafcef1c3579 | 18 | UI &uiin, |
narshu | 17:bafcef1c3579 | 19 | PinName Sonar_Trig, |
narshu | 17:bafcef1c3579 | 20 | PinName Sonar_Echo0, |
narshu | 17:bafcef1c3579 | 21 | PinName Sonar_Echo1, |
narshu | 17:bafcef1c3579 | 22 | PinName Sonar_Echo2, |
narshu | 17:bafcef1c3579 | 23 | PinName Sonar_Echo3, |
narshu | 17:bafcef1c3579 | 24 | PinName Sonar_Echo4, |
narshu | 17:bafcef1c3579 | 25 | PinName Sonar_Echo5, |
narshu | 17:bafcef1c3579 | 26 | PinName Sonar_SDI, |
narshu | 17:bafcef1c3579 | 27 | PinName Sonar_SDO, |
narshu | 17:bafcef1c3579 | 28 | PinName Sonar_SCK, |
narshu | 17:bafcef1c3579 | 29 | PinName Sonar_NCS, |
narshu | 17:bafcef1c3579 | 30 | PinName Sonar_NIRQ) : |
narshu | 17:bafcef1c3579 | 31 | ir(*this), |
narshu | 17:bafcef1c3579 | 32 | sonararray(Sonar_Trig, |
narshu | 17:bafcef1c3579 | 33 | Sonar_Echo0, |
narshu | 17:bafcef1c3579 | 34 | Sonar_Echo1, |
narshu | 17:bafcef1c3579 | 35 | Sonar_Echo2, |
narshu | 17:bafcef1c3579 | 36 | Sonar_Echo3, |
narshu | 17:bafcef1c3579 | 37 | Sonar_Echo4, |
narshu | 17:bafcef1c3579 | 38 | Sonar_Echo5, |
narshu | 17:bafcef1c3579 | 39 | Sonar_SDI, |
narshu | 17:bafcef1c3579 | 40 | Sonar_SDO, |
narshu | 17:bafcef1c3579 | 41 | Sonar_SCK, |
narshu | 17:bafcef1c3579 | 42 | Sonar_NCS, |
narshu | 17:bafcef1c3579 | 43 | Sonar_NIRQ), |
narshu | 17:bafcef1c3579 | 44 | motors(motorsin), |
narshu | 17:bafcef1c3579 | 45 | ui(uiin), |
narshu | 17:bafcef1c3579 | 46 | predictthread(predictloopwrapper, this, osPriorityNormal, 512), |
narshu | 17:bafcef1c3579 | 47 | predictticker( SIGTICKARGS(predictthread, 0x1) ), |
narshu | 17:bafcef1c3579 | 48 | // sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), |
narshu | 17:bafcef1c3579 | 49 | // sonarticker( SIGTICKARGS(sonarthread, 0x1) ), |
narshu | 17:bafcef1c3579 | 50 | updatethread(updateloopwrapper, this, osPriorityNormal, 512) { |
narshu | 17:bafcef1c3579 | 51 | |
narshu | 17:bafcef1c3579 | 52 | //Initilising offsets |
narshu | 17:bafcef1c3579 | 53 | InitLock.lock(); |
narshu | 17:bafcef1c3579 | 54 | IR_Offset = 0; |
narshu | 17:bafcef1c3579 | 55 | Sonar_Offset = 0; |
narshu | 17:bafcef1c3579 | 56 | InitLock.unlock(); |
narshu | 17:bafcef1c3579 | 57 | |
narshu | 17:bafcef1c3579 | 58 | |
narshu | 17:bafcef1c3579 | 59 | //Initilising matrices |
narshu | 17:bafcef1c3579 | 60 | |
narshu | 17:bafcef1c3579 | 61 | // X = x, y, theta; |
narshu | 17:bafcef1c3579 | 62 | X = 0.5, 0, 0; |
narshu | 17:bafcef1c3579 | 63 | |
narshu | 17:bafcef1c3579 | 64 | P = 1, 0, 0, |
narshu | 17:bafcef1c3579 | 65 | 0, 1, 0, |
narshu | 17:bafcef1c3579 | 66 | 0, 0, 0.04; |
narshu | 17:bafcef1c3579 | 67 | |
narshu | 17:bafcef1c3579 | 68 | //measurment variance R is provided by each sensor when calling runupdate |
narshu | 17:bafcef1c3579 | 69 | |
narshu | 17:bafcef1c3579 | 70 | //attach callback |
narshu | 17:bafcef1c3579 | 71 | sonararray.callbackobj = (DummyCT*)this; |
narshu | 17:bafcef1c3579 | 72 | sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; |
narshu | 17:bafcef1c3579 | 73 | |
narshu | 17:bafcef1c3579 | 74 | |
narshu | 17:bafcef1c3579 | 75 | predictticker.start(20); |
narshu | 17:bafcef1c3579 | 76 | // sonarticker.start(50); |
narshu | 17:bafcef1c3579 | 77 | |
narshu | 17:bafcef1c3579 | 78 | } |
narshu | 17:bafcef1c3579 | 79 | |
narshu | 17:bafcef1c3579 | 80 | |
narshu | 17:bafcef1c3579 | 81 | //Note: this init function assumes that the robot faces east, theta=0, in the +x direction |
narshu | 17:bafcef1c3579 | 82 | void Kalman::KalmanInit() { |
narshu | 17:bafcef1c3579 | 83 | motors.stop(); |
narshu | 17:bafcef1c3579 | 84 | float SonarMeasuresx1000[3]; |
narshu | 17:bafcef1c3579 | 85 | float IRMeasuresloc[3]; |
narshu | 17:bafcef1c3579 | 86 | int beacon_cnt = 0; |
narshu | 17:bafcef1c3579 | 87 | |
narshu | 17:bafcef1c3579 | 88 | |
narshu | 17:bafcef1c3579 | 89 | // doesn't work since they break the ISR |
narshu | 17:bafcef1c3579 | 90 | /* |
narshu | 17:bafcef1c3579 | 91 | #ifdef ROBOT_PRIMARY |
narshu | 17:bafcef1c3579 | 92 | LPC_UART3->FCR = LPC_UART3->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR |
narshu | 17:bafcef1c3579 | 93 | #else |
narshu | 17:bafcef1c3579 | 94 | LPC_UART1->FCR = LPC_UART1->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR |
narshu | 17:bafcef1c3579 | 95 | #endif |
narshu | 17:bafcef1c3579 | 96 | */ |
narshu | 17:bafcef1c3579 | 97 | // zeros the measurements |
narshu | 17:bafcef1c3579 | 98 | for (int i = 0; i < 3; i++) { |
narshu | 17:bafcef1c3579 | 99 | SonarMeasures[i] = 0; |
narshu | 17:bafcef1c3579 | 100 | IRMeasures[i] = 0; |
narshu | 17:bafcef1c3579 | 101 | } |
narshu | 17:bafcef1c3579 | 102 | |
narshu | 17:bafcef1c3579 | 103 | InitLock.lock(); |
narshu | 17:bafcef1c3579 | 104 | //zeros offsets |
narshu | 17:bafcef1c3579 | 105 | IR_Offset = 0; |
narshu | 17:bafcef1c3579 | 106 | Sonar_Offset = 0; |
narshu | 17:bafcef1c3579 | 107 | InitLock.unlock(); |
narshu | 17:bafcef1c3579 | 108 | |
narshu | 17:bafcef1c3579 | 109 | // attaches ir interrup |
narshu | 17:bafcef1c3579 | 110 | ir.attachisr(); |
narshu | 17:bafcef1c3579 | 111 | |
narshu | 17:bafcef1c3579 | 112 | //wating untill the IR has reved up and picked up some valid data |
narshu | 17:bafcef1c3579 | 113 | wait(1); |
narshu | 17:bafcef1c3579 | 114 | |
narshu | 17:bafcef1c3579 | 115 | //temporaraly disable IR updates |
narshu | 17:bafcef1c3579 | 116 | ir.detachisr(); |
narshu | 17:bafcef1c3579 | 117 | |
narshu | 17:bafcef1c3579 | 118 | //lock the state throughout the computation, as we will override the state at the end |
narshu | 17:bafcef1c3579 | 119 | InitLock.lock(); |
narshu | 17:bafcef1c3579 | 120 | statelock.lock(); |
narshu | 17:bafcef1c3579 | 121 | |
narshu | 17:bafcef1c3579 | 122 | |
narshu | 17:bafcef1c3579 | 123 | |
narshu | 17:bafcef1c3579 | 124 | SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f; |
narshu | 17:bafcef1c3579 | 125 | SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f; |
narshu | 17:bafcef1c3579 | 126 | SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f; |
narshu | 17:bafcef1c3579 | 127 | IRMeasuresloc[0] = IRMeasures[0]; |
narshu | 17:bafcef1c3579 | 128 | IRMeasuresloc[1] = IRMeasures[1]; |
narshu | 17:bafcef1c3579 | 129 | IRMeasuresloc[2] = IRMeasures[2]; |
narshu | 17:bafcef1c3579 | 130 | //printf("0: %0.4f, 1: %0.4f, 2: %0.4f \n\r", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI); |
narshu | 17:bafcef1c3579 | 131 | |
narshu | 17:bafcef1c3579 | 132 | float d = beaconpos[2].y - beaconpos[1].y; |
narshu | 17:bafcef1c3579 | 133 | float i = beaconpos[0].y - beaconpos[1].y; |
narshu | 17:bafcef1c3579 | 134 | float j = beaconpos[0].x - beaconpos[1].x; |
narshu | 17:bafcef1c3579 | 135 | float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d); |
narshu | 17:bafcef1c3579 | 136 | float x_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j; |
narshu | 17:bafcef1c3579 | 137 | |
narshu | 17:bafcef1c3579 | 138 | float Dist_Exp[3]; |
narshu | 17:bafcef1c3579 | 139 | for (int i = 0; i < 3; i++) { |
narshu | 17:bafcef1c3579 | 140 | //Compute sonar offset |
narshu | 17:bafcef1c3579 | 141 | Dist_Exp[i] = hypot(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); |
narshu | 17:bafcef1c3579 | 142 | Sonar_Offset += (SonarMeasuresx1000[i]-Dist_Exp[i])/3000.0f; |
narshu | 17:bafcef1c3579 | 143 | |
narshu | 17:bafcef1c3579 | 144 | //Compute IR offset |
narshu | 17:bafcef1c3579 | 145 | float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); |
narshu | 17:bafcef1c3579 | 146 | // take average offset angle from valid readings |
narshu | 17:bafcef1c3579 | 147 | if (IRMeasuresloc[i] != 0) { |
narshu | 17:bafcef1c3579 | 148 | beacon_cnt ++; |
narshu | 17:bafcef1c3579 | 149 | // changed to current angle - estimated angle |
narshu | 17:bafcef1c3579 | 150 | float angle_temp = IRMeasuresloc[i] - angle_est; |
narshu | 17:bafcef1c3579 | 151 | angle_temp -= (floor(angle_temp/(2*PI)))*2*PI; |
narshu | 17:bafcef1c3579 | 152 | IR_Offset += angle_temp; |
narshu | 17:bafcef1c3579 | 153 | } |
narshu | 17:bafcef1c3579 | 154 | } |
narshu | 17:bafcef1c3579 | 155 | IR_Offset /= float(beacon_cnt); |
narshu | 17:bafcef1c3579 | 156 | |
narshu | 17:bafcef1c3579 | 157 | //statelock already locked |
narshu | 17:bafcef1c3579 | 158 | X(0) = x_coor/1000.0f; |
narshu | 17:bafcef1c3579 | 159 | X(1) = y_coor/1000.0f; |
narshu | 17:bafcef1c3579 | 160 | X(2) = 0; |
narshu | 17:bafcef1c3579 | 161 | |
narshu | 17:bafcef1c3579 | 162 | // unlocks mutexes |
narshu | 17:bafcef1c3579 | 163 | InitLock.unlock(); |
narshu | 17:bafcef1c3579 | 164 | statelock.unlock(); |
narshu | 17:bafcef1c3579 | 165 | |
narshu | 17:bafcef1c3579 | 166 | |
narshu | 17:bafcef1c3579 | 167 | //reattach the IR processing |
narshu | 17:bafcef1c3579 | 168 | ir.attachisr(); |
narshu | 17:bafcef1c3579 | 169 | } |
narshu | 17:bafcef1c3579 | 170 | |
narshu | 17:bafcef1c3579 | 171 | |
narshu | 17:bafcef1c3579 | 172 | void Kalman::predictloop() { |
narshu | 17:bafcef1c3579 | 173 | |
narshu | 17:bafcef1c3579 | 174 | OLED4 = !ui.regid(0, 3); |
narshu | 17:bafcef1c3579 | 175 | OLED4 = !ui.regid(1, 4); |
narshu | 17:bafcef1c3579 | 176 | |
narshu | 17:bafcef1c3579 | 177 | float lastleft = 0; |
narshu | 17:bafcef1c3579 | 178 | float lastright = 0; |
narshu | 17:bafcef1c3579 | 179 | |
narshu | 17:bafcef1c3579 | 180 | while (1) { |
narshu | 17:bafcef1c3579 | 181 | Thread::signal_wait(0x1); |
narshu | 17:bafcef1c3579 | 182 | OLED1 = !OLED1; |
narshu | 17:bafcef1c3579 | 183 | |
narshu | 17:bafcef1c3579 | 184 | int leftenc = motors.getEncoder1(); |
narshu | 17:bafcef1c3579 | 185 | int rightenc = motors.getEncoder2(); |
narshu | 17:bafcef1c3579 | 186 | |
narshu | 17:bafcef1c3579 | 187 | float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; |
narshu | 17:bafcef1c3579 | 188 | float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; |
narshu | 17:bafcef1c3579 | 189 | |
narshu | 17:bafcef1c3579 | 190 | lastleft = leftenc; |
narshu | 17:bafcef1c3579 | 191 | lastright = rightenc; |
narshu | 17:bafcef1c3579 | 192 | |
narshu | 17:bafcef1c3579 | 193 | |
narshu | 17:bafcef1c3579 | 194 | //The below calculation are in body frame (where +x is forward) |
narshu | 17:bafcef1c3579 | 195 | float dxp, dyp,d,r; |
narshu | 17:bafcef1c3579 | 196 | float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); |
narshu | 17:bafcef1c3579 | 197 | if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error |
narshu | 17:bafcef1c3579 | 198 | d = (dright + dleft)/2.0f; |
narshu | 17:bafcef1c3579 | 199 | dxp = d*cos(thetap/2.0f); |
narshu | 17:bafcef1c3579 | 200 | dyp = d*sin(thetap/2.0f); |
narshu | 17:bafcef1c3579 | 201 | |
narshu | 17:bafcef1c3579 | 202 | } else { //calculate circle arc |
narshu | 17:bafcef1c3579 | 203 | //float r = (right + left) / (4.0f * PI * thetap); |
narshu | 17:bafcef1c3579 | 204 | r = (dright + dleft) / (2.0f*thetap); |
narshu | 17:bafcef1c3579 | 205 | dxp = abs(r)*sin(thetap); |
narshu | 17:bafcef1c3579 | 206 | dyp = r - r*cos(thetap); |
narshu | 17:bafcef1c3579 | 207 | } |
narshu | 17:bafcef1c3579 | 208 | |
narshu | 17:bafcef1c3579 | 209 | statelock.lock(); |
narshu | 17:bafcef1c3579 | 210 | |
narshu | 17:bafcef1c3579 | 211 | //Linearising F around X |
narshu | 17:bafcef1c3579 | 212 | Matrix<float, 3, 3> F; |
narshu | 17:bafcef1c3579 | 213 | F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), |
narshu | 17:bafcef1c3579 | 214 | 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), |
narshu | 17:bafcef1c3579 | 215 | 0, 0, 1; |
narshu | 17:bafcef1c3579 | 216 | |
narshu | 17:bafcef1c3579 | 217 | //rotating to cartesian frame and updating state |
narshu | 17:bafcef1c3579 | 218 | X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); |
narshu | 17:bafcef1c3579 | 219 | X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); |
narshu | 17:bafcef1c3579 | 220 | X(2) = rectifyAng(X(2) + thetap); |
narshu | 17:bafcef1c3579 | 221 | |
narshu | 17:bafcef1c3579 | 222 | //Generating forward and rotational variance |
narshu | 17:bafcef1c3579 | 223 | float varfwd = fwdvarperunit * abs(dright + dleft) / 2.0f; |
narshu | 17:bafcef1c3579 | 224 | float varang = varperang * abs(thetap); |
narshu | 17:bafcef1c3579 | 225 | float varxydt = xyvarpertime * PREDICTPERIOD/1000.0f; |
narshu | 17:bafcef1c3579 | 226 | float varangdt = angvarpertime * PREDICTPERIOD/1000.0f; |
narshu | 17:bafcef1c3579 | 227 | |
narshu | 17:bafcef1c3579 | 228 | //Rotating into cartesian frame |
narshu | 17:bafcef1c3579 | 229 | Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; |
narshu | 17:bafcef1c3579 | 230 | Qsub = varfwd + varxydt, 0, |
narshu | 17:bafcef1c3579 | 231 | 0, varxydt; |
narshu | 17:bafcef1c3579 | 232 | |
narshu | 17:bafcef1c3579 | 233 | Qrot = Rotmatrix(X(2)); |
narshu | 17:bafcef1c3579 | 234 | |
narshu | 17:bafcef1c3579 | 235 | Qsubrot = Qrot * Qsub * trans(Qrot); |
narshu | 17:bafcef1c3579 | 236 | |
narshu | 17:bafcef1c3579 | 237 | //Generate Q |
narshu | 17:bafcef1c3579 | 238 | Matrix<float, 3, 3> Q;//(Qsubrot); |
narshu | 17:bafcef1c3579 | 239 | Q = Qsubrot(0,0), Qsubrot(0,1), 0, |
narshu | 17:bafcef1c3579 | 240 | Qsubrot(1,0), Qsubrot(1,1), 0, |
narshu | 17:bafcef1c3579 | 241 | 0, 0, varang + varangdt; |
narshu | 17:bafcef1c3579 | 242 | |
narshu | 17:bafcef1c3579 | 243 | P = F * P * trans(F) + Q; |
narshu | 17:bafcef1c3579 | 244 | |
narshu | 17:bafcef1c3579 | 245 | //Update UI |
narshu | 17:bafcef1c3579 | 246 | float statecpy[] = {X(0), X(1), X(2)}; |
narshu | 17:bafcef1c3579 | 247 | ui.updateval(0, statecpy, 3); |
narshu | 17:bafcef1c3579 | 248 | |
narshu | 17:bafcef1c3579 | 249 | float Pcpy[] = {P(0,0), P(0,1), P(1,0), P(1,1)}; |
narshu | 17:bafcef1c3579 | 250 | ui.updateval(1, Pcpy, 4); |
narshu | 17:bafcef1c3579 | 251 | |
narshu | 17:bafcef1c3579 | 252 | statelock.unlock(); |
narshu | 17:bafcef1c3579 | 253 | } |
narshu | 17:bafcef1c3579 | 254 | } |
narshu | 17:bafcef1c3579 | 255 | |
narshu | 17:bafcef1c3579 | 256 | //void Kalman::sonarloop() { |
narshu | 17:bafcef1c3579 | 257 | // while (1) { |
narshu | 17:bafcef1c3579 | 258 | // Thread::signal_wait(0x1); |
narshu | 17:bafcef1c3579 | 259 | // sonararray.startRange(); |
narshu | 17:bafcef1c3579 | 260 | // } |
narshu | 17:bafcef1c3579 | 261 | //} |
narshu | 17:bafcef1c3579 | 262 | |
narshu | 17:bafcef1c3579 | 263 | |
narshu | 17:bafcef1c3579 | 264 | void Kalman::runupdate(measurement_t type, float value, float variance) { |
narshu | 17:bafcef1c3579 | 265 | //printf("beacon %d dist %f\r\n", sonarid, dist); |
narshu | 17:bafcef1c3579 | 266 | //led2 = !led2; |
narshu | 17:bafcef1c3579 | 267 | |
narshu | 17:bafcef1c3579 | 268 | measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); |
narshu | 17:bafcef1c3579 | 269 | if (measured) { |
narshu | 17:bafcef1c3579 | 270 | measured->mtype = type; |
narshu | 17:bafcef1c3579 | 271 | measured->value = value; |
narshu | 17:bafcef1c3579 | 272 | measured->variance = variance; |
narshu | 17:bafcef1c3579 | 273 | |
narshu | 17:bafcef1c3579 | 274 | osStatus putret = measureMQ.put(measured); |
narshu | 17:bafcef1c3579 | 275 | if (putret) |
narshu | 17:bafcef1c3579 | 276 | OLED4 = 1; |
narshu | 17:bafcef1c3579 | 277 | // printf("putting in MQ error code %#x\r\n", putret); |
narshu | 17:bafcef1c3579 | 278 | } else { |
narshu | 17:bafcef1c3579 | 279 | OLED4 = 1; |
narshu | 17:bafcef1c3579 | 280 | //printf("MQalloc returned NULL ptr\r\n"); |
narshu | 17:bafcef1c3579 | 281 | } |
narshu | 17:bafcef1c3579 | 282 | |
narshu | 17:bafcef1c3579 | 283 | } |
narshu | 17:bafcef1c3579 | 284 | |
narshu | 17:bafcef1c3579 | 285 | void Kalman::updateloop() { |
narshu | 17:bafcef1c3579 | 286 | |
narshu | 17:bafcef1c3579 | 287 | //sonar Y chanels |
narshu | 17:bafcef1c3579 | 288 | ui.regid(2, 1); |
narshu | 17:bafcef1c3579 | 289 | ui.regid(3, 1); |
narshu | 17:bafcef1c3579 | 290 | ui.regid(4, 1); |
narshu | 17:bafcef1c3579 | 291 | |
narshu | 17:bafcef1c3579 | 292 | //IR Y chanels |
narshu | 17:bafcef1c3579 | 293 | ui.regid(5, 1); |
narshu | 17:bafcef1c3579 | 294 | ui.regid(6, 1); |
narshu | 17:bafcef1c3579 | 295 | ui.regid(7, 1); |
narshu | 17:bafcef1c3579 | 296 | |
narshu | 17:bafcef1c3579 | 297 | measurement_t type; |
narshu | 17:bafcef1c3579 | 298 | float value,variance,rbx,rby,expecdist,Y; |
narshu | 17:bafcef1c3579 | 299 | float dhdx,dhdy; |
narshu | 17:bafcef1c3579 | 300 | bool aborton2stddev = false; |
narshu | 17:bafcef1c3579 | 301 | |
narshu | 17:bafcef1c3579 | 302 | Matrix<float, 1, 3> H; |
narshu | 17:bafcef1c3579 | 303 | |
narshu | 17:bafcef1c3579 | 304 | float S; |
narshu | 17:bafcef1c3579 | 305 | Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); |
narshu | 17:bafcef1c3579 | 306 | |
narshu | 17:bafcef1c3579 | 307 | |
narshu | 17:bafcef1c3579 | 308 | while (1) { |
narshu | 17:bafcef1c3579 | 309 | OLED2 = !OLED2; |
narshu | 17:bafcef1c3579 | 310 | |
narshu | 17:bafcef1c3579 | 311 | osEvent evt = measureMQ.get(); |
narshu | 17:bafcef1c3579 | 312 | |
narshu | 17:bafcef1c3579 | 313 | if (evt.status == osEventMail) { |
narshu | 17:bafcef1c3579 | 314 | |
narshu | 17:bafcef1c3579 | 315 | measurmentdata &measured = *(measurmentdata*)evt.value.p; |
narshu | 17:bafcef1c3579 | 316 | type = measured.mtype; //Note, may support more measurment types than sonar in the future! |
narshu | 17:bafcef1c3579 | 317 | value = measured.value; |
narshu | 17:bafcef1c3579 | 318 | variance = measured.variance; |
narshu | 17:bafcef1c3579 | 319 | |
narshu | 17:bafcef1c3579 | 320 | // don't forget to free the memory |
narshu | 17:bafcef1c3579 | 321 | measureMQ.free(&measured); |
narshu | 17:bafcef1c3579 | 322 | |
narshu | 17:bafcef1c3579 | 323 | if (type <= maxmeasure) { |
narshu | 17:bafcef1c3579 | 324 | |
narshu | 17:bafcef1c3579 | 325 | if (type <= SONAR3) { |
narshu | 17:bafcef1c3579 | 326 | |
narshu | 17:bafcef1c3579 | 327 | InitLock.lock(); |
narshu | 17:bafcef1c3579 | 328 | float dist = value / 1000.0f - Sonar_Offset; //converting to m from mm,subtract the offset |
narshu | 17:bafcef1c3579 | 329 | InitLock.unlock(); |
narshu | 17:bafcef1c3579 | 330 | |
narshu | 17:bafcef1c3579 | 331 | int sonarid = type; |
narshu | 17:bafcef1c3579 | 332 | aborton2stddev = true; |
narshu | 17:bafcef1c3579 | 333 | |
narshu | 17:bafcef1c3579 | 334 | statelock.lock(); |
narshu | 17:bafcef1c3579 | 335 | //update the current sonar readings |
narshu | 17:bafcef1c3579 | 336 | SonarMeasures[sonarid] = dist; |
narshu | 17:bafcef1c3579 | 337 | |
narshu | 17:bafcef1c3579 | 338 | rbx = X(0) - beaconpos[sonarid].x/1000.0f; |
narshu | 17:bafcef1c3579 | 339 | rby = X(1) - beaconpos[sonarid].y/1000.0f; |
narshu | 17:bafcef1c3579 | 340 | |
narshu | 17:bafcef1c3579 | 341 | expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); |
narshu | 17:bafcef1c3579 | 342 | Y = dist - expecdist; |
narshu | 17:bafcef1c3579 | 343 | |
narshu | 17:bafcef1c3579 | 344 | //send to ui |
narshu | 17:bafcef1c3579 | 345 | ui.updateval(sonarid+2, Y); |
narshu | 17:bafcef1c3579 | 346 | |
narshu | 17:bafcef1c3579 | 347 | dhdx = rbx / expecdist; |
narshu | 17:bafcef1c3579 | 348 | dhdy = rby / expecdist; |
narshu | 17:bafcef1c3579 | 349 | |
narshu | 17:bafcef1c3579 | 350 | H = dhdx, dhdy, 0; |
narshu | 17:bafcef1c3579 | 351 | |
narshu | 17:bafcef1c3579 | 352 | } else if (type <= IR3) { |
narshu | 17:bafcef1c3579 | 353 | |
narshu | 17:bafcef1c3579 | 354 | aborton2stddev = false; |
narshu | 17:bafcef1c3579 | 355 | int IRidx = type-3; |
narshu | 17:bafcef1c3579 | 356 | |
narshu | 17:bafcef1c3579 | 357 | // subtract the IR offset |
narshu | 17:bafcef1c3579 | 358 | InitLock.lock(); |
narshu | 17:bafcef1c3579 | 359 | value -= IR_Offset; |
narshu | 17:bafcef1c3579 | 360 | InitLock.unlock(); |
narshu | 17:bafcef1c3579 | 361 | |
narshu | 17:bafcef1c3579 | 362 | statelock.lock(); |
narshu | 17:bafcef1c3579 | 363 | IRMeasures[IRidx] = value; |
narshu | 17:bafcef1c3579 | 364 | |
narshu | 17:bafcef1c3579 | 365 | rbx = X(0) - beaconpos[IRidx].x/1000.0f; |
narshu | 17:bafcef1c3579 | 366 | rby = X(1) - beaconpos[IRidx].y/1000.0f; |
narshu | 17:bafcef1c3579 | 367 | |
narshu | 17:bafcef1c3579 | 368 | float expecang = atan2(-rby, -rbx) - X(2); |
narshu | 17:bafcef1c3579 | 369 | Y = rectifyAng(value - expecang); |
narshu | 17:bafcef1c3579 | 370 | |
narshu | 17:bafcef1c3579 | 371 | //send to ui |
narshu | 17:bafcef1c3579 | 372 | ui.updateval(IRidx + 5, Y); |
narshu | 17:bafcef1c3579 | 373 | |
narshu | 17:bafcef1c3579 | 374 | float dstsq = rbx*rbx + rby*rby; |
narshu | 17:bafcef1c3579 | 375 | H = -rby/dstsq, rbx/dstsq, -1; |
narshu | 17:bafcef1c3579 | 376 | } |
narshu | 17:bafcef1c3579 | 377 | |
narshu | 17:bafcef1c3579 | 378 | Matrix<float, 3, 1> PH (P * trans(H)); |
narshu | 17:bafcef1c3579 | 379 | S = (H * PH)(0,0) + variance; |
narshu | 17:bafcef1c3579 | 380 | |
narshu | 17:bafcef1c3579 | 381 | if (aborton2stddev && Y*Y > 4 * S) { |
narshu | 17:bafcef1c3579 | 382 | statelock.unlock(); |
narshu | 17:bafcef1c3579 | 383 | continue; |
narshu | 17:bafcef1c3579 | 384 | } |
narshu | 17:bafcef1c3579 | 385 | |
narshu | 17:bafcef1c3579 | 386 | Matrix<float, 3, 1> K (PH * (1/S)); |
narshu | 17:bafcef1c3579 | 387 | |
narshu | 17:bafcef1c3579 | 388 | //Updating state |
narshu | 17:bafcef1c3579 | 389 | X += col(K, 0) * Y; |
narshu | 17:bafcef1c3579 | 390 | X(2) = rectifyAng(X(2)); |
narshu | 17:bafcef1c3579 | 391 | |
narshu | 17:bafcef1c3579 | 392 | P = (I3 - K * H) * P; |
narshu | 17:bafcef1c3579 | 393 | |
narshu | 17:bafcef1c3579 | 394 | statelock.unlock(); |
narshu | 17:bafcef1c3579 | 395 | |
narshu | 17:bafcef1c3579 | 396 | } |
narshu | 17:bafcef1c3579 | 397 | |
narshu | 17:bafcef1c3579 | 398 | } else { |
narshu | 17:bafcef1c3579 | 399 | OLED4 = 1; |
narshu | 17:bafcef1c3579 | 400 | //printf("ERROR: in updateloop, code %#x", evt); |
narshu | 17:bafcef1c3579 | 401 | } |
narshu | 17:bafcef1c3579 | 402 | |
narshu | 17:bafcef1c3579 | 403 | } |
narshu | 17:bafcef1c3579 | 404 | |
narshu | 17:bafcef1c3579 | 405 | } |