Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
SystemState.h@3:42f3821c4e54, 2013-06-07 (annotated)
- Committer:
- shimniok
- Date:
- Fri Jun 07 14:45:46 2013 +0000
- Revision:
- 3:42f3821c4e54
- Parent:
- 1:cb84b477886c
- Child:
- 16:4c4b75824efc
Working version 6/6/2013. Heading estimation may not be quite perfect yet but seems the major estimation bugs are fixed now.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | #ifndef _SYSTEMSTATE_H |
shimniok | 0:a6a169de725f | 2 | #define _SYSTEMSTATE_H |
shimniok | 0:a6a169de725f | 3 | |
shimniok | 1:cb84b477886c | 4 | #define SSBUF 0x3F // 0b0000 0011 1111 1111 |
shimniok | 0:a6a169de725f | 5 | |
shimniok | 0:a6a169de725f | 6 | /** System State is the main mechanism for communicating current realtime system state to |
shimniok | 0:a6a169de725f | 7 | * the rest of the system for logging, data display, etc. |
shimniok | 0:a6a169de725f | 8 | */ |
shimniok | 0:a6a169de725f | 9 | |
shimniok | 0:a6a169de725f | 10 | /* struct systemState |
shimniok | 0:a6a169de725f | 11 | * structure containing system sensor data |
shimniok | 0:a6a169de725f | 12 | ****** System Status |
shimniok | 0:a6a169de725f | 13 | * millis number of milliseconds since epoch (or startup) |
shimniok | 0:a6a169de725f | 14 | * current current draw in amps |
shimniok | 0:a6a169de725f | 15 | * voltage voltage in volts |
shimniok | 0:a6a169de725f | 16 | ****** Data reported by IMU |
shimniok | 0:a6a169de725f | 17 | * g[3] raw 3-axis gyro values; if using 1-axis, then store data in gx |
shimniok | 0:a6a169de725f | 18 | * gTemp Gyro temperature |
shimniok | 0:a6a169de725f | 19 | * a[3] raw 3-axis accelerometer values |
shimniok | 0:a6a169de725f | 20 | * m[3] raw 3-axis magnetometer values; if using 2d then store data in mx and my |
shimniok | 0:a6a169de725f | 21 | * gHeading independently calculated gyro heading in degrees |
shimniok | 0:a6a169de725f | 22 | * cHeading independently calculated compass heading in degrees |
shimniok | 0:a6a169de725f | 23 | ****** AHRS Estimates |
shimniok | 0:a6a169de725f | 24 | * roll, pitch, yaw estimated attitude in degrees relative to the world frame |
shimniok | 0:a6a169de725f | 25 | ****** Data reported by GPS |
shimniok | 0:a6a169de725f | 26 | * gpsLatitude raw GPS latitude in fractional degrees (e.g., 39.123456) |
shimniok | 0:a6a169de725f | 27 | * gpsLongitude raw GPS longitude in fractional degrees (e.g., -104.123456 |
shimniok | 0:a6a169de725f | 28 | * gpsCourse_deg raw GPS course in degrees |
shimniok | 0:a6a169de725f | 29 | * gpsSpeed_mps raw GPS speed in m/s |
shimniok | 0:a6a169de725f | 30 | * gpsHDOP raw GPS Horizontal Dilution of Precision |
shimniok | 0:a6a169de725f | 31 | * gpsSats raw GPS Satellite fix count |
shimniok | 0:a6a169de725f | 32 | ****** Odometry data |
shimniok | 0:a6a169de725f | 33 | * lrEncDistance left rear encoder distance since last log update |
shimniok | 0:a6a169de725f | 34 | * rrEncDistance right rear encoder distance since last log update |
shimniok | 0:a6a169de725f | 35 | * lrEncSpeed left rear encoder speed |
shimniok | 0:a6a169de725f | 36 | * rrEncSpeed right rear encoder speed |
shimniok | 0:a6a169de725f | 37 | * encHeading estimated heading based on encoder readings |
shimniok | 0:a6a169de725f | 38 | ****** Estimated Position and Heading |
shimniok | 1:cb84b477886c | 39 | * estLagHeading estimated heading in degrees, lagged to sync with gps |
shimniok | 1:cb84b477886c | 40 | * estHeading estimated current heading |
shimniok | 0:a6a169de725f | 41 | * estLatitude estimated latitude in fractional degrees (e.g., 39.123456) |
shimniok | 0:a6a169de725f | 42 | * estLongitude estimated longitude in fractional degrees (e.g., -104.123456) |
shimniok | 0:a6a169de725f | 43 | * estNorthing some algorithms use UTM. Estimated UTM northing |
shimniok | 0:a6a169de725f | 44 | * estEasting estimated UTM easting |
shimniok | 0:a6a169de725f | 45 | * estX, estY some algorithms use simple x, y distance from origin (meters) |
shimniok | 0:a6a169de725f | 46 | ****** Waypoint data |
shimniok | 0:a6a169de725f | 47 | * nextWaypoint integer ID of the next waypoint |
shimniok | 0:a6a169de725f | 48 | * bearing estimated bearing to next waypoint in degrees |
shimniok | 0:a6a169de725f | 49 | * distance estimated distance to next waypoint in meters |
shimniok | 0:a6a169de725f | 50 | ****** Control data |
shimniok | 0:a6a169de725f | 51 | * throttle raw servo setting(units?) |
shimniok | 0:a6a169de725f | 52 | * steering raw servo setting(units?) |
shimniok | 0:a6a169de725f | 53 | */ |
shimniok | 0:a6a169de725f | 54 | typedef struct { |
shimniok | 0:a6a169de725f | 55 | unsigned int millis; |
shimniok | 0:a6a169de725f | 56 | float current, voltage; |
shimniok | 0:a6a169de725f | 57 | int g[3]; |
shimniok | 3:42f3821c4e54 | 58 | float gyro[3]; |
shimniok | 0:a6a169de725f | 59 | int gTemp; |
shimniok | 0:a6a169de725f | 60 | int a[3]; |
shimniok | 0:a6a169de725f | 61 | int m[3]; |
shimniok | 0:a6a169de725f | 62 | float gHeading; |
shimniok | 0:a6a169de725f | 63 | float cHeading; |
shimniok | 0:a6a169de725f | 64 | //float roll, pitch, yaw; |
shimniok | 0:a6a169de725f | 65 | double gpsLatitude; |
shimniok | 0:a6a169de725f | 66 | double gpsLongitude; |
shimniok | 0:a6a169de725f | 67 | float gpsCourse_deg; |
shimniok | 0:a6a169de725f | 68 | float gpsSpeed_mps; |
shimniok | 0:a6a169de725f | 69 | float gpsHDOP; |
shimniok | 0:a6a169de725f | 70 | int gpsSats; |
shimniok | 0:a6a169de725f | 71 | float lrEncDistance, rrEncDistance; |
shimniok | 0:a6a169de725f | 72 | float lrEncSpeed, rrEncSpeed; |
shimniok | 0:a6a169de725f | 73 | float encHeading; |
shimniok | 0:a6a169de725f | 74 | float estHeading; |
shimniok | 1:cb84b477886c | 75 | float estLagHeading; |
shimniok | 0:a6a169de725f | 76 | double estLatitude, estLongitude; |
shimniok | 0:a6a169de725f | 77 | //double estNorthing, estEasting; |
shimniok | 0:a6a169de725f | 78 | float estX, estY; |
shimniok | 0:a6a169de725f | 79 | unsigned short nextWaypoint; |
shimniok | 0:a6a169de725f | 80 | float bearing; |
shimniok | 0:a6a169de725f | 81 | float distance; |
shimniok | 0:a6a169de725f | 82 | float gbias; |
shimniok | 3:42f3821c4e54 | 83 | float errHeading; |
shimniok | 1:cb84b477886c | 84 | float steerAngle; |
shimniok | 0:a6a169de725f | 85 | } SystemState; |
shimniok | 0:a6a169de725f | 86 | |
shimniok | 0:a6a169de725f | 87 | #endif |