mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 02:17:07 +08:00
Updated EKF filter, untested
This commit is contained in:
Lorenz Meier
@@ -44,7 +44,10 @@ CSRCS = attitude_estimator_ekf_main.c \
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codegen/rt_nonfinite.c \
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codegen/rtGetInf.c \
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codegen/rtGetNaN.c \
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codegen/norm.c
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codegen/norm.c \
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codegen/find.c \
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codegen/diag.c \
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codegen/cross.c
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# XXX this is *horribly* broken
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INCLUDES += $(TOPDIR)/../mavlink/include/mavlink
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@@ -80,21 +80,35 @@ static float dt = 1;
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/* 0, 0, -9.81, 1, 1, 1, wo (gyro offset), w */
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/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
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static float z_k[9] = {0}; /**< Measurement vector */
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static float x_aposteriori[12] = {0}; /**< */
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static float P_aposteriori[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100.f
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static float x_aposteriori_k[9] = {0}; /**< */
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static float x_aposteriori[9] = {0};
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static float P_aposteriori_k[81] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 100.f, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 100.f, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 100.f, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 100.f, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 100.f, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 100.f, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 100.f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 100.f,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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};
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static float P_aposteriori[81] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 100.f, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 100.f, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 100.f, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 100.f, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 100.f, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 100.f, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 100.f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 100.f,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0,
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}; /**< init: diagonal matrix with big values */
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static float knownConst[7] = {1, 1, 1, 1, 1, 1, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
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static float knownConst[20] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
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static float Rot_matrix[9] = {1.f, 0, 0,
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0, 1.f, 0,
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0, 0, 1.f
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@@ -203,13 +217,31 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
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/*
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* function [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
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*/
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//extern void attitudeKalmanfilter(real32_T dt, const int8_T updVect[9], const real32_T z_k_data[9],
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// const int32_T z_k_sizes[1], const real32_T u[4],
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// const real32_T x_aposteriori_k[9], const real32_T P_aposteriori_k[81],
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// const real32_T knownConst[20], real32_T eulerAngles[3],
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// real32_T Rot_matrix[9], real32_T x_aposteriori[9],
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// real32_T P_aposteriori[81]);
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int8_t update_vect[9] = {1, 1, 1, 1, 1, 1, 1, 1, 1};
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float euler[3];
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int32_t z_k_sizes = 9;
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float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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uint64_t timing_start = hrt_absolute_time();
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attitudeKalmanfilter(dt, z_k, x_aposteriori, P_aposteriori, knownConst, Rot_matrix, x_aposteriori, P_aposteriori);
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attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
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Rot_matrix, x_aposteriori, P_aposteriori);
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/* swap values for next iteration */
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memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
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memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
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uint64_t timing_diff = hrt_absolute_time() - timing_start;
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/* print rotation matrix every 200th time */
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if (printcounter % 200 == 0) {
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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));
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printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f", euler[0], euler[1], euler[2]);
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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),
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(int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
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(int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
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File diff suppressed because it is too large
Load Diff
@@ -3,7 +3,7 @@
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*
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* Code generation for function 'attitudeKalmanfilter'
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*
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* C source code generated on: Wed Jul 11 08:38:35 2012
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* C source code generated on: Mon Sep 17 20:13:22 2012
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*
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*/
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@@ -14,6 +14,8 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "rt_defines.h"
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#include "rt_nonfinite.h"
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#include "rtwtypes.h"
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#include "attitudeKalmanfilter_types.h"
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@@ -27,6 +29,6 @@
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/* Variable Definitions */
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/* Function Declarations */
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extern void attitudeKalmanfilter(real32_T dt, const real32_T z_k[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T knownConst[7], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
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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]);
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#endif
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/* End of code generation (attitudeKalmanfilter.h) */
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@@ -3,7 +3,7 @@
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*
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* Code generation for function 'attitudeKalmanfilter_initialize'
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*
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* C source code generated on: Wed Jul 11 08:38:35 2012
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* C source code generated on: Mon Sep 17 20:13:23 2012
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*
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*/
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@@ -3,7 +3,7 @@
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*
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* Code generation for function 'attitudeKalmanfilter_initialize'
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*
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* C source code generated on: Wed Jul 11 08:38:35 2012
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* C source code generated on: Mon Sep 17 20:13:24 2012
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*
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*/
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@@ -14,6 +14,8 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "rt_defines.h"
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#include "rt_nonfinite.h"
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#include "rtwtypes.h"
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#include "attitudeKalmanfilter_types.h"
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@@ -1,11 +0,0 @@
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@echo off
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call "%VS100COMNTOOLS%..\..\VC\vcvarsall.bat" AMD64
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cd .
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nmake -f attitudeKalmanfilter_rtw.mk GENERATE_REPORT=1 ADD_MDL_NAME_TO_GLOBALS=0
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@if errorlevel 1 goto error_exit
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exit /B 0
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:error_exit
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echo The make command returned an error of %errorlevel%
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An_error_occurred_during_the_call_to_make
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@@ -1,328 +0,0 @@
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# Copyright 1994-2010 The MathWorks, Inc.
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#
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# File : xrt_vcx64.tmf $Revision: 1.1.6.1 $
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#
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# Abstract:
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# Code generation template makefile for building a Windows-based,
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# stand-alone real-time version of MATLAB-code using generated C/C++
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# code and the
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# Microsoft Visual C/C++ compiler version 8, 9, 10 for x64
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#
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# Note that this template is automatically customized by the
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# code generation build procedure to create "<model>.mk"
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#
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# The following defines can be used to modify the behavior of the
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# build:
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#
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# OPT_OPTS - Optimization option. See DEFAULT_OPT_OPTS in
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# vctools.mak for default.
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# OPTS - User specific options.
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# CPP_OPTS - C++ compiler options.
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# USER_SRCS - Additional user sources, such as files needed by
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# S-functions.
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# USER_INCLUDES - Additional include paths
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# (i.e. USER_INCLUDES="-Iwhere-ever -Iwhere-ever2")
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#
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# To enable debugging:
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# set OPT_OPTS=-Zi (may vary with compiler version, see compiler doc)
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# modify tmf LDFLAGS to include /DEBUG
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#
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#------------------------ Macros read by make_rtw -----------------------------
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#
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# The following macros are read by the code generation build procedure:
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#
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# MAKECMD - This is the command used to invoke the make utility
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# HOST - What platform this template makefile is targeted for
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# (i.e. PC or UNIX)
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# BUILD - Invoke make from the code generation build procedure
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# (yes/no)?
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# SYS_TARGET_FILE - Name of system target file.
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MAKECMD = nmake
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HOST = PC
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BUILD = yes
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||||
SYS_TARGET_FILE = ert.tlc
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BUILD_SUCCESS = ^#^#^# Created
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COMPILER_TOOL_CHAIN = vcx64
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|
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#---------------------- Tokens expanded by make_rtw ---------------------------
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#
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||||
# The following tokens, when wrapped with "|>" and "<|" are expanded by the
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# code generation build procedure.
|
||||
#
|
||||
# MODEL_NAME - Name of the Simulink block diagram
|
||||
# MODEL_MODULES - Any additional generated source modules
|
||||
# MAKEFILE_NAME - Name of makefile created from template makefile <model>.mk
|
||||
# MATLAB_ROOT - Path to where MATLAB is installed.
|
||||
# MATLAB_BIN - Path to MATLAB executable.
|
||||
# S_FUNCTIONS - List of S-functions.
|
||||
# S_FUNCTIONS_LIB - List of S-functions libraries to link.
|
||||
# SOLVER - Solver source file name
|
||||
# NUMST - Number of sample times
|
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# TID01EQ - yes (1) or no (0): Are sampling rates of continuous task
|
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# (tid=0) and 1st discrete task equal.
|
||||
# NCSTATES - Number of continuous states
|
||||
# BUILDARGS - Options passed in at the command line.
|
||||
# MULTITASKING - yes (1) or no (0): Is solver mode multitasking
|
||||
# EXT_MODE - yes (1) or no (0): Build for external mode
|
||||
# TMW_EXTMODE_TESTING - yes (1) or no (0): Build ext_test.c for external mode
|
||||
# testing.
|
||||
# EXTMODE_TRANSPORT - Index of transport mechanism (e.g. tcpip, serial) for extmode
|
||||
# EXTMODE_STATIC - yes (1) or no (0): Use static instead of dynamic mem alloc.
|
||||
# EXTMODE_STATIC_SIZE - Size of static memory allocation buffer.
|
||||
|
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MODEL = attitudeKalmanfilter
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MODULES = attitudeKalmanfilter.c eye.c mrdivide.c norm.c attitudeKalmanfilter_initialize.c attitudeKalmanfilter_terminate.c rt_nonfinite.c rtGetNaN.c rtGetInf.c
|
||||
MAKEFILE = attitudeKalmanfilter_rtw.mk
|
||||
MATLAB_ROOT = C:\Program Files\MATLAB\R2011a
|
||||
ALT_MATLAB_ROOT = C:\PROGRA~1\MATLAB\R2011a
|
||||
MATLAB_BIN = C:\Program Files\MATLAB\R2011a\bin
|
||||
ALT_MATLAB_BIN = C:\PROGRA~1\MATLAB\R2011a\bin
|
||||
S_FUNCTIONS =
|
||||
S_FUNCTIONS_LIB =
|
||||
SOLVER =
|
||||
NUMST = 1
|
||||
TID01EQ = 0
|
||||
NCSTATES = 0
|
||||
BUILDARGS = GENERATE_REPORT=1 ADD_MDL_NAME_TO_GLOBALS=0
|
||||
MULTITASKING = 0
|
||||
EXT_MODE = 0
|
||||
TMW_EXTMODE_TESTING = 0
|
||||
EXTMODE_TRANSPORT = 0
|
||||
EXTMODE_STATIC = 0
|
||||
EXTMODE_STATIC_SIZE = 1000000
|
||||
|
||||
MODELREFS =
|
||||
SHARED_SRC =
|
||||
SHARED_SRC_DIR =
|
||||
SHARED_BIN_DIR =
|
||||
SHARED_LIB =
|
||||
TARGET_LANG_EXT = c
|
||||
OPTIMIZATION_FLAGS = /O2 /Oy-
|
||||
ADDITIONAL_LDFLAGS =
|
||||
|
||||
#--------------------------- Model and reference models -----------------------
|
||||
MODELLIB = attitudeKalmanfilter.lib
|
||||
MODELREF_LINK_LIBS =
|
||||
MODELREF_LINK_RSPFILE = attitudeKalmanfilter_ref.rsp
|
||||
MODELREF_INC_PATH =
|
||||
RELATIVE_PATH_TO_ANCHOR = F:\CODEGE~1
|
||||
MODELREF_TARGET_TYPE = RTW
|
||||
|
||||
!if "$(MATLAB_ROOT)" != "$(ALT_MATLAB_ROOT)"
|
||||
MATLAB_ROOT = $(ALT_MATLAB_ROOT)
|
||||
!endif
|
||||
!if "$(MATLAB_BIN)" != "$(ALT_MATLAB_BIN)"
|
||||
MATLAB_BIN = $(ALT_MATLAB_BIN)
|
||||
!endif
|
||||
|
||||
#--------------------------- Tool Specifications ------------------------------
|
||||
|
||||
CPU = AMD64
|
||||
!include $(MATLAB_ROOT)\rtw\c\tools\vctools.mak
|
||||
APPVER = 5.02
|
||||
|
||||
PERL = $(MATLAB_ROOT)\sys\perl\win32\bin\perl
|
||||
#------------------------------ Include/Lib Path ------------------------------
|
||||
|
||||
MATLAB_INCLUDES = $(MATLAB_ROOT)\simulink\include
|
||||
MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\extern\include
|
||||
MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\rtw\c\src
|
||||
MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\rtw\c\src\ext_mode\common
|
||||
|
||||
# Additional file include paths
|
||||
|
||||
MATLAB_INCLUDES = $(MATLAB_INCLUDES);F:\codegenerationMatlabAttFilter\codegen\lib\attitudeKalmanfilter
|
||||
MATLAB_INCLUDES = $(MATLAB_INCLUDES);F:\codegenerationMatlabAttFilter
|
||||
|
||||
INCLUDE = .;$(RELATIVE_PATH_TO_ANCHOR);$(MATLAB_INCLUDES);$(INCLUDE);$(MODELREF_INC_PATH)
|
||||
|
||||
!if "$(SHARED_SRC_DIR)" != ""
|
||||
INCLUDE = $(INCLUDE);$(SHARED_SRC_DIR)
|
||||
!endif
|
||||
|
||||
#------------------------ External mode ---------------------------------------
|
||||
# Uncomment -DVERBOSE to have information printed to stdout
|
||||
# To add a new transport layer, see the comments in
|
||||
# <matlabroot>/toolbox/simulink/simulink/extmode_transports.m
|
||||
!if $(EXT_MODE) == 1
|
||||
EXT_CC_OPTS = -DEXT_MODE # -DVERBOSE
|
||||
!if $(EXTMODE_TRANSPORT) == 0 #tcpip
|
||||
EXT_SRC = updown.c rtiostream_interface.c rtiostream_tcpip.c
|
||||
EXT_LIB = wsock32.lib
|
||||
!endif
|
||||
!if $(EXTMODE_TRANSPORT) == 1 #serial_win32
|
||||
EXT_SRC = ext_svr.c updown.c ext_work.c ext_svr_serial_transport.c
|
||||
EXT_SRC = $(EXT_SRC) ext_serial_pkt.c ext_serial_win32_port.c
|
||||
EXT_LIB =
|
||||
!endif
|
||||
!if $(TMW_EXTMODE_TESTING) == 1
|
||||
EXT_SRC = $(EXT_SRC) ext_test.c
|
||||
EXT_CC_OPTS = $(EXT_CC_OPTS) -DTMW_EXTMODE_TESTING
|
||||
!endif
|
||||
!if $(EXTMODE_STATIC) == 1
|
||||
EXT_SRC = $(EXT_SRC) mem_mgr.c
|
||||
EXT_CC_OPTS = $(EXT_CC_OPTS) -DEXTMODE_STATIC -DEXTMODE_STATIC_SIZE=$(EXTMODE_STATIC_SIZE)
|
||||
!endif
|
||||
!else
|
||||
EXT_SRC =
|
||||
EXT_CC_OPTS =
|
||||
EXT_LIB =
|
||||
!endif
|
||||
|
||||
#------------------------ rtModel ----------------------------------------------
|
||||
|
||||
RTM_CC_OPTS = -DUSE_RTMODEL
|
||||
|
||||
#----------------- Compiler and Linker Options --------------------------------
|
||||
|
||||
# Optimization Options
|
||||
# Set OPT_OPTS=-Zi for debugging (may depend on compiler version)
|
||||
OPT_OPTS = $(DEFAULT_OPT_OPTS)
|
||||
|
||||
# General User Options
|
||||
OPTS =
|
||||
|
||||
!if "$(OPTIMIZATION_FLAGS)" != ""
|
||||
CC_OPTS = $(OPTS) $(EXT_CC_OPTS) $(RTM_CC_OPTS) $(OPTIMIZATION_FLAGS)
|
||||
!else
|
||||
CC_OPTS = $(OPT_OPTS) $(OPTS) $(EXT_CC_OPTS) $(RTM_CC_OPTS)
|
||||
!endif
|
||||
|
||||
CPP_REQ_DEFINES = -DMODEL=$(MODEL) -DRT -DNUMST=$(NUMST) \
|
||||
-DTID01EQ=$(TID01EQ) -DNCSTATES=$(NCSTATES) \
|
||||
-DMT=$(MULTITASKING) -DHAVESTDIO
|
||||
|
||||
# Uncomment this line to move warning level to W4
|
||||
# cflags = $(cflags:W3=W4)
|
||||
CFLAGS = $(CC_OPTS) $(CPP_REQ_DEFINES) $(USER_INCLUDES) \
|
||||
$(cflags) $(cvarsmt) /wd4996
|
||||
CPPFLAGS = $(CPP_OPTS) $(CC_OPTS) $(CPP_REQ_DEFINES) $(USER_INCLUDES) \
|
||||
$(cflags) $(cvarsmt) /wd4996 /EHsc-
|
||||
LDFLAGS = $(ldebug) $(conflags) $(EXT_LIB) $(conlibs) libcpmt.lib $(ADDITIONAL_LDFLAGS)
|
||||
|
||||
# libcpmt.lib is the multi-threaded, static lib version of the C++ standard lib
|
||||
|
||||
#----------------------------- Source Files -----------------------------------
|
||||
|
||||
|
||||
#Standalone executable
|
||||
!if "$(MODELREF_TARGET_TYPE)" == "NONE"
|
||||
PRODUCT = $(RELATIVE_PATH_TO_ANCHOR)\$(MODEL).exe
|
||||
REQ_SRCS = $(MODULES) $(EXT_SRC)
|
||||
|
||||
#Model Reference Target
|
||||
!else
|
||||
PRODUCT = $(MODELLIB)
|
||||
REQ_SRCS = $(MODULES) $(EXT_SRC)
|
||||
!endif
|
||||
|
||||
USER_SRCS =
|
||||
|
||||
SRCS = $(REQ_SRCS) $(USER_SRCS) $(S_FUNCTIONS)
|
||||
OBJS_CPP_UPPER = $(SRCS:.CPP=.obj)
|
||||
OBJS_CPP_LOWER = $(OBJS_CPP_UPPER:.cpp=.obj)
|
||||
OBJS_C_UPPER = $(OBJS_CPP_LOWER:.C=.obj)
|
||||
OBJS = $(OBJS_C_UPPER:.c=.obj)
|
||||
SHARED_OBJS = $(SHARED_SRC:.c=.obj)
|
||||
# ------------------------- Additional Libraries ------------------------------
|
||||
|
||||
LIBS =
|
||||
|
||||
|
||||
LIBS = $(LIBS)
|
||||
|
||||
# ---------------------------- Linker Script ----------------------------------
|
||||
|
||||
CMD_FILE = $(MODEL).lnk
|
||||
GEN_LNK_SCRIPT = $(MATLAB_ROOT)\rtw\c\tools\mkvc_lnk.pl
|
||||
|
||||
#--------------------------------- Rules --------------------------------------
|
||||
all: set_environment_variables $(PRODUCT)
|
||||
|
||||
!if "$(MODELREF_TARGET_TYPE)" == "NONE"
|
||||
#--- Stand-alone model ---
|
||||
$(PRODUCT) : $(OBJS) $(SHARED_LIB) $(LIBS) $(MODELREF_LINK_LIBS)
|
||||
@cmd /C "echo ### Linking ..."
|
||||
$(PERL) $(GEN_LNK_SCRIPT) $(CMD_FILE) $(OBJS)
|
||||
$(LD) $(LDFLAGS) $(S_FUNCTIONS_LIB) $(SHARED_LIB) $(LIBS) $(MAT_LIBS) @$(CMD_FILE) @$(MODELREF_LINK_RSPFILE) -out:$@
|
||||
@del $(CMD_FILE)
|
||||
@cmd /C "echo $(BUILD_SUCCESS) executable $(MODEL).exe"
|
||||
!else
|
||||
#--- Model reference code generation Target ---
|
||||
$(PRODUCT) : $(OBJS) $(SHARED_LIB)
|
||||
@cmd /C "echo ### Linking ..."
|
||||
$(PERL) $(GEN_LNK_SCRIPT) $(CMD_FILE) $(OBJS)
|
||||
$(LD) -lib /OUT:$(PRODUCT) @$(CMD_FILE) $(S_FUNCTIONS_LIB)
|
||||
@cmd /C "echo $(BUILD_SUCCESS) static library $(MODELLIB)"
|
||||
!endif
|
||||
|
||||
{$(MATLAB_ROOT)\rtw\c\src}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
{$(MATLAB_ROOT)\rtw\c\src\ext_mode\common}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
{$(MATLAB_ROOT)\rtw\c\src\rtiostream\rtiostreamtcpip}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
{$(MATLAB_ROOT)\rtw\c\src\ext_mode\serial}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
{$(MATLAB_ROOT)\rtw\c\src\ext_mode\custom}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
# Additional sources
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# Put these rule last, otherwise nmake will check toolboxes first
|
||||
|
||||
{$(RELATIVE_PATH_TO_ANCHOR)}.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
{$(RELATIVE_PATH_TO_ANCHOR)}.cpp.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CPPFLAGS) $<
|
||||
|
||||
.c.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CFLAGS) $<
|
||||
|
||||
.cpp.obj :
|
||||
@cmd /C "echo ### Compiling $<"
|
||||
$(CC) $(CPPFLAGS) $<
|
||||
|
||||
!if "$(SHARED_LIB)" != ""
|
||||
$(SHARED_LIB) : $(SHARED_SRC)
|
||||
@cmd /C "echo ### Creating $@"
|
||||
@$(CC) $(CFLAGS) -Fo$(SHARED_BIN_DIR)\ @<<
|
||||
$?
|
||||
<<
|
||||
@$(LIBCMD) /nologo /out:$@ $(SHARED_OBJS)
|
||||
@cmd /C "echo ### $@ Created"
|
||||
!endif
|
||||
|
||||
|
||||
set_environment_variables:
|
||||
@set INCLUDE=$(INCLUDE)
|
||||
@set LIB=$(LIB)
|
||||
|
||||
# Libraries:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#----------------------------- Dependencies -----------------------------------
|
||||
|
||||
$(OBJS) : $(MAKEFILE) rtw_proj.tmw
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter_terminate'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter_terminate'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:22 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
Binary file not shown.
Executable
+37
@@ -0,0 +1,37 @@
|
||||
/*
|
||||
* cross.c
|
||||
*
|
||||
* Code generation for function 'cross'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "attitudeKalmanfilter.h"
|
||||
#include "cross.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
|
||||
/*
|
||||
*
|
||||
*/
|
||||
void cross(const real32_T a[3], const real32_T b[3], real32_T c[3])
|
||||
{
|
||||
c[0] = a[1] * b[2] - a[2] * b[1];
|
||||
c[1] = a[2] * b[0] - a[0] * b[2];
|
||||
c[2] = a[0] * b[1] - a[1] * b[0];
|
||||
}
|
||||
|
||||
/* End of code generation (cross.c) */
|
||||
Executable
+34
@@ -0,0 +1,34 @@
|
||||
/*
|
||||
* cross.h
|
||||
*
|
||||
* Code generation for function 'cross'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __CROSS_H__
|
||||
#define __CROSS_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]);
|
||||
#endif
|
||||
/* End of code generation (cross.h) */
|
||||
Executable
+42
@@ -0,0 +1,42 @@
|
||||
/*
|
||||
* diag.c
|
||||
*
|
||||
* Code generation for function 'diag'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:22 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "attitudeKalmanfilter.h"
|
||||
#include "diag.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
|
||||
/*
|
||||
*
|
||||
*/
|
||||
void diag(const real32_T v[3], real32_T d[9])
|
||||
{
|
||||
int32_T j;
|
||||
for (j = 0; j < 9; j++) {
|
||||
d[j] = 0.0F;
|
||||
}
|
||||
|
||||
for (j = 0; j < 3; j++) {
|
||||
d[j + 3 * j] = v[j];
|
||||
}
|
||||
}
|
||||
|
||||
/* End of code generation (diag.c) */
|
||||
Executable
+34
@@ -0,0 +1,34 @@
|
||||
/*
|
||||
* diag.h
|
||||
*
|
||||
* Code generation for function 'diag'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __DIAG_H__
|
||||
#define __DIAG_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void diag(const real32_T v[3], real32_T d[9]);
|
||||
#endif
|
||||
/* End of code generation (diag.h) */
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'eye'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -27,12 +27,12 @@
|
||||
/*
|
||||
*
|
||||
*/
|
||||
void b_eye(real_T I[144])
|
||||
void b_eye(real_T I[81])
|
||||
{
|
||||
int32_T i;
|
||||
memset((void *)&I[0], 0, 144U * sizeof(real_T));
|
||||
for (i = 0; i < 12; i++) {
|
||||
I[i + 12 * i] = 1.0;
|
||||
memset((void *)&I[0], 0, 81U * sizeof(real_T));
|
||||
for (i = 0; i < 9; i++) {
|
||||
I[i + 9 * i] = 1.0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'eye'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
@@ -27,7 +29,7 @@
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void b_eye(real_T I[144]);
|
||||
extern void b_eye(real_T I[81]);
|
||||
extern void eye(real_T I[9]);
|
||||
#endif
|
||||
/* End of code generation (eye.h) */
|
||||
|
||||
Executable
+77
@@ -0,0 +1,77 @@
|
||||
/*
|
||||
* find.c
|
||||
*
|
||||
* Code generation for function 'find'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:22 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) */
|
||||
Executable
+34
@@ -0,0 +1,34 @@
|
||||
/*
|
||||
* find.h
|
||||
*
|
||||
* Code generation for function 'find'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:22 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __FIND_H__
|
||||
#define __FIND_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void find(const int8_T x[9], real_T i_data[9], int32_T i_sizes[1]);
|
||||
#endif
|
||||
/* End of code generation (find.h) */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'mrdivide'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
@@ -27,6 +29,6 @@
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]);
|
||||
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]);
|
||||
#endif
|
||||
/* End of code generation (mrdivide.h) */
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'norm'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -40,7 +40,7 @@ real32_T norm(const real32_T x[3])
|
||||
firstNonZero = TRUE;
|
||||
for (k = 0; k < 3; k++) {
|
||||
if (x[k] != 0.0F) {
|
||||
absxk = fabsf(x[k]);
|
||||
absxk = (real32_T)fabs(x[k]);
|
||||
if (firstNonZero) {
|
||||
scale = absxk;
|
||||
y = 1.0F;
|
||||
@@ -56,7 +56,7 @@ real32_T norm(const real32_T x[3])
|
||||
}
|
||||
}
|
||||
|
||||
return scale * sqrtf(y);
|
||||
return scale * (real32_T)sqrt(y);
|
||||
}
|
||||
|
||||
/* End of code generation (norm.c) */
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'norm'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:23 2012
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "rt_defines.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "attitudeKalmanfilter_types.h"
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
+24
@@ -0,0 +1,24 @@
|
||||
/*
|
||||
* rt_defines.h
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RT_DEFINES_H__
|
||||
#define __RT_DEFINES_H__
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#define RT_PI 3.14159265358979323846
|
||||
#define RT_PIF 3.1415927F
|
||||
#define RT_LN_10 2.30258509299404568402
|
||||
#define RT_LN_10F 2.3025851F
|
||||
#define RT_LOG10E 0.43429448190325182765
|
||||
#define RT_LOG10EF 0.43429449F
|
||||
#define RT_E 2.7182818284590452354
|
||||
#define RT_EF 2.7182817F
|
||||
#endif
|
||||
/* End of code generation (rt_defines.h) */
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
Code generation project for attitudeKalmanfilter using C:\Program Files\MATLAB\R2011a\toolbox\coder\coder\rtw\c\xrt\xrt_vcx64.tmf. MATLAB root = C:\Program Files\MATLAB\R2011a.
|
||||
@@ -3,7 +3,7 @@
|
||||
*
|
||||
* Code generation for function 'attitudeKalmanfilter'
|
||||
*
|
||||
* C source code generated on: Wed Jul 11 08:38:35 2012
|
||||
* C source code generated on: Mon Sep 17 20:13:24 2012
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
Reference in New Issue
Block a user