2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Processes/Kalman/Kalman.cpp@49:665bdca0f2cd, 2013-04-12 (annotated)
- Committer:
- madcowswe
- Date:
- Fri Apr 12 21:07:00 2013 +0000
- Revision:
- 49:665bdca0f2cd
- Parent:
- 48:254b124cef02
- Child:
- 72:7996aa8286ae
Kalman online phase estimation works but is SOOO hacked together
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 16:52250d8d8fce | 1 | //*************************************************************************************** |
madcowswe | 16:52250d8d8fce | 2 | //Kalman Filter implementation |
madcowswe | 16:52250d8d8fce | 3 | //*************************************************************************************** |
madcowswe | 16:52250d8d8fce | 4 | #include "Kalman.h" |
madcowswe | 16:52250d8d8fce | 5 | #include "rtos.h" |
madcowswe | 16:52250d8d8fce | 6 | #include "math.h" |
madcowswe | 16:52250d8d8fce | 7 | #include "supportfuncs.h" |
madcowswe | 20:70d651156779 | 8 | #include "Encoder.h" |
madcowswe | 21:167dacfe0b14 | 9 | #include "globals.h" |
madcowswe | 21:167dacfe0b14 | 10 | #include "Printing.h" |
madcowswe | 16:52250d8d8fce | 11 | |
madcowswe | 20:70d651156779 | 12 | #include "tvmet/Matrix.h" |
madcowswe | 16:52250d8d8fce | 13 | using namespace tvmet; |
madcowswe | 16:52250d8d8fce | 14 | |
madcowswe | 16:52250d8d8fce | 15 | |
madcowswe | 16:52250d8d8fce | 16 | |
madcowswe | 16:52250d8d8fce | 17 | namespace Kalman |
madcowswe | 16:52250d8d8fce | 18 | { |
madcowswe | 16:52250d8d8fce | 19 | |
madcowswe | 20:70d651156779 | 20 | Ticker predictticker; |
madcowswe | 20:70d651156779 | 21 | |
rsavitski | 38:c9058a401410 | 22 | DigitalOut OLED4(LED4); |
madcowswe | 48:254b124cef02 | 23 | DigitalOut OLED3(LED3); |
rsavitski | 38:c9058a401410 | 24 | DigitalOut OLED1(LED1); |
madcowswe | 26:7cb3a21d9a2e | 25 | DigitalOut OLED2(LED2); |
madcowswe | 20:70d651156779 | 26 | |
madcowswe | 16:52250d8d8fce | 27 | //State variables |
madcowswe | 48:254b124cef02 | 28 | Matrix<float, 4, 1> X; |
madcowswe | 48:254b124cef02 | 29 | Matrix<float, 4, 4> P; |
madcowswe | 16:52250d8d8fce | 30 | Mutex statelock; |
madcowswe | 16:52250d8d8fce | 31 | |
madcowswe | 16:52250d8d8fce | 32 | float RawReadings[maxmeasure+1]; |
madcowswe | 49:665bdca0f2cd | 33 | volatile int sensorseenflags = 0; |
madcowswe | 16:52250d8d8fce | 34 | |
madcowswe | 20:70d651156779 | 35 | bool Kalman_inited = 0; |
madcowswe | 16:52250d8d8fce | 36 | |
madcowswe | 16:52250d8d8fce | 37 | struct measurmentdata { |
madcowswe | 16:52250d8d8fce | 38 | measurement_t mtype; |
madcowswe | 16:52250d8d8fce | 39 | float value; |
madcowswe | 16:52250d8d8fce | 40 | float variance; |
madcowswe | 19:4b993a9a156e | 41 | }; |
madcowswe | 16:52250d8d8fce | 42 | |
madcowswe | 16:52250d8d8fce | 43 | Mail <measurmentdata, 16> measureMQ; |
madcowswe | 16:52250d8d8fce | 44 | |
madcowswe | 20:70d651156779 | 45 | Thread* predict_thread_ptr = NULL; |
madcowswe | 16:52250d8d8fce | 46 | |
madcowswe | 16:52250d8d8fce | 47 | |
madcowswe | 16:52250d8d8fce | 48 | //Note: this init function assumes that the robot faces east, theta=0, in the +x direction |
madcowswe | 16:52250d8d8fce | 49 | void KalmanInit() |
madcowswe | 16:52250d8d8fce | 50 | { |
madcowswe | 20:70d651156779 | 51 | printf("kalmaninit \r\n"); |
madcowswe | 48:254b124cef02 | 52 | |
madcowswe | 29:00e1493b44f0 | 53 | //WARNING: HARDCODED! TODO: fix it so it works for both sides! |
madcowswe | 48:254b124cef02 | 54 | |
madcowswe | 31:ada943ecaceb | 55 | printf("waiting for all sonar, and at least 1 IR\r\n"); |
madcowswe | 31:ada943ecaceb | 56 | while( ((sensorseenflags & 0x7)^0x7) || !(sensorseenflags & 0x7<<3) ); |
madcowswe | 48:254b124cef02 | 57 | |
madcowswe | 16:52250d8d8fce | 58 | //solve for our position (assume perfect bias) |
madcowswe | 20:70d651156779 | 59 | const float d = beaconpos[2].y - beaconpos[1].y; |
madcowswe | 20:70d651156779 | 60 | const float i = beaconpos[2].y - beaconpos[0].y; |
madcowswe | 20:70d651156779 | 61 | const float j = beaconpos[2].x - beaconpos[0].x; |
madcowswe | 20:70d651156779 | 62 | float r1 = RawReadings[SONAR2]; |
madcowswe | 19:4b993a9a156e | 63 | float r2 = RawReadings[SONAR1]; |
madcowswe | 20:70d651156779 | 64 | float r3 = RawReadings[SONAR0]; |
madcowswe | 48:254b124cef02 | 65 | |
madcowswe | 20:70d651156779 | 66 | printf("ranges: 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", r1, r2, r3); |
madcowswe | 17:6263e90bf3ba | 67 | |
madcowswe | 19:4b993a9a156e | 68 | float y_coor = (r1*r1-r2*r2+d*d)/(2*d); |
madcowswe | 17:6263e90bf3ba | 69 | float x_coor = (r1*r1-r3*r3+i*i+j*j)/(2*j) - (i*y_coor)/j; |
madcowswe | 48:254b124cef02 | 70 | |
madcowswe | 20:70d651156779 | 71 | //coordinate system hack (for now) |
madcowswe | 20:70d651156779 | 72 | x_coor = beaconpos[2].x - x_coor; |
madcowswe | 20:70d651156779 | 73 | y_coor = beaconpos[2].y - y_coor; |
madcowswe | 48:254b124cef02 | 74 | |
madcowswe | 20:70d651156779 | 75 | printf("solved pos from sonar: %f, %f \r\n", x_coor, y_coor); |
madcowswe | 48:254b124cef02 | 76 | |
madcowswe | 16:52250d8d8fce | 77 | //IR |
madcowswe | 16:52250d8d8fce | 78 | float IRMeasuresloc[3]; |
madcowswe | 16:52250d8d8fce | 79 | IRMeasuresloc[0] = RawReadings[IR0]; |
madcowswe | 16:52250d8d8fce | 80 | IRMeasuresloc[1] = RawReadings[IR1]; |
madcowswe | 16:52250d8d8fce | 81 | IRMeasuresloc[2] = RawReadings[IR2]; |
madcowswe | 20:70d651156779 | 82 | printf("IR 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI); |
madcowswe | 16:52250d8d8fce | 83 | |
madcowswe | 31:ada943ecaceb | 84 | float IR_Offsets[3] = {0}; |
madcowswe | 31:ada943ecaceb | 85 | float frombrefoffset = 0; |
madcowswe | 31:ada943ecaceb | 86 | int refbeacon = 0; |
madcowswe | 48:254b124cef02 | 87 | |
madcowswe | 48:254b124cef02 | 88 | for (int i = 0; i < 3; i++) { |
madcowswe | 48:254b124cef02 | 89 | if (sensorseenflags & 1<<(3+i)) { |
madcowswe | 31:ada943ecaceb | 90 | refbeacon = i; |
madcowswe | 31:ada943ecaceb | 91 | break; |
madcowswe | 31:ada943ecaceb | 92 | } |
madcowswe | 31:ada943ecaceb | 93 | } |
madcowswe | 48:254b124cef02 | 94 | |
madcowswe | 31:ada943ecaceb | 95 | printf("refbeacon is %d\r\n", refbeacon); |
madcowswe | 48:254b124cef02 | 96 | |
madcowswe | 31:ada943ecaceb | 97 | int cnt = 0; |
madcowswe | 16:52250d8d8fce | 98 | for (int i = 0; i < 3; i++) { |
madcowswe | 16:52250d8d8fce | 99 | |
madcowswe | 48:254b124cef02 | 100 | if (sensorseenflags & 1<<(3+i)) { |
madcowswe | 31:ada943ecaceb | 101 | cnt++; |
madcowswe | 48:254b124cef02 | 102 | |
madcowswe | 31:ada943ecaceb | 103 | //Compute IR offset |
madcowswe | 31:ada943ecaceb | 104 | float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); |
madcowswe | 48:254b124cef02 | 105 | |
madcowswe | 31:ada943ecaceb | 106 | //printf("Angle %d : %f \n\r",i,angle_est*180/PI ); |
madcowswe | 31:ada943ecaceb | 107 | IR_Offsets[i] = constrainAngle(IRMeasuresloc[i] - angle_est); |
madcowswe | 48:254b124cef02 | 108 | |
madcowswe | 31:ada943ecaceb | 109 | frombrefoffset += constrainAngle(IR_Offsets[i] - IR_Offsets[refbeacon]); |
madcowswe | 31:ada943ecaceb | 110 | } |
madcowswe | 16:52250d8d8fce | 111 | } |
madcowswe | 49:665bdca0f2cd | 112 | |
madcowswe | 49:665bdca0f2cd | 113 | printf("Used IR info from %d beacons\r\n", cnt); |
madcowswe | 20:70d651156779 | 114 | |
madcowswe | 48:254b124cef02 | 115 | X(3,0) = constrainAngle(IR_Offsets[refbeacon] + frombrefoffset/cnt); |
madcowswe | 16:52250d8d8fce | 116 | |
madcowswe | 16:52250d8d8fce | 117 | //debug |
madcowswe | 48:254b124cef02 | 118 | printf("Offsets IR: %0.4f\r\n",X(3,0)*180/PI); |
madcowswe | 16:52250d8d8fce | 119 | |
madcowswe | 16:52250d8d8fce | 120 | statelock.lock(); |
madcowswe | 48:254b124cef02 | 121 | X(0,0) = x_coor-TURRET_FWD_PLACEMENT; |
madcowswe | 19:4b993a9a156e | 122 | X(1,0) = y_coor; |
madcowswe | 48:254b124cef02 | 123 | X(2,0) = 0; //TODO: assume facing east, need to account for both starting pos |
madcowswe | 48:254b124cef02 | 124 | |
madcowswe | 48:254b124cef02 | 125 | P = 0.02*0.02, 0, 0, 0, |
madcowswe | 48:254b124cef02 | 126 | 0, 0.02*0.02, 0, 0, |
madcowswe | 48:254b124cef02 | 127 | 0, 0, 0.4*0.4, -0.4*0.4, |
madcowswe | 49:665bdca0f2cd | 128 | 0, 0, -0.4*0.4, 0.4*0.4 + 0.05*0.05; |
madcowswe | 48:254b124cef02 | 129 | |
madcowswe | 16:52250d8d8fce | 130 | statelock.unlock(); |
madcowswe | 48:254b124cef02 | 131 | |
madcowswe | 20:70d651156779 | 132 | Kalman_inited = 1; |
madcowswe | 16:52250d8d8fce | 133 | } |
madcowswe | 16:52250d8d8fce | 134 | |
madcowswe | 20:70d651156779 | 135 | |
madcowswe | 48:254b124cef02 | 136 | State getState() |
madcowswe | 48:254b124cef02 | 137 | { |
madcowswe | 20:70d651156779 | 138 | statelock.lock(); |
madcowswe | 20:70d651156779 | 139 | State state = {X(0,0), X(1,0), X(2,0)}; |
madcowswe | 20:70d651156779 | 140 | statelock.unlock(); |
madcowswe | 20:70d651156779 | 141 | return state; |
madcowswe | 20:70d651156779 | 142 | } |
madcowswe | 20:70d651156779 | 143 | |
madcowswe | 20:70d651156779 | 144 | |
madcowswe | 21:167dacfe0b14 | 145 | void predictloop(void const*) |
madcowswe | 16:52250d8d8fce | 146 | { |
madcowswe | 16:52250d8d8fce | 147 | |
madcowswe | 49:665bdca0f2cd | 148 | OLED4 = !Printing::registerID(0, 3) || OLED4; |
madcowswe | 49:665bdca0f2cd | 149 | OLED4 = !Printing::registerID(1, 4) || OLED4; |
madcowswe | 49:665bdca0f2cd | 150 | OLED4 = !Printing::registerID(8, 1) || OLED4; |
madcowswe | 16:52250d8d8fce | 151 | |
madcowswe | 16:52250d8d8fce | 152 | float lastleft = 0; |
madcowswe | 16:52250d8d8fce | 153 | float lastright = 0; |
madcowswe | 16:52250d8d8fce | 154 | |
madcowswe | 16:52250d8d8fce | 155 | while (1) { |
madcowswe | 16:52250d8d8fce | 156 | Thread::signal_wait(0x1); |
madcowswe | 16:52250d8d8fce | 157 | OLED1 = !OLED1; |
madcowswe | 16:52250d8d8fce | 158 | |
madcowswe | 20:70d651156779 | 159 | float leftenc = left_encoder.getTicks() * ENCODER_M_PER_TICK; |
madcowswe | 20:70d651156779 | 160 | float rightenc = right_encoder.getTicks() * ENCODER_M_PER_TICK; |
madcowswe | 16:52250d8d8fce | 161 | |
madcowswe | 20:70d651156779 | 162 | float dleft = leftenc-lastleft; |
madcowswe | 20:70d651156779 | 163 | float dright = rightenc-lastright; |
madcowswe | 16:52250d8d8fce | 164 | |
madcowswe | 16:52250d8d8fce | 165 | lastleft = leftenc; |
madcowswe | 16:52250d8d8fce | 166 | lastright = rightenc; |
madcowswe | 16:52250d8d8fce | 167 | |
madcowswe | 16:52250d8d8fce | 168 | |
madcowswe | 16:52250d8d8fce | 169 | //The below calculation are in body frame (where +x is forward) |
madcowswe | 16:52250d8d8fce | 170 | float dxp, dyp,d,r; |
madcowswe | 20:70d651156779 | 171 | float thetap = (dright - dleft) / ENCODER_WHEELBASE; |
madcowswe | 20:70d651156779 | 172 | if (abs(thetap) < 0.01f) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error |
madcowswe | 16:52250d8d8fce | 173 | d = (dright + dleft)/2.0f; |
madcowswe | 16:52250d8d8fce | 174 | dxp = d*cos(thetap/2.0f); |
madcowswe | 16:52250d8d8fce | 175 | dyp = d*sin(thetap/2.0f); |
madcowswe | 16:52250d8d8fce | 176 | |
madcowswe | 16:52250d8d8fce | 177 | } else { //calculate circle arc |
madcowswe | 16:52250d8d8fce | 178 | //float r = (right + left) / (4.0f * PI * thetap); |
madcowswe | 16:52250d8d8fce | 179 | r = (dright + dleft) / (2.0f*thetap); |
madcowswe | 20:70d651156779 | 180 | dxp = r*sin(thetap); |
madcowswe | 16:52250d8d8fce | 181 | dyp = r - r*cos(thetap); |
madcowswe | 16:52250d8d8fce | 182 | } |
madcowswe | 16:52250d8d8fce | 183 | |
madcowswe | 16:52250d8d8fce | 184 | statelock.lock(); |
madcowswe | 16:52250d8d8fce | 185 | |
madcowswe | 20:70d651156779 | 186 | float tempX2 = X(2,0); |
madcowswe | 16:52250d8d8fce | 187 | //rotating to cartesian frame and updating state |
madcowswe | 20:70d651156779 | 188 | X(0,0) += dxp * cos(X(2,0)) - dyp * sin(X(2,0)); |
madcowswe | 20:70d651156779 | 189 | X(1,0) += dxp * sin(X(2,0)) + dyp * cos(X(2,0)); |
madcowswe | 20:70d651156779 | 190 | X(2,0) = constrainAngle(X(2,0) + thetap); |
madcowswe | 48:254b124cef02 | 191 | //X(3,0) += 0; |
madcowswe | 16:52250d8d8fce | 192 | |
madcowswe | 16:52250d8d8fce | 193 | //Linearising F around X |
madcowswe | 48:254b124cef02 | 194 | Matrix<float, 4, 4> F; |
madcowswe | 48:254b124cef02 | 195 | F = 1, 0, (dxp * -sin(tempX2) - dyp * cos(tempX2)), 0, |
madcowswe | 48:254b124cef02 | 196 | 0, 1, (dxp * cos(tempX2) - dyp * sin(tempX2)), 0, |
madcowswe | 48:254b124cef02 | 197 | 0, 0, 1, 0, |
madcowswe | 48:254b124cef02 | 198 | 0, 0, 0, 1; |
madcowswe | 16:52250d8d8fce | 199 | |
madcowswe | 16:52250d8d8fce | 200 | //Generating forward and rotational variance |
madcowswe | 16:52250d8d8fce | 201 | float varfwd = fwdvarperunit * abs(dright + dleft) / 2.0f; |
madcowswe | 16:52250d8d8fce | 202 | float varang = varperang * abs(thetap); |
madcowswe | 20:70d651156779 | 203 | float varxydt = xyvarpertime * KALMAN_PREDICT_PERIOD; |
madcowswe | 20:70d651156779 | 204 | float varangdt = angvarpertime * KALMAN_PREDICT_PERIOD; |
madcowswe | 16:52250d8d8fce | 205 | |
madcowswe | 16:52250d8d8fce | 206 | //Rotating into cartesian frame |
madcowswe | 16:52250d8d8fce | 207 | Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; |
madcowswe | 16:52250d8d8fce | 208 | Qsub = varfwd + varxydt, 0, |
madcowswe | 16:52250d8d8fce | 209 | 0, varxydt; |
madcowswe | 16:52250d8d8fce | 210 | |
madcowswe | 20:70d651156779 | 211 | Qrot = Rotmatrix(X(2,0)); |
madcowswe | 16:52250d8d8fce | 212 | |
madcowswe | 16:52250d8d8fce | 213 | Qsubrot = Qrot * Qsub * trans(Qrot); |
madcowswe | 16:52250d8d8fce | 214 | |
madcowswe | 16:52250d8d8fce | 215 | //Generate Q |
madcowswe | 48:254b124cef02 | 216 | Matrix<float, 4, 4> Q;//(Qsubrot); |
madcowswe | 48:254b124cef02 | 217 | Q = Qsubrot(0,0), Qsubrot(0,1), 0, 0, |
madcowswe | 48:254b124cef02 | 218 | Qsubrot(1,0), Qsubrot(1,1), 0, 0, |
madcowswe | 48:254b124cef02 | 219 | 0, 0, varang + varangdt, 0, |
madcowswe | 48:254b124cef02 | 220 | 0, 0, 0, 0; |
madcowswe | 16:52250d8d8fce | 221 | |
madcowswe | 16:52250d8d8fce | 222 | P = F * P * trans(F) + Q; |
madcowswe | 16:52250d8d8fce | 223 | |
madcowswe | 20:70d651156779 | 224 | //printf("x: %f, y: %f, t: %f\r\n", X(0,0), X(1,0), X(2,0)); |
madcowswe | 21:167dacfe0b14 | 225 | //Update Printing |
madcowswe | 21:167dacfe0b14 | 226 | float statecpy[] = {X(0,0), X(1,0), X(2,0)}; |
madcowswe | 21:167dacfe0b14 | 227 | Printing::updateval(0, statecpy, 3); |
madcowswe | 49:665bdca0f2cd | 228 | |
madcowswe | 49:665bdca0f2cd | 229 | Printing::updateval(8, X(3,0)); |
madcowswe | 16:52250d8d8fce | 230 | |
madcowswe | 21:167dacfe0b14 | 231 | float Pcpy[] = {P(0,0), P(0,1), P(1,0), P(1,1)}; |
madcowswe | 21:167dacfe0b14 | 232 | Printing::updateval(1, Pcpy, 4); |
madcowswe | 16:52250d8d8fce | 233 | |
madcowswe | 16:52250d8d8fce | 234 | statelock.unlock(); |
madcowswe | 16:52250d8d8fce | 235 | } |
madcowswe | 16:52250d8d8fce | 236 | } |
madcowswe | 16:52250d8d8fce | 237 | |
madcowswe | 20:70d651156779 | 238 | |
madcowswe | 48:254b124cef02 | 239 | void predict_event_setter() |
madcowswe | 48:254b124cef02 | 240 | { |
madcowswe | 20:70d651156779 | 241 | if(predict_thread_ptr) |
madcowswe | 20:70d651156779 | 242 | predict_thread_ptr->signal_set(0x1); |
madcowswe | 20:70d651156779 | 243 | else |
madcowswe | 20:70d651156779 | 244 | OLED4 = 1; |
madcowswe | 20:70d651156779 | 245 | } |
madcowswe | 20:70d651156779 | 246 | |
madcowswe | 48:254b124cef02 | 247 | void start_predict_ticker(Thread* predict_thread_ptr_in) |
madcowswe | 48:254b124cef02 | 248 | { |
madcowswe | 20:70d651156779 | 249 | predict_thread_ptr = predict_thread_ptr_in; |
madcowswe | 20:70d651156779 | 250 | predictticker.attach(predict_event_setter, KALMAN_PREDICT_PERIOD); |
madcowswe | 20:70d651156779 | 251 | } |
madcowswe | 20:70d651156779 | 252 | |
madcowswe | 20:70d651156779 | 253 | void runupdate(measurement_t type, float value, float variance) |
madcowswe | 16:52250d8d8fce | 254 | { |
madcowswe | 31:ada943ecaceb | 255 | sensorseenflags |= 1<<type; |
madcowswe | 49:665bdca0f2cd | 256 | RawReadings[type] = value; |
madcowswe | 31:ada943ecaceb | 257 | |
madcowswe | 48:254b124cef02 | 258 | if (Kalman_inited) { |
madcowswe | 16:52250d8d8fce | 259 | measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); |
madcowswe | 16:52250d8d8fce | 260 | if (measured) { |
madcowswe | 16:52250d8d8fce | 261 | measured->mtype = type; |
madcowswe | 31:ada943ecaceb | 262 | measured->value = RawReadings[type]; |
madcowswe | 16:52250d8d8fce | 263 | measured->variance = variance; |
madcowswe | 16:52250d8d8fce | 264 | |
madcowswe | 16:52250d8d8fce | 265 | osStatus putret = measureMQ.put(measured); |
madcowswe | 20:70d651156779 | 266 | //if (putret) |
madcowswe | 48:254b124cef02 | 267 | //OLED4 = 1; |
madcowswe | 16:52250d8d8fce | 268 | // printf("putting in MQ error code %#x\r\n", putret); |
madcowswe | 16:52250d8d8fce | 269 | } else { |
madcowswe | 20:70d651156779 | 270 | //OLED4 = 1; |
madcowswe | 16:52250d8d8fce | 271 | //printf("MQalloc returned NULL ptr\r\n"); |
madcowswe | 16:52250d8d8fce | 272 | } |
madcowswe | 48:254b124cef02 | 273 | |
madcowswe | 16:52250d8d8fce | 274 | } |
madcowswe | 48:254b124cef02 | 275 | |
madcowswe | 16:52250d8d8fce | 276 | |
madcowswe | 16:52250d8d8fce | 277 | } |
madcowswe | 26:7cb3a21d9a2e | 278 | |
madcowswe | 21:167dacfe0b14 | 279 | void Kalman::updateloop(void const*) |
madcowswe | 16:52250d8d8fce | 280 | { |
madcowswe | 16:52250d8d8fce | 281 | |
madcowswe | 16:52250d8d8fce | 282 | //sonar Y chanels |
madcowswe | 26:7cb3a21d9a2e | 283 | OLED4 = !Printing::registerID(2, 1); |
madcowswe | 26:7cb3a21d9a2e | 284 | OLED4 = !Printing::registerID(3, 1); |
madcowswe | 26:7cb3a21d9a2e | 285 | OLED4 = !Printing::registerID(4, 1); |
madcowswe | 16:52250d8d8fce | 286 | |
madcowswe | 16:52250d8d8fce | 287 | //IR Y chanels |
madcowswe | 26:7cb3a21d9a2e | 288 | OLED4 = !Printing::registerID(5, 1); |
madcowswe | 26:7cb3a21d9a2e | 289 | OLED4 = !Printing::registerID(6, 1); |
madcowswe | 26:7cb3a21d9a2e | 290 | OLED4 = !Printing::registerID(7, 1); |
madcowswe | 16:52250d8d8fce | 291 | |
madcowswe | 16:52250d8d8fce | 292 | bool aborton2stddev = false; |
madcowswe | 16:52250d8d8fce | 293 | |
madcowswe | 48:254b124cef02 | 294 | Matrix<float, 1, 4> H; |
madcowswe | 16:52250d8d8fce | 295 | |
madcowswe | 26:7cb3a21d9a2e | 296 | float Y,S; |
madcowswe | 48:254b124cef02 | 297 | const Matrix<float, 4, 4> I4( identity< Matrix<float, 4, 4> >() ); |
madcowswe | 16:52250d8d8fce | 298 | |
madcowswe | 16:52250d8d8fce | 299 | |
madcowswe | 16:52250d8d8fce | 300 | while (1) { |
madcowswe | 16:52250d8d8fce | 301 | OLED2 = !OLED2; |
madcowswe | 16:52250d8d8fce | 302 | |
madcowswe | 16:52250d8d8fce | 303 | osEvent evt = measureMQ.get(); |
madcowswe | 16:52250d8d8fce | 304 | |
madcowswe | 16:52250d8d8fce | 305 | if (evt.status == osEventMail) { |
madcowswe | 16:52250d8d8fce | 306 | |
madcowswe | 16:52250d8d8fce | 307 | measurmentdata &measured = *(measurmentdata*)evt.value.p; |
madcowswe | 26:7cb3a21d9a2e | 308 | measurement_t type = measured.mtype; //Note, may support more measurment types than sonar in the future! |
madcowswe | 26:7cb3a21d9a2e | 309 | float value = measured.value; |
madcowswe | 26:7cb3a21d9a2e | 310 | float variance = measured.variance; |
madcowswe | 16:52250d8d8fce | 311 | |
madcowswe | 16:52250d8d8fce | 312 | // don't forget to free the memory |
madcowswe | 16:52250d8d8fce | 313 | measureMQ.free(&measured); |
madcowswe | 16:52250d8d8fce | 314 | |
madcowswe | 16:52250d8d8fce | 315 | if (type <= maxmeasure) { |
madcowswe | 16:52250d8d8fce | 316 | |
madcowswe | 26:7cb3a21d9a2e | 317 | if (type <= SONAR2) { |
madcowswe | 16:52250d8d8fce | 318 | |
madcowswe | 26:7cb3a21d9a2e | 319 | float dist = value; |
madcowswe | 16:52250d8d8fce | 320 | int sonarid = type; |
madcowswe | 16:52250d8d8fce | 321 | aborton2stddev = true; |
madcowswe | 16:52250d8d8fce | 322 | |
madcowswe | 16:52250d8d8fce | 323 | statelock.lock(); |
madcowswe | 48:254b124cef02 | 324 | |
madcowswe | 26:7cb3a21d9a2e | 325 | float fp_ct = TURRET_FWD_PLACEMENT*cos(X(2,0)); |
madcowswe | 26:7cb3a21d9a2e | 326 | float fp_st = TURRET_FWD_PLACEMENT*sin(X(2,0)); |
madcowswe | 48:254b124cef02 | 327 | |
madcowswe | 26:7cb3a21d9a2e | 328 | float rbx = X(0,0) + fp_ct - beaconpos[sonarid].x; |
madcowswe | 26:7cb3a21d9a2e | 329 | float rby = X(1,0) + fp_st - beaconpos[sonarid].y; |
madcowswe | 48:254b124cef02 | 330 | |
madcowswe | 26:7cb3a21d9a2e | 331 | float expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); |
madcowswe | 16:52250d8d8fce | 332 | Y = dist - expecdist; |
madcowswe | 16:52250d8d8fce | 333 | |
madcowswe | 16:52250d8d8fce | 334 | //send to ui |
madcowswe | 26:7cb3a21d9a2e | 335 | Printing::updateval(sonarid+2, Y); |
madcowswe | 16:52250d8d8fce | 336 | |
madcowswe | 26:7cb3a21d9a2e | 337 | float r_expecdist = 1.0f/expecdist; |
madcowswe | 16:52250d8d8fce | 338 | |
madcowswe | 26:7cb3a21d9a2e | 339 | float dhdx = rbx * r_expecdist; |
madcowswe | 26:7cb3a21d9a2e | 340 | float dhdy = rby * r_expecdist; |
madcowswe | 27:664e81033846 | 341 | float dhdt = fp_ct*dhdy - fp_st*dhdx; |
madcowswe | 16:52250d8d8fce | 342 | |
madcowswe | 48:254b124cef02 | 343 | H = dhdx, dhdy, dhdt, 0; |
madcowswe | 16:52250d8d8fce | 344 | |
madcowswe | 26:7cb3a21d9a2e | 345 | } else if (type <= IR2) { |
madcowswe | 26:7cb3a21d9a2e | 346 | |
madcowswe | 26:7cb3a21d9a2e | 347 | aborton2stddev = true; |
madcowswe | 16:52250d8d8fce | 348 | int IRidx = type-3; |
madcowswe | 16:52250d8d8fce | 349 | |
madcowswe | 26:7cb3a21d9a2e | 350 | statelock.lock(); |
madcowswe | 48:254b124cef02 | 351 | |
madcowswe | 26:7cb3a21d9a2e | 352 | float fp_ct = TURRET_FWD_PLACEMENT*cos(X(2,0)); |
madcowswe | 26:7cb3a21d9a2e | 353 | float fp_st = TURRET_FWD_PLACEMENT*sin(X(2,0)); |
madcowswe | 16:52250d8d8fce | 354 | |
madcowswe | 26:7cb3a21d9a2e | 355 | float brx = beaconpos[IRidx].x - (X(0,0) + fp_ct); |
madcowswe | 26:7cb3a21d9a2e | 356 | float bry = beaconpos[IRidx].y - (X(1,0) + fp_st); |
madcowswe | 16:52250d8d8fce | 357 | |
madcowswe | 48:254b124cef02 | 358 | float expecang = atan2(bry, brx) - X(2,0) + X(3,0); //constrainAngle can be called late |
madcowswe | 26:7cb3a21d9a2e | 359 | Y = constrainAngle(value - expecang); |
madcowswe | 16:52250d8d8fce | 360 | |
madcowswe | 16:52250d8d8fce | 361 | //send to ui |
madcowswe | 26:7cb3a21d9a2e | 362 | Printing::updateval(IRidx + 5, Y); |
madcowswe | 16:52250d8d8fce | 363 | |
madcowswe | 26:7cb3a21d9a2e | 364 | float r_dstsq = 1.0f/(brx*brx + bry*bry); |
madcowswe | 26:7cb3a21d9a2e | 365 | float dhdx = -bry*r_dstsq; |
madcowswe | 26:7cb3a21d9a2e | 366 | float dhdy = brx*r_dstsq; |
madcowswe | 26:7cb3a21d9a2e | 367 | float dhdt = fp_ct*dhdy - fp_st*dhdx - 1.0f; |
madcowswe | 48:254b124cef02 | 368 | float dhdp = 1; |
madcowswe | 48:254b124cef02 | 369 | H = dhdx, dhdy, dhdt, dhdp; |
madcowswe | 16:52250d8d8fce | 370 | } |
madcowswe | 16:52250d8d8fce | 371 | |
madcowswe | 48:254b124cef02 | 372 | Matrix<float, 4, 1> PHt (P * trans(H)); |
madcowswe | 49:665bdca0f2cd | 373 | S = (H * PHt)(0,0) + variance*10; //TODO: Temp Hack! |
madcowswe | 16:52250d8d8fce | 374 | |
madcowswe | 48:254b124cef02 | 375 | OLED3 = 0; |
madcowswe | 16:52250d8d8fce | 376 | if (aborton2stddev && Y*Y > 4 * S) { |
madcowswe | 48:254b124cef02 | 377 | OLED3 = 1; |
madcowswe | 16:52250d8d8fce | 378 | statelock.unlock(); |
madcowswe | 16:52250d8d8fce | 379 | continue; |
madcowswe | 16:52250d8d8fce | 380 | } |
madcowswe | 16:52250d8d8fce | 381 | |
madcowswe | 48:254b124cef02 | 382 | Matrix<float, 4, 1> K (PHt * (1/S)); |
madcowswe | 16:52250d8d8fce | 383 | |
madcowswe | 16:52250d8d8fce | 384 | //Updating state |
madcowswe | 26:7cb3a21d9a2e | 385 | X += K * Y; |
madcowswe | 26:7cb3a21d9a2e | 386 | X(2,0) = constrainAngle(X(2,0)); |
madcowswe | 48:254b124cef02 | 387 | X(3,0) = constrainAngle(X(3,0)); |
madcowswe | 16:52250d8d8fce | 388 | |
madcowswe | 48:254b124cef02 | 389 | P = (I4 - K * H) * P; |
madcowswe | 16:52250d8d8fce | 390 | |
madcowswe | 16:52250d8d8fce | 391 | statelock.unlock(); |
madcowswe | 16:52250d8d8fce | 392 | |
madcowswe | 16:52250d8d8fce | 393 | } |
madcowswe | 16:52250d8d8fce | 394 | |
madcowswe | 16:52250d8d8fce | 395 | } else { |
madcowswe | 16:52250d8d8fce | 396 | OLED4 = 1; |
madcowswe | 16:52250d8d8fce | 397 | //printf("ERROR: in updateloop, code %#x", evt); |
madcowswe | 16:52250d8d8fce | 398 | } |
madcowswe | 16:52250d8d8fce | 399 | |
madcowswe | 16:52250d8d8fce | 400 | } |
madcowswe | 16:52250d8d8fce | 401 | |
madcowswe | 16:52250d8d8fce | 402 | } |
madcowswe | 16:52250d8d8fce | 403 | |
madcowswe | 19:4b993a9a156e | 404 | |
madcowswe | 16:52250d8d8fce | 405 | } //Kalman Namespace |