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Updated EKF filter, fixed uploader (reverted to master)

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This commit is contained in:
Lorenz Meier
2012-10-02 09:23:47 +02:00
parent d3e7b5e0bf
commit 9de6a81543
31 changed files with 1112 additions and 1374 deletions
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Tools/px_uploader.py
+14 -3
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@@ -263,8 +263,8 @@ class uploader(object):
print("program...") print("program...")
self.__program(fw) self.__program(fw)
#print("verify...") print("verify...")
#self.__verify(fw) self.__verify(fw)
print("done, rebooting.") print("done, rebooting.")
self.__reboot() self.__reboot()
@@ -290,7 +290,18 @@ while True:
# create an uploader attached to the port # create an uploader attached to the port
try: try:
up = uploader("\\\\.\\COM2", args.baud) if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
if not "COM" in port and not "tty.usb" in port:
up = uploader(port, args.baud)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if not "COM" in port and not "ACM" in port:
up = uploader(port, args.baud)
elif "win" in _platform:
# Windows, don't open POSIX ports
if not "/" in port:
up = uploader(port, args.baud)
except: except:
# open failed, rate-limit our attempts # open failed, rate-limit our attempts
time.sleep(0.05) time.sleep(0.05)
apps/attitude_estimator_ekf/Makefile
+2 -2
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@@ -45,9 +45,9 @@ CSRCS = attitude_estimator_ekf_main.c \
codegen/rtGetInf.c \ codegen/rtGetInf.c \
codegen/rtGetNaN.c \ codegen/rtGetNaN.c \
codegen/norm.c \ codegen/norm.c \
codegen/find.c \
codegen/diag.c \ codegen/diag.c \
codegen/cross.c codegen/cross.c \
codegen/power.c
# XXX this is *horribly* broken # XXX this is *horribly* broken
INCLUDES += $(TOPDIR)/../mavlink/include/mavlink INCLUDES += $(TOPDIR)/../mavlink/include/mavlink
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+77 -58
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@@ -75,38 +75,45 @@ __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static unsigned int loop_interval_alarm = 6500; // loop interval in microseconds static unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
static float dt = 1; static float dt = 1.0f;
/* 0, 0, -9.81, 1, 1, 1, wo (gyro offset), w */ /* 0, 0, -9.81, 1, 1, 1, wo (gyro offset), w */
/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ /* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
static float z_k[9] = {0}; /**< Measurement vector */ static float z_k[9]; /**< Measurement vector */
static float x_aposteriori_k[9] = {0,0,0,0,0,-9.81,1,1,-1}; /**< */ static float x_aposteriori_k[12]; /**< */
static float x_aposteriori[9] = {0}; static float x_aposteriori[12];
static float P_aposteriori_k[81] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, static float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; };
static float P_aposteriori[81] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, static float P_aposteriori[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
}; /**< init: diagonal matrix with big values */ }; /**< init: diagonal matrix with big values */
static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */ // static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
static float Rot_matrix[9] = {1.f, 0, 0, static float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0, 0, 1.f, 0,
0, 0, 1.f 0, 0, 1.f
}; /**< init: identity matrix */ }; /**< init: identity matrix */
static bool thread_should_exit = false; /**< Deamon exit flag */ static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */ static bool thread_running = false; /**< Deamon status flag */
static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */ static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */
@@ -229,6 +236,14 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg); orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
/* process noise covariance */
float q[12];
/* measurement noise covariance */
float r[9];
/* output euler angles */
float euler[3] = {0.0f, 0.0f, 0.0f};
/* Main loop*/ /* Main loop*/
while (!thread_should_exit) { while (!thread_should_exit) {
@@ -278,10 +293,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
overloadcounter++; overloadcounter++;
} }
int8_t update_vect[3] = {1, 1, 1}; uint8_t update_vect[3] = {1, 1, 1};
float euler[3];
int32_t z_k_sizes = 9; int32_t z_k_sizes = 9;
float u[4] = {0.0f, 0.0f, 0.0f, 0.0f}; // float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
static bool const_initialized = false; static bool const_initialized = false;
@@ -289,38 +303,41 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/) if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/)
{ {
dt = 0.005f; dt = 0.005f;
q[0] = 1e1; q[0] = 1e1f;
q[1] = 1e1; q[1] = 1e1f;
q[2] = 1e1; q[2] = 1e1f;
q[3] = 1e-6; q[3] = 1e-6f;
q[4] = 1e-6; q[4] = 1e-6f;
q[5] = 1e-6; q[5] = 1e-6f;
q[6] = 1e-1; q[6] = 1e-1f;
q[7] = 1e-1; q[7] = 1e-1f;
q[8] = 1e-1; q[8] = 1e-1f;
q[9] = 1e-1; q[9] = 1e-1f;
q[10] = 1e-1; q[10] = 1e-1f;
q[11] = 1e-1; q[11] = 1e-1f;
r[0]= 1e-2; r[0]= 1e-2f;
r[1]= 1e-2; r[1]= 1e-2f;
r[2]= 1e-2; r[2]= 1e-2f;
r[3]= 1e-1; r[3]= 1e-1f;
r[4]= 1e-1; r[4]= 1e-1f;
r[5]= 1e-1; r[5]= 1e-1f;
r[6]= 1e-1; r[6]= 1e-1f;
r[7]= 1e-1; r[7]= 1e-1f;
r[8]= 1e-1; r[8]= 1e-1f;
x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1]; x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2]; x_aposteriori_k[2] = z_k[2];
x_aposteriori_k[3] = z_k[3]; x_aposteriori_k[3] = 0.0f;
x_aposteriori_k[4] = z_k[4]; x_aposteriori_k[4] = 0.0f;
x_aposteriori_k[5] = z_k[5]; x_aposteriori_k[5] = 0.0f;
x_aposteriori_k[6] = z_k[6]; x_aposteriori_k[6] = z_k[3];
x_aposteriori_k[7] = z_k[7]; x_aposteriori_k[7] = z_k[4];
x_aposteriori_k[8] = z_k[8]; x_aposteriori_k[8] = z_k[5];
x_aposteriori_k[9] = z_k[6];
x_aposteriori_k[10] = z_k[7];
x_aposteriori_k[11] = z_k[8];
const_initialized = true; const_initialized = true;
} }
@@ -331,15 +348,17 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
} }
uint64_t timing_start = hrt_absolute_time(); uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler, // attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
Rot_matrix, x_aposteriori, P_aposteriori); // Rot_matrix, x_aposteriori, P_aposteriori);
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, q, r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* swap values for next iteration */ /* swap values for next iteration */
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k)); memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k)); memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
uint64_t timing_diff = hrt_absolute_time() - timing_start; uint64_t timing_diff = hrt_absolute_time() - timing_start;
/* print rotation matrix every 200th time */ /* print rotation matrix every 200th time */
if (printcounter % 2 == 0) { if (printcounter % 200 == 0) {
// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n", // printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
// x_aposteriori[0], x_aposteriori[1], x_aposteriori[2], // x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
// x_aposteriori[3], x_aposteriori[4], x_aposteriori[5], // x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
@@ -348,8 +367,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
// } // }
// printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt)); printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
// printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f", (double)euler[0], (double)euler[1], (double)euler[2]); printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100), // printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100), // (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100)); // (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
+591 -557
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File diff suppressed because it is too large Load Diff
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
+2 -2
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -29,6 +29,6 @@
/* Variable Definitions */ /* Variable Definitions */
/* Function Declarations */ /* Function Declarations */
extern void attitudeKalmanfilter(real32_T dt, const int8_T updVect[9], const real32_T z_k_data[9], const int32_T z_k_sizes[1], const real32_T u[4], const real32_T x_aposteriori_k[9], const real32_T P_aposteriori_k[81], const real32_T knownConst[20], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[9], real32_T P_aposteriori[81]); extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], const real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
#endif #endif
/* End of code generation (attitudeKalmanfilter.h) */ /* End of code generation (attitudeKalmanfilter.h) */
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter_initialize' * Code generation for function 'attitudeKalmanfilter_initialize'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter_initialize' * Code generation for function 'attitudeKalmanfilter_initialize'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter_terminate' * Code generation for function 'attitudeKalmanfilter_terminate'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter_terminate' * Code generation for function 'attitudeKalmanfilter_terminate'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:42 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/cross.c
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'cross' * Code generation for function 'cross'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/cross.h
+1 -1
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'cross' * Code generation for function 'cross'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/diag.c
+38 -2
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'diag' * Code generation for function 'diag'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -27,7 +27,19 @@
/* /*
* *
*/ */
void diag(const real32_T v[3], real32_T d[9]) void b_diag(const real32_T v[9], real32_T d[81])
{
int32_T j;
memset((void *)&d[0], 0, 81U * sizeof(real32_T));
for (j = 0; j < 9; j++) {
d[j + 9 * j] = v[j];
}
}
/*
*
*/
void c_diag(const real32_T v[3], real32_T d[9])
{ {
int32_T j; int32_T j;
for (j = 0; j < 9; j++) { for (j = 0; j < 9; j++) {
@@ -39,4 +51,28 @@ void diag(const real32_T v[3], real32_T d[9])
} }
} }
/*
*
*/
void d_diag(const real32_T v[6], real32_T d[36])
{
int32_T j;
memset((void *)&d[0], 0, 36U * sizeof(real32_T));
for (j = 0; j < 6; j++) {
d[j + 6 * j] = v[j];
}
}
/*
*
*/
void diag(const real32_T v[12], real32_T d[144])
{
int32_T j;
memset((void *)&d[0], 0, 144U * sizeof(real32_T));
for (j = 0; j < 12; j++) {
d[j + 12 * j] = v[j];
}
}
/* End of code generation (diag.c) */ /* End of code generation (diag.c) */
apps/attitude_estimator_ekf/codegen/diag.h
+5 -2
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'diag' * Code generation for function 'diag'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -29,6 +29,9 @@
/* Variable Definitions */ /* Variable Definitions */
/* Function Declarations */ /* Function Declarations */
extern void diag(const real32_T v[3], real32_T d[9]); extern void b_diag(const real32_T v[9], real32_T d[81]);
extern void c_diag(const real32_T v[3], real32_T d[9]);
extern void d_diag(const real32_T v[6], real32_T d[36]);
extern void diag(const real32_T v[12], real32_T d[144]);
#endif #endif
/* End of code generation (diag.h) */ /* End of code generation (diag.h) */
apps/attitude_estimator_ekf/codegen/eye.c
+5 -5
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'eye' * Code generation for function 'eye'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -27,12 +27,12 @@
/* /*
* *
*/ */
void b_eye(real_T I[81]) void b_eye(real_T I[144])
{ {
int32_T i; int32_T i;
memset((void *)&I[0], 0, 81U * sizeof(real_T)); memset((void *)&I[0], 0, 144U * sizeof(real_T));
for (i = 0; i < 9; i++) { for (i = 0; i < 12; i++) {
I[i + 9 * i] = 1.0; I[i + 12 * i] = 1.0;
} }
} }
apps/attitude_estimator_ekf/codegen/eye.h
+2 -2
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@@ -3,7 +3,7 @@
* *
* Code generation for function 'eye' * Code generation for function 'eye'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -29,7 +29,7 @@
/* Variable Definitions */ /* Variable Definitions */
/* Function Declarations */ /* Function Declarations */
extern void b_eye(real_T I[81]); extern void b_eye(real_T I[144]);
extern void eye(real_T I[9]); extern void eye(real_T I[9]);
#endif #endif
/* End of code generation (eye.h) */ /* End of code generation (eye.h) */
apps/attitude_estimator_ekf/codegen/find.c
-77
View File
@@ -1,77 +0,0 @@
/*
* find.c
*
* Code generation for function 'find'
*
* C source code generated on: Fri Sep 21 13:56:43 2012
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "find.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void find(const int8_T x[9], real_T i_data[9], int32_T i_sizes[1])
{
int32_T idx;
int32_T ii;
boolean_T exitg1;
boolean_T guard1 = FALSE;
int32_T i2;
int8_T b_i_data[9];
idx = 0;
i_sizes[0] = 9;
ii = 1;
exitg1 = 0U;
while ((exitg1 == 0U) && (ii <= 9)) {
guard1 = FALSE;
if (x[ii - 1] != 0) {
idx++;
i_data[idx - 1] = (real_T)ii;
if (idx >= 9) {
exitg1 = 1U;
} else {
guard1 = TRUE;
}
} else {
guard1 = TRUE;
}
if (guard1 == TRUE) {
ii++;
}
}
if (1 > idx) {
idx = 0;
}
ii = idx - 1;
for (i2 = 0; i2 <= ii; i2++) {
b_i_data[i2] = (int8_T)i_data[i2];
}
i_sizes[0] = idx;
ii = idx - 1;
for (i2 = 0; i2 <= ii; i2++) {
i_data[i2] = (real_T)b_i_data[i2];
}
}
/* End of code generation (find.c) */
apps/attitude_estimator_ekf/codegen/mrdivide.c
+264 -638
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File diff suppressed because it is too large Load Diff
apps/attitude_estimator_ekf/codegen/mrdivide.h
+4 -2
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'mrdivide' * Code generation for function 'mrdivide'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
@@ -29,6 +29,8 @@
/* Variable Definitions */ /* Variable Definitions */
/* Function Declarations */ /* Function Declarations */
extern void mrdivide(const real32_T A_data[81], const int32_T A_sizes[2], const real32_T B_data[81], const int32_T B_sizes[2], real32_T y_data[81], int32_T y_sizes[2]); extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]);
extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]);
extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
#endif #endif
/* End of code generation (mrdivide.h) */ /* End of code generation (mrdivide.h) */
apps/attitude_estimator_ekf/codegen/norm.c
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'norm' * Code generation for function 'norm'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/norm.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'norm' * Code generation for function 'norm'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/power.c
Executable
+84
View File
@@ -0,0 +1,84 @@
/*
* power.c
*
* Code generation for function 'power'
*
* C source code generated on: Mon Oct 01 19:38:49 2012
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "power.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
static real32_T rt_powf_snf(real32_T u0, real32_T u1);
/* Function Definitions */
static real32_T rt_powf_snf(real32_T u0, real32_T u1)
{
real32_T y;
real32_T f0;
real32_T f1;
if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
y = ((real32_T)rtNaN);
} else {
f0 = (real32_T)fabsf(u0);
f1 = (real32_T)fabsf(u1);
if (rtIsInfF(u1)) {
if (f0 == 1.0F) {
y = ((real32_T)rtNaN);
} else if (f0 > 1.0F) {
if (u1 > 0.0F) {
y = ((real32_T)rtInf);
} else {
y = 0.0F;
}
} else if (u1 > 0.0F) {
y = 0.0F;
} else {
y = ((real32_T)rtInf);
}
} else if (f1 == 0.0F) {
y = 1.0F;
} else if (f1 == 1.0F) {
if (u1 > 0.0F) {
y = u0;
} else {
y = 1.0F / u0;
}
} else if (u1 == 2.0F) {
y = u0 * u0;
} else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
y = (real32_T)sqrtf(u0);
} else if ((u0 < 0.0F) && (u1 > (real32_T)floorf(u1))) {
y = ((real32_T)rtNaN);
} else {
y = (real32_T)powf(u0, u1);
}
}
return y;
}
/*
*
*/
void power(const real32_T a[12], real_T b, real32_T y[12])
{
int32_T k;
for (k = 0; k < 12; k++) {
y[k] = rt_powf_snf(a[k], (real32_T)b);
}
}
/* End of code generation (power.c) */
apps/attitude_estimator_ekf/codegen/find.h → apps/attitude_estimator_ekf/codegen/power.h
+7 -7
View File
@@ -1,14 +1,14 @@
/* /*
* find.h * power.h
* *
* Code generation for function 'find' * Code generation for function 'power'
* *
* C source code generated on: Fri Sep 21 13:56:43 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
#ifndef __FIND_H__ #ifndef __POWER_H__
#define __FIND_H__ #define __POWER_H__
/* Include files */ /* Include files */
#include <math.h> #include <math.h>
#include <stdio.h> #include <stdio.h>
@@ -29,6 +29,6 @@
/* Variable Definitions */ /* Variable Definitions */
/* Function Declarations */ /* Function Declarations */
extern void find(const int8_T x[9], real_T i_data[9], int32_T i_sizes[1]); extern void power(const real32_T a[12], real_T b, real32_T y[12]);
#endif #endif
/* End of code generation (find.h) */ /* End of code generation (power.h) */
apps/attitude_estimator_ekf/codegen/rtGetInf.c
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:45 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rtGetInf.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:45 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rtGetNaN.c
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:45 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rtGetNaN.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rt_defines.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */
apps/attitude_estimator_ekf/codegen/rtwtypes.h
+1 -1
View File
@@ -3,7 +3,7 @@
* *
* Code generation for function 'attitudeKalmanfilter' * Code generation for function 'attitudeKalmanfilter'
* *
* C source code generated on: Fri Sep 21 13:56:44 2012 * C source code generated on: Mon Oct 01 19:38:49 2012
* *
*/ */