mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-21 21:55:34 +08:00
Merge pull request #876 from PX4/autodeclination
Added automatic declination lookup
This commit is contained in:
Lorenz Meier
@@ -1,2 +1,4 @@
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./obj/*
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mixer_test
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sbus2_test
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autodeclination_test
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+26
-34
@@ -1,47 +1,39 @@
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CC=g++
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CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
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CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
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-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
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ODIR=obj
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LDIR =../lib
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all: mixer_test sbus2_test autodeclination_test
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LIBS=-lm
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MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
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../../src/systemcmds/tests/test_conv.cpp \
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../../src/modules/systemlib/mixer/mixer_simple.cpp \
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../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
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../../src/modules/systemlib/mixer/mixer.cpp \
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../../src/modules/systemlib/mixer/mixer_group.cpp \
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../../src/modules/systemlib/mixer/mixer_load.c \
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../../src/modules/systemlib/pwm_limit/pwm_limit.c \
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hrt.cpp \
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mixer_test.cpp
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#_DEPS = test.h
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#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
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SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
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hrt.cpp \
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sbus2_test.cpp
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_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
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mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
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OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
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AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
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hrt.cpp \
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autodeclination_test.cpp
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#$(DEPS)
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$(ODIR)/%.o: %.cpp
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mkdir -p obj
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$(CC) -c -o $@ $< $(CFLAGS)
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mixer_test: $(MIXER_FILES)
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$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
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$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
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$(CC) -c -o $@ $< $(CFLAGS)
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sbus2_test: $(SBUS2_FILES)
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$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
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$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
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$(CC) -c -o $@ $< $(CFLAGS)
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$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
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$(CC) -c -o $@ $< $(CFLAGS)
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$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
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$(CC) -c -o $@ $< $(CFLAGS)
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$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
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$(CC) -c -o $@ $< $(CFLAGS)
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$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
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$(CC) -c -o $@ $< $(CFLAGS)
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#
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mixer_test: $(OBJ)
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g++ -o $@ $^ $(CFLAGS) $(LIBS)
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autodeclination_test: $(SBUS2_FILES)
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$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
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.PHONY: clean
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clean:
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rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
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rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
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@@ -0,0 +1,28 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <px4iofirmware/px4io.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include <geo/geo.h>
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int main(int argc, char *argv[]) {
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warnx("autodeclination test started");
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if (argc < 3)
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errx(1, "Need lat/lon!");
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char* p_end;
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float lat = strtod(argv[1], &p_end);
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float lon = strtod(argv[2], &p_end);
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float declination = get_mag_declination(lat, lon);
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printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
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}
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@@ -0,0 +1,5 @@
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#pragma once
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#include <systemlib/err.h>
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#define lowsyslog warnx
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@@ -11,4 +11,4 @@ int main(int argc, char *argv[]) {
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test_mixer(3, args);
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test_conv(1, args);
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}
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}
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Executable
+6
@@ -0,0 +1,6 @@
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#!/bin/sh
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make clean
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make all
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./mixer_test
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./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt
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@@ -0,0 +1,75 @@
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <px4iofirmware/px4io.h>
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#include "../../src/systemcmds/tests/tests.h"
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int main(int argc, char *argv[]) {
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warnx("SBUS2 test started");
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if (argc < 2)
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errx(1, "Need a filename for the input file");
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warnx("loading data from: %s", argv[1]);
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FILE *fp;
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fp = fopen(argv[1],"rt");
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if (!fp)
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errx(1, "failed opening file");
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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(void)fscanf(fp, "%f,%x,,", &f, &x);
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}
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// Init the parser
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uint8_t frame[30];
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unsigned partial_frame_count = 0;
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uint16_t rc_values[18];
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uint16_t num_values;
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bool sbus_failsafe;
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bool sbus_frame_drop;
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uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
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float last_time = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (((f - last_time) * 1000 * 1000) > 3000) {
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partial_frame_count = 0;
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warnx("FRAME RESET\n\n");
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}
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frame[partial_frame_count] = x;
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partial_frame_count++;
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//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
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if (partial_frame_count == sizeof(frame))
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partial_frame_count = 0;
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last_time = f;
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// Pipe the data into the parser
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hrt_abstime now = hrt_absolute_time();
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//if (partial_frame_count % 25 == 0)
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//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
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}
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if (ret == EOF) {
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warnx("Test finished, reached end of file");
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} else {
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warnx("Test aborted, errno: %d", ret);
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}
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}
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@@ -41,6 +41,7 @@
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#include <sys/types.h>
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#include <stdbool.h>
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#include <inttypes.h>
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#include <time.h>
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#include <queue.h>
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@@ -50,6 +50,8 @@
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__BEGIN_DECLS
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#include "geo/geo_mag_declination.h"
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#include <stdbool.h>
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#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
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@@ -0,0 +1,136 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name MAVGEO nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file geo_mag_declination.c
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*
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* Calculation / lookup table for earth magnetic field declination.
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*
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* Lookup table from Scott Ferguson <scottfromscott@gmail.com>
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*
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* XXX Lookup table currently too coarse in resolution (only full degrees)
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* and lat/lon res - needs extension medium term.
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*
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*/
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#include <geo/geo.h>
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/** set this always to the sampling in degrees for the table below */
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#define SAMPLING_RES 10.0f
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#define SAMPLING_MIN_LAT -60.0f
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#define SAMPLING_MAX_LAT 60.0f
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#define SAMPLING_MIN_LON -180.0f
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#define SAMPLING_MAX_LON 180.0f
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static const int8_t declination_table[13][37] = \
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{
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46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
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-66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
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-3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
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29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
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-40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
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8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
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10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
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-10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
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-14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
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9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
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7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
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0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
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0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
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0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
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-16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
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12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
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0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
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13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
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};
|
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|
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static float get_lookup_table_val(unsigned lat, unsigned lon);
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|
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__EXPORT float get_mag_declination(float lat, float lon)
|
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{
|
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/*
|
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* If the values exceed valid ranges, return zero as default
|
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* as we have no way of knowing what the closest real value
|
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* would be.
|
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*/
|
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if (lat < -90.0f || lat > 90.0f ||
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lon < -180.0f || lon > 180.0f) {
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return 0.0f;
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}
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/* round down to nearest sampling resolution */
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int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES;
|
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int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES;
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|
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/* for the rare case of hitting the bounds exactly
|
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* the rounding logic wouldn't fit, so enforce it.
|
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*/
|
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|
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/* limit to table bounds - required for maxima even when table spans full globe range */
|
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if (lat <= SAMPLING_MIN_LAT) {
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min_lat = SAMPLING_MIN_LAT;
|
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}
|
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|
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if (lat >= SAMPLING_MAX_LAT) {
|
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min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
|
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}
|
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|
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if (lon <= SAMPLING_MIN_LON) {
|
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min_lon = SAMPLING_MIN_LON;
|
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}
|
||||
|
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if (lon >= SAMPLING_MAX_LON) {
|
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min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
|
||||
}
|
||||
|
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/* find index of nearest low sampling point */
|
||||
unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES;
|
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unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES;
|
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|
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float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index);
|
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float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1);
|
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float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1);
|
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float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index);
|
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|
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/* perform bilinear interpolation on the four grid corners */
|
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|
||||
float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw;
|
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float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw;
|
||||
|
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return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min;
|
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}
|
||||
|
||||
float get_lookup_table_val(unsigned lat_index, unsigned lon_index)
|
||||
{
|
||||
return declination_table[lat_index][lon_index];
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name MAVGEO nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file geo_mag_declination.h
|
||||
*
|
||||
* Calculation / lookup table for earth magnetic field declination.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT float get_mag_declination(float lat, float lon);
|
||||
|
||||
__END_DECLS
|
||||
@@ -35,4 +35,5 @@
|
||||
# Geo library
|
||||
#
|
||||
|
||||
SRCS = geo.c
|
||||
SRCS = geo.c \
|
||||
geo_mag_declination.c
|
||||
|
||||
@@ -41,6 +41,7 @@
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <ctype.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include "mixer_load.h"
|
||||
|
||||
|
||||
Reference in New Issue
Block a user