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This commit is contained in:
Antoine Drouin
2010-09-16 09:52:35 +00:00
parent d614f3de9f
commit 29f1cb332b
2 changed files with 32 additions and 24 deletions
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conf/airframes/Poine/test_libeknav.xml
+8 -5
View File
@@ -5,6 +5,11 @@
HOST=auto3 HOST=auto3
PAPARAZZI_INC = -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) \
-I$(PAPARAZZI_SRC)/sw/airborne \
-I$(PAPARAZZI_SRC)/sw/include
LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2 LIB_EIGEN_DIR = /opt/paparazzi/omap/overo-oe/tmp/sysroots/armv7a-angstrom-linux-gnueabi/usr/include/eigen2
LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE -DEIGEN_DONT_ALIGN -DNDEBUG LIB_EIGEN_CFLAGS = -I$(LIB_EIGEN_DIR) -DEIGEN_DONT_VECTORIZE -DEIGEN_DONT_ALIGN -DNDEBUG
@@ -19,7 +24,7 @@
# test 1: how do I build cpp for using libeigen ? # test 1: how do I build cpp for using libeigen ?
test1.ARCHDIR = omap test1.ARCHDIR = omap
test1.CXXFLAGS += $(LIB_EIGEN_CFLAGS) test1.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
test1.cpp_srcs = fms/libeknav/hello_world.cpp test1.cpp_srcs = fms/libeknav/test_libeknav_1.cpp
# test 2: now build with libeknav # test 2: now build with libeknav
test2.ARCHDIR = omap test2.ARCHDIR = omap
@@ -31,9 +36,7 @@
# test 3: now try to add Paparazzi's C # test 3: now try to add Paparazzi's C
test3.ARCHDIR = omap test3.ARCHDIR = omap
test3.CXXFLAGS += $(LIB_EIGEN_CFLAGS) test3.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
test3.CXXFLAGS += -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) test3.CXXFLAGS += $(PAPARAZZI_INC)
test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/airborne
test3.CXXFLAGS += -I$(PAPARAZZI_SRC)/sw/include
test3.cpp_srcs = fms/libeknav/test_libeknav_3.cpp test3.cpp_srcs = fms/libeknav/test_libeknav_3.cpp
test3.CXXFLAGS += $(LIBEKNAV_CFLAGS) test3.CXXFLAGS += $(LIBEKNAV_CFLAGS)
test3.cpp_srcs += $(LIBEKNAV_SRCS) test3.cpp_srcs += $(LIBEKNAV_SRCS)
@@ -45,7 +48,7 @@
# test network based telemetry on overo (using udp_transport2/messages2) # test network based telemetry on overo (using udp_transport2/messages2)
overo_test_telemetry2.ARCHDIR = omap overo_test_telemetry2.ARCHDIR = omap
overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include overo_test_telemetry2.CFLAGS += $(PAPARAZZI_INC)
overo_test_telemetry2.srcs = fms/overo_test_telemetry2.c overo_test_telemetry2.srcs = fms/overo_test_telemetry2.c
overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_test_telemetry2.srcs += fms/udp_transport2.c downlink.c overo_test_telemetry2.srcs += fms/udp_transport2.c downlink.c
sw/airborne/fms/libeknav/test_libeknav_3.cpp
+24 -19
View File
@@ -88,26 +88,8 @@ static void main_init(void) {
static void main_periodic(int my_sig_num __attribute__ ((unused))) { static void main_periodic(int my_sig_num __attribute__ ((unused))) {
static uint32_t cnt;
cnt++;
main_dialog_with_io_proc(); main_dialog_with_io_proc();
main_run_ins();
const double dt = 1./512.;
Vector3d gyro(0., 0., 0.);
Vector3d accelerometer(0., 0., 9.81);
ins.predict(gyro, accelerometer, dt);
if (cnt % 10 == 0) { /* update mag at 50Hz */
Vector3d magnetometer = Vector3d::UnitZ();
const double mag_noise = std::pow(5 / 180.0 * M_PI, 2);
ins.obs_vector(magnetometer, magnetometer, mag_noise);
}
if (cnt % 128 == 0) /* update gps at 4 Hz */ {
const Vector3d gps_pos_noise = Vector3d::Ones() *10*10;
const Vector3d gps_speed_noise = Vector3d::Ones()*0.1*0.1;
ins.obs_gps_pv_report(pos_0_ecef, speed_0_ecef, gps_pos_noise, gps_speed_noise);
}
} }
@@ -128,3 +110,26 @@ static void main_dialog_with_io_proc() {
MAGS_FLOAT_OF_BFP(imu.mag, in->mag); MAGS_FLOAT_OF_BFP(imu.mag, in->mag);
} }
static void main_run_ins() {
static uint32_t cnt;
cnt++;
const double dt = 1./512.;
Vector3d gyro(0., 0., 0.);
Vector3d accelerometer(0., 0., 9.81);
ins.predict(gyro, accelerometer, dt);
if (cnt % 10 == 0) { /* update mag at 50Hz */
Vector3d magnetometer = Vector3d::UnitZ();
const double mag_noise = std::pow(5 / 180.0 * M_PI, 2);
ins.obs_vector(magnetometer, magnetometer, mag_noise);
}
if (cnt % 128 == 0) /* update gps at 4 Hz */ {
const Vector3d gps_pos_noise = Vector3d::Ones() *10*10;
const Vector3d gps_speed_noise = Vector3d::Ones()*0.1*0.1;
ins.obs_gps_pv_report(pos_0_ecef, speed_0_ecef, gps_pos_noise, gps_speed_noise);
}
}