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Anton Babushkin
2013-05-09 22:41:09 +04:00
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 KalmanNav.cpp
*
* kalman filter navigation code
*/
#include <poll.h>
#include "KalmanNav.hpp"
// constants
// Titterton pg. 52
static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
static const float R0 = 6378137.0f; // earth radius, m
static const float g0 = 9.806f; // standard gravitational accel. m/s^2
static const int8_t ret_ok = 0; // no error in function
static const int8_t ret_error = -1; // error occurred
KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// ekf matrices
F(9, 9),
G(9, 6),
P(9, 9),
P0(9, 9),
V(6, 6),
// attitude measurement ekf matrices
HAtt(6, 9),
RAtt(6, 6),
// position measurement ekf matrices
HPos(6, 9),
RPos(6, 6),
// attitude representations
C_nb(),
q(),
// subscriptions
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
_att(&getPublications(), ORB_ID(vehicle_attitude)),
// timestamps
_pubTimeStamp(hrt_absolute_time()),
_predictTimeStamp(hrt_absolute_time()),
_attTimeStamp(hrt_absolute_time()),
_outTimeStamp(hrt_absolute_time()),
// frame count
_navFrames(0),
// miss counts
_miss(0),
// accelerations
fN(0), fE(0), fD(0),
// state
phi(0), theta(0), psi(0),
vN(0), vE(0), vD(0),
lat(0), lon(0), alt(0),
// parameters for ground station
_vGyro(this, "V_GYRO"),
_vAccel(this, "V_ACCEL"),
_rMag(this, "R_MAG"),
_rGpsVel(this, "R_GPS_VEL"),
_rGpsPos(this, "R_GPS_POS"),
_rGpsAlt(this, "R_GPS_ALT"),
_rPressAlt(this, "R_PRESS_ALT"),
_rAccel(this, "R_ACCEL"),
_magDip(this, "ENV_MAG_DIP"),
_magDec(this, "ENV_MAG_DEC"),
_g(this, "ENV_G"),
_faultPos(this, "FAULT_POS"),
_faultAtt(this, "FAULT_ATT"),
_attitudeInitialized(false),
_positionInitialized(false),
_attitudeInitCounter(0)
{
using namespace math;
// initial state covariance matrix
P0 = Matrix::identity(9) * 0.01f;
P = P0;
// initial state
phi = 0.0f;
theta = 0.0f;
psi = 0.0f;
vN = 0.0f;
vE = 0.0f;
vD = 0.0f;
lat = 0.0f;
lon = 0.0f;
alt = 0.0f;
// initialize quaternions
q = Quaternion(EulerAngles(phi, theta, psi));
// initialize dcm
C_nb = Dcm(q);
// HPos is constant
HPos(0, 3) = 1.0f;
HPos(1, 4) = 1.0f;
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(4, 8) = 1.0f;
HPos(5, 8) = 1.0f;
// initialize all parameters
updateParams();
}
void KalmanNav::update()
{
using namespace math;
struct pollfd fds[1];
fds[0].fd = _sensors.getHandle();
fds[0].events = POLLIN;
// poll for new data
int ret = poll(fds, 1, 1000);
if (ret < 0) {
// XXX this is seriously bad - should be an emergency
return;
} else if (ret == 0) { // timeout
return;
}
// get new timestamp
uint64_t newTimeStamp = hrt_absolute_time();
// check updated subscriptions
if (_param_update.updated()) updateParams();
bool gpsUpdate = _gps.updated();
bool sensorsUpdate = _sensors.updated();
// get new information from subscriptions
// this clears update flag
updateSubscriptions();
// initialize attitude when sensors online
if (!_attitudeInitialized && sensorsUpdate &&
_sensors.accelerometer_counter > 10 &&
_sensors.gyro_counter > 10 &&
_sensors.magnetometer_counter > 10) {
if (correctAtt() == ret_ok) _attitudeInitCounter++;
if (_attitudeInitCounter > 100) {
printf("[kalman_demo] initialized EKF attitude\n");
printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
double(phi), double(theta), double(psi));
_attitudeInitialized = true;
}
}
// initialize position when gps received
if (!_positionInitialized &&
_attitudeInitialized && // wait for attitude first
gpsUpdate &&
_gps.fix_type > 2
//&& _gps.counter_pos_valid > 10
) {
vN = _gps.vel_n_m_s;
vE = _gps.vel_e_m_s;
vD = _gps.vel_d_m_s;
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
_positionInitialized = true;
printf("[kalman_demo] initialized EKF state with GPS\n");
printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(vN), double(vE), double(vD),
lat, lon, alt);
}
// prediciton step
// using sensors timestamp so we can account for packet lag
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
//printf("dt: %15.10f\n", double(dt));
_predictTimeStamp = _sensors.timestamp;
// don't predict if time greater than a second
if (dt < 1.0f) {
predictState(dt);
predictStateCovariance(dt);
// count fast frames
_navFrames += 1;
}
// count times 100 Hz rate isn't met
if (dt > 0.01f) _miss++;
// gps correction step
if (_positionInitialized && gpsUpdate) {
correctPos();
}
// attitude correction step
if (_attitudeInitialized // initialized
&& sensorsUpdate // new data
&& _sensors.timestamp - _attTimeStamp > 1e6 / 20 // 20 Hz
) {
_attTimeStamp = _sensors.timestamp;
correctAtt();
}
// publication
if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
_pubTimeStamp = newTimeStamp;
updatePublications();
}
// output
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
_outTimeStamp = newTimeStamp;
//printf("nav: %4d Hz, miss #: %4d\n",
// _navFrames / 10, _miss / 10);
_navFrames = 0;
_miss = 0;
}
}
void KalmanNav::updatePublications()
{
using namespace math;
// position publication
_pos.timestamp = _pubTimeStamp;
_pos.time_gps_usec = _gps.timestamp_position;
_pos.valid = true;
_pos.lat = getLatDegE7();
_pos.lon = getLonDegE7();
_pos.alt = float(alt);
_pos.relative_alt = float(alt); // TODO, make relative
_pos.vx = vN;
_pos.vy = vE;
_pos.vz = vD;
_pos.hdg = psi;
// attitude publication
_att.timestamp = _pubTimeStamp;
_att.roll = phi;
_att.pitch = theta;
_att.yaw = psi;
_att.rollspeed = _sensors.gyro_rad_s[0];
_att.pitchspeed = _sensors.gyro_rad_s[1];
_att.yawspeed = _sensors.gyro_rad_s[2];
// TODO, add gyro offsets to filter
_att.rate_offsets[0] = 0.0f;
_att.rate_offsets[1] = 0.0f;
_att.rate_offsets[2] = 0.0f;
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
_att.R[i][j] = C_nb(i, j);
for (int i = 0; i < 4; i++) _att.q[i] = q(i);
_att.R_valid = true;
_att.q_valid = true;
// selectively update publications,
// do NOT call superblock do-all method
if (_positionInitialized)
_pos.update();
if (_attitudeInitialized)
_att.update();
}
int KalmanNav::predictState(float dt)
{
using namespace math;
// trig
float sinL = sinf(lat);
float cosL = cosf(lat);
float cosLSing = cosf(lat);
// prevent singularity
if (fabsf(cosLSing) < 0.01f) {
if (cosLSing > 0) cosLSing = 0.01;
else cosLSing = -0.01;
}
// attitude prediction
if (_attitudeInitialized) {
Vector3 w(_sensors.gyro_rad_s);
// attitude
q = q + q.derivative(w) * dt;
// renormalize quaternion if needed
if (fabsf(q.norm() - 1.0f) > 1e-4f) {
q = q.unit();
}
// C_nb update
C_nb = Dcm(q);
// euler update
EulerAngles euler(C_nb);
phi = euler.getPhi();
theta = euler.getTheta();
psi = euler.getPsi();
// specific acceleration in nav frame
Vector3 accelB(_sensors.accelerometer_m_s2);
Vector3 accelN = C_nb * accelB;
fN = accelN(0);
fE = accelN(1);
fD = accelN(2);
}
// position prediction
if (_positionInitialized) {
// neglects angular deflections in local gravity
// see Titerton pg. 70
float R = R0 + float(alt);
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -
vN * LDot + _g.get();
float vEDot = fE + vN * rotRate * sinL +
vDDot * rotRate * cosL;
// rectangular integration
vN += vNDot * dt;
vE += vEDot * dt;
vD += vDDot * dt;
lat += double(LDot * dt);
lon += double(lDot * dt);
alt += double(-vD * dt);
}
return ret_ok;
}
int KalmanNav::predictStateCovariance(float dt)
{
using namespace math;
// trig
float sinL = sinf(lat);
float cosL = cosf(lat);
float cosLSq = cosL * cosL;
float tanL = tanf(lat);
// prepare for matrix
float R = R0 + float(alt);
float RSq = R * R;
// F Matrix
// Titterton pg. 291
F(0, 1) = -(omega * sinL + vE * tanL / R);
F(0, 2) = vN / R;
F(0, 4) = 1.0f / R;
F(0, 6) = -omega * sinL;
F(0, 8) = -vE / RSq;
F(1, 0) = omega * sinL + vE * tanL / R;
F(1, 2) = omega * cosL + vE / R;
F(1, 3) = -1.0f / R;
F(1, 8) = vN / RSq;
F(2, 0) = -vN / R;
F(2, 1) = -omega * cosL - vE / R;
F(2, 4) = -tanL / R;
F(2, 6) = -omega * cosL - vE / (R * cosLSq);
F(2, 8) = vE * tanL / RSq;
F(3, 1) = -fD;
F(3, 2) = fE;
F(3, 3) = vD / R;
F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
F(3, 5) = vN / R;
F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
F(4, 0) = fD;
F(4, 2) = -fN;
F(4, 3) = 2 * omega * sinL + vE * tanL / R;
F(4, 4) = (vN * tanL + vD) / R;
F(4, 5) = 2 * omega * cosL + vE / R;
F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
vN * vE / (R * cosLSq);
F(4, 8) = -vE * (vN * tanL + vD) / RSq;
F(5, 0) = -fE;
F(5, 1) = fN;
F(5, 3) = -2 * vN / R;
F(5, 4) = -2 * (omega * cosL + vE / R);
F(5, 6) = 2 * omega * vE * sinL;
F(5, 8) = (vN * vN + vE * vE) / RSq;
F(6, 3) = 1 / R;
F(6, 8) = -vN / RSq;
F(7, 4) = 1 / (R * cosL);
F(7, 6) = vE * tanL / (R * cosL);
F(7, 8) = -vE / (cosL * RSq);
F(8, 5) = -1;
// G Matrix
// Titterton pg. 291
G(0, 0) = -C_nb(0, 0);
G(0, 1) = -C_nb(0, 1);
G(0, 2) = -C_nb(0, 2);
G(1, 0) = -C_nb(1, 0);
G(1, 1) = -C_nb(1, 1);
G(1, 2) = -C_nb(1, 2);
G(2, 0) = -C_nb(2, 0);
G(2, 1) = -C_nb(2, 1);
G(2, 2) = -C_nb(2, 2);
G(3, 3) = C_nb(0, 0);
G(3, 4) = C_nb(0, 1);
G(3, 5) = C_nb(0, 2);
G(4, 3) = C_nb(1, 0);
G(4, 4) = C_nb(1, 1);
G(4, 5) = C_nb(1, 2);
G(5, 3) = C_nb(2, 0);
G(5, 4) = C_nb(2, 1);
G(5, 5) = C_nb(2, 2);
// continuous predictioon equations
// for discrte time EKF
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
return ret_ok;
}
int KalmanNav::correctAtt()
{
using namespace math;
// trig
float cosPhi = cosf(phi);
float cosTheta = cosf(theta);
float cosPsi = cosf(psi);
float sinPhi = sinf(phi);
float sinTheta = sinf(theta);
float sinPsi = sinf(psi);
// mag measurement
Vector3 zMag(_sensors.magnetometer_ga);
//float magNorm = zMag.norm();
zMag = zMag.unit();
// mag predicted measurement
// choosing some typical magnetic field properties,
// TODO dip/dec depend on lat/ lon/ time
float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
float bN = cosf(dip) * cosf(dec);
float bE = cosf(dip) * sinf(dec);
float bD = sinf(dip);
Vector3 bNav(bN, bE, bD);
Vector3 zMagHat = (C_nb.transpose() * bNav).unit();
// accel measurement
Vector3 zAccel(_sensors.accelerometer_m_s2);
float accelMag = zAccel.norm();
zAccel = zAccel.unit();
// ignore accel correction when accel mag not close to g
Matrix RAttAdjust = RAtt;
bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
if (ignoreAccel) {
RAttAdjust(3, 3) = 1.0e10;
RAttAdjust(4, 4) = 1.0e10;
RAttAdjust(5, 5) = 1.0e10;
} else {
//printf("correcting attitude with accel\n");
}
// accel predicted measurement
Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
// combined measurement
Vector zAtt(6);
Vector zAttHat(6);
for (int i = 0; i < 3; i++) {
zAtt(i) = zMag(i);
zAtt(i + 3) = zAccel(i);
zAttHat(i) = zMagHat(i);
zAttHat(i + 3) = zAccelHat(i);
}
// HMag , HAtt (0-2,:)
float tmp1 =
cosPsi * cosTheta * bN +
sinPsi * cosTheta * bE -
sinTheta * bD;
HAtt(0, 1) = -(
cosPsi * sinTheta * bN +
sinPsi * sinTheta * bE +
cosTheta * bD
);
HAtt(0, 2) = -cosTheta * (sinPsi * bN - cosPsi * bE);
HAtt(1, 0) =
(cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bN +
(cosPhi * sinPsi * sinTheta - sinPhi * cosPsi) * bE +
cosPhi * cosTheta * bD;
HAtt(1, 1) = sinPhi * tmp1;
HAtt(1, 2) = -(
(sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bN -
(sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bE
);
HAtt(2, 0) = -(
(sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bN +
(sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bE +
(sinPhi * cosTheta) * bD
);
HAtt(2, 1) = cosPhi * tmp1;
HAtt(2, 2) = -(
(cosPhi * sinPsi * sinTheta - sinPhi * cosTheta) * bN -
(cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bE
);
// HAccel , HAtt (3-5,:)
HAtt(3, 1) = cosTheta;
HAtt(4, 0) = -cosPhi * cosTheta;
HAtt(4, 1) = sinPhi * sinTheta;
HAtt(5, 0) = sinPhi * cosTheta;
HAtt(5, 1) = cosPhi * sinTheta;
// compute correction
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
Vector y = zAtt - zAttHat; // residual
Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance
Matrix K = P * HAtt.transpose() * S.inverse();
Vector xCorrect = K * y;
// check correciton is sane
for (size_t i = 0; i < xCorrect.getRows(); i++) {
float val = xCorrect(i);
if (isnan(val) || isinf(val)) {
// abort correction and return
printf("[kalman_demo] numerical failure in att correction\n");
// reset P matrix to P0
P = P0;
return ret_error;
}
}
// correct state
if (!ignoreAccel) {
phi += xCorrect(PHI);
theta += xCorrect(THETA);
}
psi += xCorrect(PSI);
// attitude also affects nav velocities
if (_positionInitialized) {
vN += xCorrect(VN);
vE += xCorrect(VE);
vD += xCorrect(VD);
}
// update state covariance
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P - K * HAtt * P;
// fault detection
float beta = y.dot(S.inverse() * y);
if (beta > _faultAtt.get()) {
printf("fault in attitude: beta = %8.4f\n", (double)beta);
printf("y:\n"); y.print();
printf("zMagHat:\n"); zMagHat.print();
printf("zMag:\n"); zMag.print();
printf("bNav:\n"); bNav.print();
}
// update quaternions from euler
// angle correction
q = Quaternion(EulerAngles(phi, theta, psi));
return ret_ok;
}
int KalmanNav::correctPos()
{
using namespace math;
// residual
Vector y(6);
y(0) = _gps.vel_n_m_s - vN;
y(1) = _gps.vel_e_m_s - vE;
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
y(4) = double(_gps.alt) / 1.0e3 - alt;
y(5) = double(_sensors.baro_alt_meter) - alt;
// compute correction
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance
Matrix K = P * HPos.transpose() * S.inverse();
Vector xCorrect = K * y;
// check correction is sane
for (size_t i = 0; i < xCorrect.getRows(); i++) {
float val = xCorrect(i);
if (isnan(val) || isinf(val)) {
// abort correction and return
printf("[kalman_demo] numerical failure in gps correction\n");
// fallback to GPS
vN = _gps.vel_n_m_s;
vE = _gps.vel_e_m_s;
vD = _gps.vel_d_m_s;
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
// reset P matrix to P0
P = P0;
return ret_error;
}
}
// correct state
vN += xCorrect(VN);
vE += xCorrect(VE);
vD += xCorrect(VD);
lat += double(xCorrect(LAT));
lon += double(xCorrect(LON));
alt += double(xCorrect(ALT));
// update state covariance
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P - K * HPos * P;
// fault detetcion
float beta = y.dot(S.inverse() * y);
if (beta > _faultPos.get()) {
printf("fault in gps: beta = %8.4f\n", (double)beta);
printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(y(0) / sqrtf(RPos(0, 0))),
double(y(1) / sqrtf(RPos(1, 1))),
double(y(2) / sqrtf(RPos(2, 2))),
double(y(3) / sqrtf(RPos(3, 3))),
double(y(4) / sqrtf(RPos(4, 4))),
double(y(5) / sqrtf(RPos(5, 5))));
}
return ret_ok;
}
void KalmanNav::updateParams()
{
using namespace math;
using namespace control;
SuperBlock::updateParams();
// gyro noise
V(0, 0) = _vGyro.get(); // gyro x, rad/s
V(1, 1) = _vGyro.get(); // gyro y
V(2, 2) = _vGyro.get(); // gyro z
// accel noise
V(3, 3) = _vAccel.get(); // accel x, m/s^2
V(4, 4) = _vAccel.get(); // accel y
V(5, 5) = _vAccel.get(); // accel z
// magnetometer noise
float noiseMin = 1e-6f;
float noiseMagSq = _rMag.get() * _rMag.get();
if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
RAtt(0, 0) = noiseMagSq; // normalized direction
RAtt(1, 1) = noiseMagSq;
RAtt(2, 2) = noiseMagSq;
// accelerometer noise
float noiseAccelSq = _rAccel.get() * _rAccel.get();
// bound noise to prevent singularities
if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
RAtt(3, 3) = noiseAccelSq; // normalized direction
RAtt(4, 4) = noiseAccelSq;
RAtt(5, 5) = noiseAccelSq;
// gps noise
float R = R0 + float(alt);
float cosLSing = cosf(lat);
// prevent singularity
if (fabsf(cosLSing) < 0.01f) {
if (cosLSing > 0) cosLSing = 0.01;
else cosLSing = -0.01;
}
float noiseVel = _rGpsVel.get();
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
float noiseGpsAlt = _rGpsAlt.get();
float noisePressAlt = _rPressAlt.get();
// bound noise to prevent singularities
if (noiseVel < noiseMin) noiseVel = noiseMin;
if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
RPos(0, 0) = noiseVel * noiseVel; // vn
RPos(1, 1) = noiseVel * noiseVel; // ve
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
// XXX, note that RPos depends on lat, so updateParams should
// be called if lat changes significantly
}
src/modules/att_pos_estimator_ekf/KalmanNav.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 KalmanNav.hpp
*
* kalman filter navigation code
*/
#pragma once
//#define MATRIX_ASSERT
//#define VECTOR_ASSERT
#include <nuttx/config.h>
#include <mathlib/mathlib.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <controllib/block/UOrbSubscription.hpp>
#include <controllib/block/UOrbPublication.hpp>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
#include <poll.h>
#include <unistd.h>
/**
* Kalman filter navigation class
* http://en.wikipedia.org/wiki/Extended_Kalman_filter
* Discrete-time extended Kalman filter
*/
class KalmanNav : public control::SuperBlock
{
public:
/**
* Constructor
*/
KalmanNav(SuperBlock *parent, const char *name);
/**
* Deconstuctor
*/
virtual ~KalmanNav() {};
/**
* The main callback function for the class
*/
void update();
/**
* Publication update
*/
virtual void updatePublications();
/**
* State prediction
* Continuous, non-linear
*/
int predictState(float dt);
/**
* State covariance prediction
* Continuous, linear
*/
int predictStateCovariance(float dt);
/**
* Attitude correction
*/
int correctAtt();
/**
* Position correction
*/
int correctPos();
/**
* Overloaded update parameters
*/
virtual void updateParams();
protected:
// kalman filter
math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */
math::Matrix G; /**< noise shaping matrix for gyro/accel */
math::Matrix P; /**< state covariance matrix */
math::Matrix P0; /**< initial state covariance matrix */
math::Matrix V; /**< gyro/ accel noise matrix */
math::Matrix HAtt; /**< attitude measurement matrix */
math::Matrix RAtt; /**< attitude measurement noise matrix */
math::Matrix HPos; /**< position measurement jacobian matrix */
math::Matrix RPos; /**< position measurement noise matrix */
// attitude
math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */
math::Quaternion q; /**< quaternion from body to nav frame */
// subscriptions
control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */
control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */
control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */
// publications
control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */
control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */
// time stamps
uint64_t _pubTimeStamp; /**< output data publication time stamp */
uint64_t _predictTimeStamp; /**< prediction time stamp */
uint64_t _attTimeStamp; /**< attitude correction time stamp */
uint64_t _outTimeStamp; /**< output time stamp */
// frame count
uint16_t _navFrames; /**< navigation frames completed in output cycle */
// miss counts
uint16_t _miss; /**< number of times fast prediction loop missed */
// accelerations
float fN, fE, fD; /**< navigation frame acceleration */
// states
enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */
float phi, theta, psi; /**< 3-2-1 euler angles */
float vN, vE, vD; /**< navigation velocity, m/s */
double lat, lon, alt; /**< lat, lon, alt, radians */
// parameters
control::BlockParam<float> _vGyro; /**< gyro process noise */
control::BlockParam<float> _vAccel; /**< accelerometer process noise */
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
control::BlockParam<float> _g; /**< gravitational constant */
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */
// status
bool _attitudeInitialized;
bool _positionInitialized;
uint16_t _attitudeInitCounter;
// accessors
int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
int32_t getAltE3() { return int32_t(alt * 1.0e3); }
void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
};
src/modules/att_pos_estimator_ekf/kalman_main.cpp
+152
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Example User <mail@example.com>
*
* 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 PX4 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 kalman_demo.cpp
* Demonstration of control library
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "KalmanNav.hpp"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int kalman_demo_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int att_pos_estimator_ekf_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("kalman_demo already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("kalman_demo",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4096,
kalman_demo_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tkalman_demo app is running\n");
} else {
printf("\tkalman_demo app not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int kalman_demo_thread_main(int argc, char *argv[])
{
printf("[kalman_demo] starting\n");
using namespace math;
thread_running = true;
KalmanNav nav(NULL, "KF");
while (!thread_should_exit) {
nav.update();
}
printf("[kalman_demo] exiting.\n");
thread_running = false;
return 0;
}
src/modules/att_pos_estimator_ekf/module.mk
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Full attitude / position Extended Kalman Filter
#
MODULE_COMMAND = att_pos_estimator_ekf
# XXX this might be intended for the spawned deamon, validate
MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
SRCS = kalman_main.cpp \
KalmanNav.cpp \
params.c
src/modules/att_pos_estimator_ekf/params.c
+16
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#include <systemlib/param/param.h>
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
Executable
+471
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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 attitude_estimator_ekf_main.c
*
* Extended Kalman Filter for Attitude Estimation.
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <poll.h>
#include <fcntl.h>
#include <float.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
#endif
extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */
/**
* Mainloop of attitude_estimator_ekf.
*/
int attitude_estimator_ekf_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The attitude_estimator_ekf app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int attitude_estimator_ekf_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("attitude_estimator_ekf already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
12400,
attitude_estimator_ekf_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_ekf app is running\n");
} else {
printf("\tattitude_estimator_ekf app not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
/*
* [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
*/
/*
* EKF Attitude Estimator main function.
*
* Estimates the attitude recursively once started.
*
* @param argc number of commandline arguments (plus command name)
* @param argv strings containing the arguments
*/
int attitude_estimator_ekf_thread_main(int argc, char *argv[])
{
const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
float dt = 0.005f;
/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */
float x_aposteriori_k[12]; /**< states */
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, 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,
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, 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, 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 */
float x_aposteriori[12];
float P_aposteriori[144];
/* output euler angles */
float euler[3] = {0.0f, 0.0f, 0.0f};
float Rot_matrix[9] = {1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
}; /**< init: identity matrix */
// print text
printf("Extended Kalman Filter Attitude Estimator initialized..\n\n");
fflush(stdout);
int overloadcounter = 19;
/* Initialize filter */
attitudeKalmanfilter_initialize();
/* store start time to guard against too slow update rates */
uint64_t last_run = hrt_absolute_time();
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
uint64_t last_data = 0;
uint64_t last_measurement = 0;
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 200Hz */
orb_set_interval(sub_raw, 4);
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
/* subscribe to system state*/
int sub_state = orb_subscribe(ORB_ID(vehicle_status));
/* advertise attitude */
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
int printcounter = 0;
thread_running = true;
/* advertise debug value */
// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
// orb_advert_t pub_dbg = -1;
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
// XXX write this out to perf regs
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_ekf_params ekf_params;
struct attitude_estimator_ekf_param_handles ekf_param_handles;
/* initialize parameter handles */
parameters_init(&ekf_param_handles);
uint64_t start_time = hrt_absolute_time();
bool initialized = false;
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* register the perf counter */
perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2];
fds[0].fd = sub_raw;
fds[0].events = POLLIN;
fds[1].fd = sub_params;
fds[1].events = POLLIN;
int ret = poll(fds, 2, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* check if we're in HIL - not getting sensor data is fine then */
orb_copy(ORB_ID(vehicle_status), sub_state, &state);
if (!state.flag_hil_enabled) {
fprintf(stderr,
"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
}
} else {
/* only update parameters if they changed */
if (fds[1].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), sub_params, &update);
/* update parameters */
parameters_update(&ekf_param_handles, &ekf_params);
}
/* only run filter if sensor values changed */
if (fds[0].revents & POLLIN) {
/* get latest measurements */
orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
if (!initialized) {
gyro_offsets[0] += raw.gyro_rad_s[0];
gyro_offsets[1] += raw.gyro_rad_s[1];
gyro_offsets[2] += raw.gyro_rad_s[2];
offset_count++;
if (hrt_absolute_time() - start_time > 3000000LL) {
initialized = true;
gyro_offsets[0] /= offset_count;
gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count;
}
} else {
perf_begin(ekf_loop_perf);
/* Calculate data time difference in seconds */
dt = (raw.timestamp - last_measurement) / 1000000.0f;
last_measurement = raw.timestamp;
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
z_k[1] = raw.gyro_rad_s[1] - gyro_offsets[1];
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
}
z_k[6] = raw.magnetometer_ga[0];
z_k[7] = raw.magnetometer_ga[1];
z_k[8] = raw.magnetometer_ga[2];
uint64_t now = hrt_absolute_time();
unsigned int time_elapsed = now - last_run;
last_run = now;
if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here
// if (overloadcounter == 20) {
// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
// overloadcounter = 0;
// }
overloadcounter++;
}
static bool const_initialized = false;
/* initialize with good values once we have a reasonable dt estimate */
if (!const_initialized && dt < 0.05f && dt > 0.005f) {
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2];
x_aposteriori_k[3] = 0.0f;
x_aposteriori_k[4] = 0.0f;
x_aposteriori_k[5] = 0.0f;
x_aposteriori_k[6] = z_k[3];
x_aposteriori_k[7] = z_k[4];
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;
}
/* do not execute the filter if not initialized */
if (!const_initialized) {
continue;
}
uint64_t timing_start = hrt_absolute_time();
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
euler, Rot_matrix, x_aposteriori, P_aposteriori);
/* swap values for next iteration, check for fatal inputs */
if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
} else {
/* due to inputs or numerical failure the output is invalid, skip it */
continue;
}
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;
/* send out */
att.timestamp = raw.timestamp;
// XXX Apply the same transformation to the rotation matrix
att.roll = euler[0] - ekf_params.roll_off;
att.pitch = euler[1] - ekf_params.pitch_off;
att.yaw = euler[2] - ekf_params.yaw_off;
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
att.yawspeed = x_aposteriori[2];
att.rollacc = x_aposteriori[3];
att.pitchacc = x_aposteriori[4];
att.yawacc = x_aposteriori[5];
//att.yawspeed =z_k[2] ;
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
/* copy rotation matrix */
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
att.R_valid = true;
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
} else {
warnx("NaN in roll/pitch/yaw estimate!");
}
perf_end(ekf_loop_perf);
}
}
}
loopcounter++;
}
thread_running = false;
return 0;
}
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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 attitude_estimator_ekf_params.c
*
* Parameters for EKF filter
*/
#include "attitude_estimator_ekf_params.h"
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
h->q0 = param_find("EKF_ATT_V2_Q0");
h->q1 = param_find("EKF_ATT_V2_Q1");
h->q2 = param_find("EKF_ATT_V2_Q2");
h->q3 = param_find("EKF_ATT_V2_Q3");
h->q4 = param_find("EKF_ATT_V2_Q4");
h->r0 = param_find("EKF_ATT_V2_R0");
h->r1 = param_find("EKF_ATT_V2_R1");
h->r2 = param_find("EKF_ATT_V2_R2");
h->r3 = param_find("EKF_ATT_V2_R3");
h->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
return OK;
}
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
{
param_get(h->q0, &(p->q[0]));
param_get(h->q1, &(p->q[1]));
param_get(h->q2, &(p->q[2]));
param_get(h->q3, &(p->q[3]));
param_get(h->q4, &(p->q[4]));
param_get(h->r0, &(p->r[0]));
param_get(h->r1, &(p->r[1]));
param_get(h->r2, &(p->r[2]));
param_get(h->r3, &(p->r[3]));
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
return OK;
}
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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 attitude_estimator_ekf_params.h
*
* Parameters for EKF filter
*/
#include <systemlib/param/param.h>
struct attitude_estimator_ekf_params {
float r[9];
float q[12];
float roll_off;
float pitch_off;
float yaw_off;
};
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3;
param_t q0, q1, q2, q3, q4;
param_t roll_off, pitch_off, yaw_off;
};
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct attitude_estimator_ekf_param_handles *h);
/**
* Update all parameters
*
*/
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p);
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
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src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
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/*
* attitudeKalmanfilter.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_H__
#define __ATTITUDEKALMANFILTER_H__
/* Include files */
#include <math.h>
#include <stddef.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 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], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);
#endif
/* End of code generation (attitudeKalmanfilter.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
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/*
* attitudeKalmanfilter_initialize.c
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_initialize.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_initialize(void)
{
rt_InitInfAndNaN(8U);
}
/* End of code generation (attitudeKalmanfilter_initialize.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
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/*
* attitudeKalmanfilter_initialize.h
*
* Code generation for function 'attitudeKalmanfilter_initialize'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__
#define __ATTITUDEKALMANFILTER_INITIALIZE_H__
/* Include files */
#include <math.h>
#include <stddef.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 attitudeKalmanfilter_initialize(void);
#endif
/* End of code generation (attitudeKalmanfilter_initialize.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
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/*
* attitudeKalmanfilter_terminate.c
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "attitudeKalmanfilter_terminate.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void attitudeKalmanfilter_terminate(void)
{
/* (no terminate code required) */
}
/* End of code generation (attitudeKalmanfilter_terminate.c) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
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/*
* attitudeKalmanfilter_terminate.h
*
* Code generation for function 'attitudeKalmanfilter_terminate'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__
#define __ATTITUDEKALMANFILTER_TERMINATE_H__
/* Include files */
#include <math.h>
#include <stddef.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 attitudeKalmanfilter_terminate(void);
#endif
/* End of code generation (attitudeKalmanfilter_terminate.h) */
src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
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/*
* attitudeKalmanfilter_types.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __ATTITUDEKALMANFILTER_TYPES_H__
#define __ATTITUDEKALMANFILTER_TYPES_H__
/* Type Definitions */
#endif
/* End of code generation (attitudeKalmanfilter_types.h) */
src/modules/attitude_estimator_ekf/codegen/cross.c
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/*
* cross.c
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* 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) */
src/modules/attitude_estimator_ekf/codegen/cross.h
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/*
* cross.h
*
* Code generation for function 'cross'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __CROSS_H__
#define __CROSS_H__
/* Include files */
#include <math.h>
#include <stddef.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) */
src/modules/attitude_estimator_ekf/codegen/eye.c
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/*
* eye.c
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "eye.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_eye(real_T I[144])
{
int32_T i;
memset(&I[0], 0, 144U * sizeof(real_T));
for (i = 0; i < 12; i++) {
I[i + 12 * i] = 1.0;
}
}
/*
*
*/
void eye(real_T I[9])
{
int32_T i;
memset(&I[0], 0, 9U * sizeof(real_T));
for (i = 0; i < 3; i++) {
I[i + 3 * i] = 1.0;
}
}
/* End of code generation (eye.c) */
src/modules/attitude_estimator_ekf/codegen/eye.h
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/*
* eye.h
*
* Code generation for function 'eye'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __EYE_H__
#define __EYE_H__
/* Include files */
#include <math.h>
#include <stddef.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 b_eye(real_T I[144]);
extern void eye(real_T I[9]);
#endif
/* End of code generation (eye.h) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.c
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/*
* mrdivide.c
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "mrdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
{
real32_T b_A[9];
int32_T rtemp;
int32_T k;
real32_T b_B[36];
int32_T r1;
int32_T r2;
int32_T r3;
real32_T maxval;
real32_T a21;
real32_T Y[36];
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 3; k++) {
b_A[k + 3 * rtemp] = B[rtemp + 3 * k];
}
}
for (rtemp = 0; rtemp < 12; rtemp++) {
for (k = 0; k < 3; k++) {
b_B[k + 3 * rtemp] = A[rtemp + 12 * k];
}
}
r1 = 0;
r2 = 1;
r3 = 2;
maxval = (real32_T)fabs(b_A[0]);
a21 = (real32_T)fabs(b_A[1]);
if (a21 > maxval) {
maxval = a21;
r1 = 1;
r2 = 0;
}
if ((real32_T)fabs(b_A[2]) > maxval) {
r1 = 2;
r2 = 1;
r3 = 0;
}
b_A[r2] /= b_A[r1];
b_A[r3] /= b_A[r1];
b_A[3 + r2] -= b_A[r2] * b_A[3 + r1];
b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
rtemp = r2;
r2 = r3;
r3 = rtemp;
}
b_A[3 + r3] /= b_A[3 + r2];
b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2];
for (k = 0; k < 12; k++) {
Y[3 * k] = b_B[r1 + 3 * k];
Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2];
Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3
+ r3];
Y[2 + 3 * k] /= b_A[6 + r3];
Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1];
Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2];
Y[1 + 3 * k] /= b_A[3 + r2];
Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1];
Y[3 * k] /= b_A[r1];
}
for (rtemp = 0; rtemp < 3; rtemp++) {
for (k = 0; k < 12; k++) {
y[k + 12 * rtemp] = Y[rtemp + 3 * k];
}
}
}
/*
*
*/
void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
{
real32_T b_A[36];
int8_T ipiv[6];
int32_T i3;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[72];
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 6; iy++) {
b_A[iy + 6 * i3] = B[i3 + 6 * iy];
}
ipiv[i3] = (int8_T)(1 + i3);
}
for (j = 0; j < 5; j++) {
c = j * 7;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 6 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 6; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 6;
iy += 6;
}
}
i3 = (c - j) + 6;
for (jy = c + 1; jy + 1 <= i3; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 6;
for (k = 1; k <= 5 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i3 = (iy - j) + 12;
for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 6;
iy += 6;
}
}
for (i3 = 0; i3 < 12; i3++) {
for (iy = 0; iy < 6; iy++) {
Y[iy + 6 * i3] = A[i3 + 12 * iy];
}
}
for (jy = 0; jy < 6; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 6 * j];
Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
Y[(ipiv[jy] + 6 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 0; k < 6; k++) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 7; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 5; k > -1; k += -1) {
iy = 6 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i3] = Y[i3 + 6 * iy];
}
}
}
/*
*
*/
void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
{
real32_T b_A[81];
int8_T ipiv[9];
int32_T i2;
int32_T iy;
int32_T j;
int32_T c;
int32_T ix;
real32_T temp;
int32_T k;
real32_T s;
int32_T jy;
int32_T ijA;
real32_T Y[108];
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 9; iy++) {
b_A[iy + 9 * i2] = B[i2 + 9 * iy];
}
ipiv[i2] = (int8_T)(1 + i2);
}
for (j = 0; j < 8; j++) {
c = j * 10;
iy = 0;
ix = c;
temp = (real32_T)fabs(b_A[c]);
for (k = 2; k <= 9 - j; k++) {
ix++;
s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
iy = k - 1;
temp = s;
}
}
if (b_A[c + iy] != 0.0F) {
if (iy != 0) {
ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
iy += j;
for (k = 0; k < 9; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
b_A[iy] = temp;
ix += 9;
iy += 9;
}
}
i2 = (c - j) + 9;
for (jy = c + 1; jy + 1 <= i2; jy++) {
b_A[jy] /= b_A[c];
}
}
iy = c;
jy = c + 9;
for (k = 1; k <= 8 - j; k++) {
temp = b_A[jy];
if (b_A[jy] != 0.0F) {
ix = c + 1;
i2 = (iy - j) + 18;
for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 9;
iy += 9;
}
}
for (i2 = 0; i2 < 12; i2++) {
for (iy = 0; iy < 9; iy++) {
Y[iy + 9 * i2] = A[i2 + 12 * iy];
}
}
for (jy = 0; jy < 9; jy++) {
if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
temp = Y[jy + 9 * j];
Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
Y[(ipiv[jy] + 9 * j) - 1] = temp;
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 0; k < 9; k++) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
for (jy = k + 2; jy < 10; jy++) {
Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
}
for (j = 0; j < 12; j++) {
c = 9 * j;
for (k = 8; k > -1; k += -1) {
iy = 9 * k;
if (Y[k + c] != 0.0F) {
Y[k + c] /= b_A[k + iy];
for (jy = 0; jy + 1 <= k; jy++) {
Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 12; iy++) {
y[iy + 12 * i2] = Y[i2 + 9 * iy];
}
}
}
/* End of code generation (mrdivide.c) */
src/modules/attitude_estimator_ekf/codegen/mrdivide.h
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/*
* mrdivide.h
*
* Code generation for function 'mrdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __MRDIVIDE_H__
#define __MRDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.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 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
/* End of code generation (mrdivide.h) */
src/modules/attitude_estimator_ekf/codegen/norm.c
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/*
* norm.c
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "norm.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
real32_T norm(const real32_T x[3])
{
real32_T y;
real32_T scale;
int32_T k;
real32_T absxk;
real32_T t;
y = 0.0F;
scale = 1.17549435E-38F;
for (k = 0; k < 3; k++) {
absxk = (real32_T)fabs(x[k]);
if (absxk > scale) {
t = scale / absxk;
y = 1.0F + y * t * t;
scale = absxk;
} else {
t = absxk / scale;
y += t * t;
}
}
return scale * (real32_T)sqrt(y);
}
/* End of code generation (norm.c) */
src/modules/attitude_estimator_ekf/codegen/norm.h
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/*
* norm.h
*
* Code generation for function 'norm'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __NORM_H__
#define __NORM_H__
/* Include files */
#include <math.h>
#include <stddef.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 real32_T norm(const real32_T x[3]);
#endif
/* End of code generation (norm.h) */
src/modules/attitude_estimator_ekf/codegen/rdivide.c
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/*
* rdivide.c
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "attitudeKalmanfilter.h"
#include "rdivide.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
/*
*
*/
void rdivide(const real32_T x[3], real32_T y, real32_T z[3])
{
int32_T i;
for (i = 0; i < 3; i++) {
z[i] = x[i] / y;
}
}
/* End of code generation (rdivide.c) */
src/modules/attitude_estimator_ekf/codegen/rdivide.h
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/*
* rdivide.h
*
* Code generation for function 'rdivide'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RDIVIDE_H__
#define __RDIVIDE_H__
/* Include files */
#include <math.h>
#include <stddef.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 rdivide(const real32_T x[3], real32_T y, real32_T z[3]);
#endif
/* End of code generation (rdivide.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.c
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/*
* rtGetInf.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, Inf and MinusInf
*/
#include "rtGetInf.h"
#define NumBitsPerChar 8U
/* Function: rtGetInf ==================================================
* Abstract:
* Initialize rtInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T inf = 0.0;
if (bitsPerReal == 32U) {
inf = rtGetInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
inf = tmpVal.fltVal;
break;
}
}
}
return inf;
}
/* Function: rtGetInfF ==================================================
* Abstract:
* Initialize rtInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetInfF(void)
{
IEEESingle infF;
infF.wordL.wordLuint = 0x7F800000U;
return infF.wordL.wordLreal;
}
/* Function: rtGetMinusInf ==================================================
* Abstract:
* Initialize rtMinusInf needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetMinusInf(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T minf = 0.0;
if (bitsPerReal == 32U) {
minf = rtGetMinusInfF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF00000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
minf = tmpVal.fltVal;
break;
}
}
}
return minf;
}
/* Function: rtGetMinusInfF ==================================================
* Abstract:
* Initialize rtMinusInfF needed by the generated code.
* Inf is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetMinusInfF(void)
{
IEEESingle minfF;
minfF.wordL.wordLuint = 0xFF800000U;
return minfF.wordL.wordLreal;
}
/* End of code generation (rtGetInf.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetInf.h
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/*
* rtGetInf.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETINF_H__
#define __RTGETINF_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetInf(void);
extern real32_T rtGetInfF(void);
extern real_T rtGetMinusInf(void);
extern real32_T rtGetMinusInfF(void);
#endif
/* End of code generation (rtGetInf.h) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c
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/*
* rtGetNaN.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finite, NaN
*/
#include "rtGetNaN.h"
#define NumBitsPerChar 8U
/* Function: rtGetNaN ==================================================
* Abstract:
* Initialize rtNaN needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real_T rtGetNaN(void)
{
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
real_T nan = 0.0;
if (bitsPerReal == 32U) {
nan = rtGetNaNF();
} else {
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
union {
LittleEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0xFFF80000U;
tmpVal.bitVal.words.wordL = 0x00000000U;
nan = tmpVal.fltVal;
break;
}
case BigEndian:
{
union {
BigEndianIEEEDouble bitVal;
real_T fltVal;
} tmpVal;
tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
nan = tmpVal.fltVal;
break;
}
}
}
return nan;
}
/* Function: rtGetNaNF ==================================================
* Abstract:
* Initialize rtNaNF needed by the generated code.
* NaN is initialized as non-signaling. Assumes IEEE.
*/
real32_T rtGetNaNF(void)
{
IEEESingle nanF = { { 0 } };
uint16_T one = 1U;
enum {
LittleEndian,
BigEndian
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
switch (machByteOrder) {
case LittleEndian:
{
nanF.wordL.wordLuint = 0xFFC00000U;
break;
}
case BigEndian:
{
nanF.wordL.wordLuint = 0x7FFFFFFFU;
break;
}
}
return nanF.wordL.wordLreal;
}
/* End of code generation (rtGetNaN.c) */
src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h
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/*
* rtGetNaN.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTGETNAN_H__
#define __RTGETNAN_H__
#include <stddef.h>
#include "rtwtypes.h"
#include "rt_nonfinite.h"
extern real_T rtGetNaN(void);
extern real32_T rtGetNaNF(void);
#endif
/* End of code generation (rtGetNaN.h) */
src/modules/attitude_estimator_ekf/codegen/rt_defines.h
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/*
* rt_defines.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#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) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c
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/*
* rt_nonfinite.c
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
/*
* Abstract:
* MATLAB for code generation function to initialize non-finites,
* (Inf, NaN and -Inf).
*/
#include "rt_nonfinite.h"
#include "rtGetNaN.h"
#include "rtGetInf.h"
real_T rtInf;
real_T rtMinusInf;
real_T rtNaN;
real32_T rtInfF;
real32_T rtMinusInfF;
real32_T rtNaNF;
/* Function: rt_InitInfAndNaN ==================================================
* Abstract:
* Initialize the rtInf, rtMinusInf, and rtNaN needed by the
* generated code. NaN is initialized as non-signaling. Assumes IEEE.
*/
void rt_InitInfAndNaN(size_t realSize)
{
(void) (realSize);
rtNaN = rtGetNaN();
rtNaNF = rtGetNaNF();
rtInf = rtGetInf();
rtInfF = rtGetInfF();
rtMinusInf = rtGetMinusInf();
rtMinusInfF = rtGetMinusInfF();
}
/* Function: rtIsInf ==================================================
* Abstract:
* Test if value is infinite
*/
boolean_T rtIsInf(real_T value)
{
return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
}
/* Function: rtIsInfF =================================================
* Abstract:
* Test if single-precision value is infinite
*/
boolean_T rtIsInfF(real32_T value)
{
return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
}
/* Function: rtIsNaN ==================================================
* Abstract:
* Test if value is not a number
*/
boolean_T rtIsNaN(real_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan(value)? TRUE:FALSE;
#else
return (value!=value)? 1U:0U;
#endif
}
/* Function: rtIsNaNF =================================================
* Abstract:
* Test if single-precision value is not a number
*/
boolean_T rtIsNaNF(real32_T value)
{
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
return _isnan((real_T)value)? true:false;
#else
return (value!=value)? 1U:0U;
#endif
}
/* End of code generation (rt_nonfinite.c) */
src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h
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/*
* rt_nonfinite.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RT_NONFINITE_H__
#define __RT_NONFINITE_H__
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
#include <float.h>
#endif
#include <stddef.h>
#include "rtwtypes.h"
extern real_T rtInf;
extern real_T rtMinusInf;
extern real_T rtNaN;
extern real32_T rtInfF;
extern real32_T rtMinusInfF;
extern real32_T rtNaNF;
extern void rt_InitInfAndNaN(size_t realSize);
extern boolean_T rtIsInf(real_T value);
extern boolean_T rtIsInfF(real32_T value);
extern boolean_T rtIsNaN(real_T value);
extern boolean_T rtIsNaNF(real32_T value);
typedef struct {
struct {
uint32_T wordH;
uint32_T wordL;
} words;
} BigEndianIEEEDouble;
typedef struct {
struct {
uint32_T wordL;
uint32_T wordH;
} words;
} LittleEndianIEEEDouble;
typedef struct {
union {
real32_T wordLreal;
uint32_T wordLuint;
} wordL;
} IEEESingle;
#endif
/* End of code generation (rt_nonfinite.h) */
src/modules/attitude_estimator_ekf/codegen/rtwtypes.h
Executable
+159
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@@ -0,0 +1,159 @@
/*
* rtwtypes.h
*
* Code generation for function 'attitudeKalmanfilter'
*
* C source code generated on: Sat Jan 19 15:25:29 2013
*
*/
#ifndef __RTWTYPES_H__
#define __RTWTYPES_H__
#ifndef TRUE
# define TRUE (1U)
#endif
#ifndef FALSE
# define FALSE (0U)
#endif
#ifndef __TMWTYPES__
#define __TMWTYPES__
#include <limits.h>
/*=======================================================================*
* Target hardware information
* Device type: Generic->MATLAB Host Computer
* Number of bits: char: 8 short: 16 int: 32
* long: 32 native word size: 32
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
* ulong_T, char_T and byte_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255))
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535))
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
#define MIN_uint32_T ((uint32_T)(0))
/* Logical type definitions */
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
# ifndef false
# define false (0U)
# endif
# ifndef true
# define true (1U)
# endif
#endif
/*
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
* for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable)
* including the null-termination character. Referenced by
* rt_logging.c and rt_matrx.c.
*/
#define TMW_NAME_LENGTH_MAX 64
#endif
#endif
/* End of code generation (rtwtypes.h) */
src/modules/attitude_estimator_ekf/module.mk
+52
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@@ -0,0 +1,52 @@
############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Attitude estimator (Extended Kalman Filter)
#
MODULE_COMMAND = attitude_estimator_ekf
SRCS = attitude_estimator_ekf_main.cpp \
attitude_estimator_ekf_params.c \
codegen/eye.c \
codegen/attitudeKalmanfilter.c \
codegen/mrdivide.c \
codegen/rdivide.c \
codegen/attitudeKalmanfilter_initialize.c \
codegen/attitudeKalmanfilter_terminate.c \
codegen/rt_nonfinite.c \
codegen/rtGetInf.c \
codegen/rtGetNaN.c \
codegen/norm.c \
codegen/cross.c
src/modules/commander/accelerometer_calibration.c
+414
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@@ -0,0 +1,414 @@
/*
* accelerometer_calibration.c
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* Transform acceleration vector to true orientation and scale
*
* * * * Model * * *
* accel_corr = accel_T * (accel_raw - accel_offs)
*
* accel_corr[3] - fully corrected acceleration vector in body frame
* accel_T[3][3] - accelerometers transform matrix, rotation and scaling transform
* accel_raw[3] - raw acceleration vector
* accel_offs[3] - acceleration offset vector
*
* * * * Calibration * * *
*
* Reference vectors
* accel_corr_ref[6][3] = [ g 0 0 ] // nose up
* | -g 0 0 | // nose down
* | 0 g 0 | // left side down
* | 0 -g 0 | // right side down
* | 0 0 g | // on back
* [ 0 0 -g ] // level
* accel_raw_ref[6][3]
*
* accel_corr_ref[i] = accel_T * (accel_raw_ref[i] - accel_offs), i = 0...5
*
* 6 reference vectors * 3 axes = 18 equations
* 9 (accel_T) + 3 (accel_offs) = 12 unknown constants
*
* Find accel_offs
*
* accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
*
*
* Find accel_T
*
* 9 unknown constants
* need 9 equations -> use 3 of 6 measurements -> 3 * 3 = 9 equations
*
* accel_corr_ref[i*2] = accel_T * (accel_raw_ref[i*2] - accel_offs), i = 0...2
*
* Solve separate system for each row of accel_T:
*
* accel_corr_ref[j*2][i] = accel_T[i] * (accel_raw_ref[j*2] - accel_offs), j = 0...2
*
* A * x = b
*
* x = [ accel_T[0][i] ]
* | accel_T[1][i] |
* [ accel_T[2][i] ]
*
* b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough
* | accel_corr_ref[2][i] |
* [ accel_corr_ref[4][i] ]
*
* a[i][j] = accel_raw_ref[i][j] - accel_offs[j], i = 0;2;4, j = 0...2
*
* Matrix A is common for all three systems:
* A = [ a[0][0] a[0][1] a[0][2] ]
* | a[2][0] a[2][1] a[2][2] |
* [ a[4][0] a[4][1] a[4][2] ]
*
* x = A^-1 * b
*
* accel_T = A^-1 * g
* g = 9.80665
*/
#include "accelerometer_calibration.h"
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_accel.h>
#include <systemlib/conversions.h>
#include <mavlink/mavlink_log.h>
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
int detect_orientation(int mavlink_fd, int sub_sensor_combined);
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
int mat_invert3(float src[3][3], float dst[3][3]);
int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) {
/* announce change */
mavlink_log_info(mavlink_fd, "accel calibration started");
/* set to accel calibration mode */
status->flag_preflight_accel_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
/* measure and calculate offsets & scales */
float accel_offs[3];
float accel_scale[3];
int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale);
if (res == OK) {
/* measurements complete successfully, set parameters */
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
}
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offs[0],
accel_scale[0],
accel_offs[1],
accel_scale[1],
accel_offs[2],
accel_scale[2],
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
}
mavlink_log_info(mavlink_fd, "accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
/* measurements error */
mavlink_log_info(mavlink_fd, "accel calibration aborted");
tune_error();
sleep(2);
}
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
}
int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) {
const int samples_num = 2500;
float accel_ref[6][3];
bool data_collected[6] = { false, false, false, false, false, false };
const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
/* reset existing calibration */
int fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
close(fd);
if (OK != ioctl_res) {
warn("ERROR: failed to set scale / offsets for accel");
return ERROR;
}
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
while (true) {
bool done = true;
char str[80];
int str_ptr;
str_ptr = sprintf(str, "keep vehicle still:");
for (int i = 0; i < 6; i++) {
if (!data_collected[i]) {
str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
done = false;
}
}
if (done)
break;
mavlink_log_info(mavlink_fd, str);
int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
if (orient < 0)
return ERROR;
sprintf(str, "meas started: %s", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]);
mavlink_log_info(mavlink_fd, str);
data_collected[orient] = true;
tune_confirm();
}
close(sensor_combined_sub);
/* calculate offsets and rotation+scale matrix */
float accel_T[3][3];
int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
if (res != 0) {
mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error");
return ERROR;
}
/* convert accel transform matrix to scales,
* rotation part of transform matrix is not used by now
*/
for (int i = 0; i < 3; i++) {
accel_scale[i] = accel_T[i][i];
}
return OK;
}
/*
* Wait for vehicle become still and detect it's orientation.
*
* @return 0..5 according to orientation when vehicle is still and ready for measurements,
* ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
*/
int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
struct sensor_combined_s sensor;
/* exponential moving average of accel */
float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
/* max-hold dispersion of accel */
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
/* EMA time constant in seconds*/
float ema_len = 0.2f;
/* set "still" threshold to 0.1 m/s^2 */
float still_thr2 = pow(0.1f, 2);
/* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f;
/* still time required in us */
int64_t still_time = 2000000;
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
hrt_abstime t_start = hrt_absolute_time();
/* set timeout to 30s */
hrt_abstime timeout = 30000000;
hrt_abstime t_timeout = t_start + timeout;
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0;
while (true) {
/* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
t = hrt_absolute_time();
float dt = (t - t_prev) / 1000000.0f;
t_prev = t;
float w = dt / ema_len;
for (int i = 0; i < 3; i++) {
accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
d = d * d;
accel_disp[i] = accel_disp[i] * (1.0f - w);
if (d > accel_disp[i])
accel_disp[i] = d;
}
/* still detector with hysteresis */
if ( accel_disp[0] < still_thr2 &&
accel_disp[1] < still_thr2 &&
accel_disp[2] < still_thr2 ) {
/* is still now */
if (t_still == 0) {
/* first time */
mavlink_log_info(mavlink_fd, "still...");
t_still = t;
t_timeout = t + timeout;
} else {
/* still since t_still */
if ((int64_t) t - (int64_t) t_still > still_time) {
/* vehicle is still, exit from the loop to detection of its orientation */
break;
}
}
} else if ( accel_disp[0] > still_thr2 * 2.0f ||
accel_disp[1] > still_thr2 * 2.0f ||
accel_disp[2] > still_thr2 * 2.0f) {
/* not still, reset still start time */
if (t_still != 0) {
mavlink_log_info(mavlink_fd, "moving...");
t_still = 0;
}
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
return -3;
}
if (t > t_timeout) {
mavlink_log_info(mavlink_fd, "ERROR: timeout");
return -1;
}
}
if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 0; // [ g, 0, 0 ]
if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 1; // [ -g, 0, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 2; // [ 0, g, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
fabs(accel_ema[2]) < accel_err_thr )
return 3; // [ 0, -g, 0 ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr )
return 4; // [ 0, 0, g ]
if ( fabs(accel_ema[0]) < accel_err_thr &&
fabs(accel_ema[1]) < accel_err_thr &&
fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr )
return 5; // [ 0, 0, -g ]
mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
return -2; // Can't detect orientation
}
/*
* Read specified number of accelerometer samples, calculate average and dispersion.
*/
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } };
int count = 0;
float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
while (count < samples_num) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret == 1) {
struct sensor_combined_s sensor;
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
for (int i = 0; i < 3; i++)
accel_sum[i] += sensor.accelerometer_m_s2[i];
count++;
} else {
return ERROR;
}
}
for (int i = 0; i < 3; i++) {
accel_avg[i] = accel_sum[i] / count;
}
return OK;
}
int mat_invert3(float src[3][3], float dst[3][3]) {
float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
if (det == 0.0)
return ERROR; // Singular matrix
dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
dst[2][0] = (src[1][0] * src[2][1] - src[1][1] * src[2][0]) / det;
dst[0][1] = (src[0][2] * src[2][1] - src[0][1] * src[2][2]) / det;
dst[1][1] = (src[0][0] * src[2][2] - src[0][2] * src[2][0]) / det;
dst[2][1] = (src[0][1] * src[2][0] - src[0][0] * src[2][1]) / det;
dst[0][2] = (src[0][1] * src[1][2] - src[0][2] * src[1][1]) / det;
dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det;
dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det;
return OK;
}
int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
/* calculate offsets */
for (int i = 0; i < 3; i++) {
accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
}
/* fill matrix A for linear equations system*/
float mat_A[3][3];
memset(mat_A, 0, sizeof(mat_A));
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
float a = accel_ref[i * 2][j] - accel_offs[j];
mat_A[i][j] = a;
}
}
/* calculate inverse matrix for A */
float mat_A_inv[3][3];
if (mat_invert3(mat_A, mat_A_inv) != OK)
return ERROR;
/* copy results to accel_T */
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
/* simplify matrices mult because b has only one non-zero element == g at index i */
accel_T[j][i] = mat_A_inv[j][i] * g;
}
}
return OK;
}
src/modules/commander/accelerometer_calibration.h
+16
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/*
* accelerometer_calibration.h
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#ifndef ACCELEROMETER_CALIBRATION_H_
#define ACCELEROMETER_CALIBRATION_H_
#include <stdint.h>
#include <uORB/topics/vehicle_status.h>
void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
#endif /* ACCELEROMETER_CALIBRATION_H_ */
src/modules/commander/calibration_routines.c
+219
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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 calibration_routines.c
* Calibration routines implementations.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <math.h>
#include "calibration_routines.h"
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius)
{
float x_sumplain = 0.0f;
float x_sumsq = 0.0f;
float x_sumcube = 0.0f;
float y_sumplain = 0.0f;
float y_sumsq = 0.0f;
float y_sumcube = 0.0f;
float z_sumplain = 0.0f;
float z_sumsq = 0.0f;
float z_sumcube = 0.0f;
float xy_sum = 0.0f;
float xz_sum = 0.0f;
float yz_sum = 0.0f;
float x2y_sum = 0.0f;
float x2z_sum = 0.0f;
float y2x_sum = 0.0f;
float y2z_sum = 0.0f;
float z2x_sum = 0.0f;
float z2y_sum = 0.0f;
for (unsigned int i = 0; i < size; i++) {
float x2 = x[i] * x[i];
float y2 = y[i] * y[i];
float z2 = z[i] * z[i];
x_sumplain += x[i];
x_sumsq += x2;
x_sumcube += x2 * x[i];
y_sumplain += y[i];
y_sumsq += y2;
y_sumcube += y2 * y[i];
z_sumplain += z[i];
z_sumsq += z2;
z_sumcube += z2 * z[i];
xy_sum += x[i] * y[i];
xz_sum += x[i] * z[i];
yz_sum += y[i] * z[i];
x2y_sum += x2 * y[i];
x2z_sum += x2 * z[i];
y2x_sum += y2 * x[i];
y2z_sum += y2 * z[i];
z2x_sum += z2 * x[i];
z2y_sum += z2 * y[i];
}
//
//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
//
// P is a structure that has been computed with the data earlier.
// P.npoints is the number of elements; the length of X,Y,Z are identical.
// P's members are logically named.
//
// X[n] is the x component of point n
// Y[n] is the y component of point n
// Z[n] is the z component of point n
//
// A is the x coordiante of the sphere
// B is the y coordiante of the sphere
// C is the z coordiante of the sphere
// Rsq is the radius squared of the sphere.
//
//This method should converge; maybe 5-100 iterations or more.
//
float x_sum = x_sumplain / size; //sum( X[n] )
float x_sum2 = x_sumsq / size; //sum( X[n]^2 )
float x_sum3 = x_sumcube / size; //sum( X[n]^3 )
float y_sum = y_sumplain / size; //sum( Y[n] )
float y_sum2 = y_sumsq / size; //sum( Y[n]^2 )
float y_sum3 = y_sumcube / size; //sum( Y[n]^3 )
float z_sum = z_sumplain / size; //sum( Z[n] )
float z_sum2 = z_sumsq / size; //sum( Z[n]^2 )
float z_sum3 = z_sumcube / size; //sum( Z[n]^3 )
float XY = xy_sum / size; //sum( X[n] * Y[n] )
float XZ = xz_sum / size; //sum( X[n] * Z[n] )
float YZ = yz_sum / size; //sum( Y[n] * Z[n] )
float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] )
float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] )
float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] )
float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] )
float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] )
float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] )
//Reduction of multiplications
float F0 = x_sum2 + y_sum2 + z_sum2;
float F1 = 0.5f * F0;
float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
//Set initial conditions:
float A = x_sum;
float B = y_sum;
float C = z_sum;
//First iteration computation:
float A2 = A * A;
float B2 = B * B;
float C2 = C * C;
float QS = A2 + B2 + C2;
float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
//Set initial conditions:
float Rsq = F0 + QB + QS;
//First iteration computation:
float Q0 = 0.5f * (QS - Rsq);
float Q1 = F1 + Q0;
float Q2 = 8.0f * (QS - Rsq + QB + F0);
float aA, aB, aC, nA, nB, nC, dA, dB, dC;
//Iterate N times, ignore stop condition.
int n = 0;
while (n < max_iterations) {
n++;
//Compute denominator:
aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
aA = (aA == 0.0f) ? 1.0f : aA;
aB = (aB == 0.0f) ? 1.0f : aB;
aC = (aC == 0.0f) ? 1.0f : aC;
//Compute next iteration
nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
//Check for stop condition
dA = (nA - A);
dB = (nB - B);
dC = (nC - C);
if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
//Compute next iteration's values
A = nA;
B = nB;
C = nC;
A2 = A * A;
B2 = B * B;
C2 = C * C;
QS = A2 + B2 + C2;
QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
Rsq = F0 + QB + QS;
Q0 = 0.5f * (QS - Rsq);
Q1 = F1 + Q0;
Q2 = 8.0f * (QS - Rsq + QB + F0);
}
*sphere_x = A;
*sphere_y = B;
*sphere_z = C;
*sphere_radius = sqrtf(Rsq);
return 0;
}
src/modules/commander/calibration_routines.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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 calibration_routines.h
* Calibration routines definitions.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/**
* Least-squares fit of a sphere to a set of points.
*
* Fits a sphere to a set of points on the sphere surface.
*
* @param x point coordinates on the X axis
* @param y point coordinates on the Y axis
* @param z point coordinates on the Z axis
* @param size number of points
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
* @param sphere_x coordinate of the sphere center on the X axis
* @param sphere_y coordinate of the sphere center on the Y axis
* @param sphere_z coordinate of the sphere center on the Z axis
* @param sphere_radius sphere radius
*
* @return 0 on success, 1 on failure
*/
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
src/modules/commander/commander.c
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src/modules/commander/commander.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 PX4 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 commander.h
* Main system state machine definition.
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
*/
#ifndef COMMANDER_H_
#define COMMANDER_H_
#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f
#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f
void tune_confirm(void);
void tune_error(void);
#endif /* COMMANDER_H_ */
src/modules/commander/module.mk
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Main system state machine
#
MODULE_COMMAND = commander
SRCS = commander.c \
state_machine_helper.c \
calibration_routines.c \
accelerometer_calibration.c
src/modules/commander/state_machine_helper.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 PX4 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 state_machine_helper.c
* State machine helper functions implementations
*/
#include <stdio.h>
#include <unistd.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
static const char *system_state_txt[] = {
"SYSTEM_STATE_PREFLIGHT",
"SYSTEM_STATE_STANDBY",
"SYSTEM_STATE_GROUND_READY",
"SYSTEM_STATE_MANUAL",
"SYSTEM_STATE_STABILIZED",
"SYSTEM_STATE_AUTO",
"SYSTEM_STATE_MISSION_ABORT",
"SYSTEM_STATE_EMCY_LANDING",
"SYSTEM_STATE_EMCY_CUTOFF",
"SYSTEM_STATE_GROUND_ERROR",
"SYSTEM_STATE_REBOOT",
};
/**
* Transition from one state to another
*/
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state)
{
int invalid_state = false;
int ret = ERROR;
commander_state_machine_t old_state = current_status->state_machine;
switch (new_state) {
case SYSTEM_STATE_MISSION_ABORT: {
/* Indoor or outdoor */
// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
// } else {
// ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
// }
}
break;
case SYSTEM_STATE_EMCY_LANDING:
/* Tell the controller to land */
/* set system flags according to state */
current_status->flag_system_armed = true;
warnx("EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!");
break;
case SYSTEM_STATE_EMCY_CUTOFF:
/* Tell the controller to cutoff the motors (thrust = 0) */
/* set system flags according to state */
current_status->flag_system_armed = false;
warnx("EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!");
break;
case SYSTEM_STATE_GROUND_ERROR:
/* set system flags according to state */
/* prevent actuators from arming */
current_status->flag_system_armed = false;
warnx("GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system");
break;
case SYSTEM_STATE_PREFLIGHT:
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state");
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state");
}
break;
case SYSTEM_STATE_REBOOT:
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
|| current_status->flag_hil_enabled) {
invalid_state = false;
/* set system flags according to state */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM");
usleep(500000);
up_systemreset();
/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
} else {
invalid_state = true;
mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT");
}
break;
case SYSTEM_STATE_STANDBY:
/* set system flags according to state */
/* standby enforces disarmed */
current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "Switched to STANDBY state");
break;
case SYSTEM_STATE_GROUND_READY:
/* set system flags according to state */
/* ground ready has motors / actuators armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state");
break;
case SYSTEM_STATE_AUTO:
/* set system flags according to state */
/* auto is airborne and in auto mode, motors armed */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode");
break;
case SYSTEM_STATE_STABILIZED:
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode");
break;
case SYSTEM_STATE_MANUAL:
/* set system flags according to state */
current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode");
break;
default:
invalid_state = true;
break;
}
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
ret = OK;
}
if (invalid_state) {
mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition");
ret = ERROR;
}
return ret;
}
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* publish the new state */
current_status->counter++;
current_status->timestamp = hrt_absolute_time();
/* assemble state vector based on flag values */
if (current_status->flag_control_rates_enabled) {
current_status->onboard_control_sensors_present |= 0x400;
} else {
current_status->onboard_control_sensors_present &= ~0x400;
}
current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0;
current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0;
orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]);
}
void publish_armed_status(const struct vehicle_status_s *current_status)
{
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
/* lock down actuators if required, only in HIL */
armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
}
/*
* Private functions, update the state machine
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
warnx("EMERGENCY HANDLER\n");
/* Depending on the current state go to one of the error states */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR);
} else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) {
// DO NOT abort mission
//do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT);
} else {
warnx("Unknown system state: #%d\n", current_status->state_machine);
}
}
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors
{
if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself
state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd);
} else {
//global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL);
}
}
// /*
// * Wrapper functions (to be used in the commander), all functions assume lock on current_status
// */
// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
// *
// * START SUBSYSTEM/EMERGENCY FUNCTIONS
// * */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was removed something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// }
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if a subsystem was disabled something went completely wrong */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// {
// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
// state_machine_emergency(status_pub, current_status);
// }
// }
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// current_status->onboard_control_sensors_health |= 1 << *subsystem_type;
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //TODO state machine change (recovering)
// break;
// case SUBSYSTEM_TYPE_ACC:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_MAG:
// //TODO state machine change
// break;
// case SUBSYSTEM_TYPE_GPS:
// //TODO state machine change
// break;
// default:
// break;
// }
// }
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
// {
// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type);
// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type);
// current_status->counter++;
// current_status->timestamp = hrt_absolute_time();
// orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */
// switch (*subsystem_type) {
// case SUBSYSTEM_TYPE_GYRO:
// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_ACC:
// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_MAG:
// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency_always_critical(status_pub, current_status);
// break;
// case SUBSYSTEM_TYPE_GPS:
// // //TODO: remove this block
// // break;
// // ///////////////////
// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL);
// // printf("previosly_healthy = %u\n", previosly_healthy);
// if (previosly_healthy) //only throw emergency if previously healthy
// state_machine_emergency(status_pub, current_status);
// break;
// default:
// break;
// }
// }
/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
/* Depending on the current state switch state */
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) {
state_machine_emergency(status_pub, current_status, mavlink_fd);
}
}
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
printf("[cmd] arming\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
}
}
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
printf("[cmd] going standby\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
} else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] MISSION ABORT!\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
}
}
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true;
/* set behaviour based on airframe */
if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
/* assuming a rotary wing, set to SAS */
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
} else {
/* assuming a fixed wing, set to direct pass-through */
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = false;
}
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] manual mode\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
}
}
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
int old_mode = current_status->flight_mode;
int old_manual_control_mode = current_status->manual_control_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_manual_enabled = true;
if (old_mode != current_status->flight_mode ||
old_manual_control_mode != current_status->manual_control_mode) {
printf("[cmd] att stabilized mode\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
}
void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (!current_status->flag_vector_flight_mode_ok) {
mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE");
tune_error();
return;
}
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
printf("[cmd] position guided mode\n");
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB;
current_status->flag_control_manual_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED);
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
if (!current_status->flag_vector_flight_mode_ok) {
mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE");
return;
}
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
printf("[cmd] auto mode\n");
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
}
}
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
{
uint8_t ret = 1;
/* Switch on HIL if in standby and not already in HIL mode */
if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
&& !current_status->flag_hil_enabled) {
if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
/* Enable HIL on request */
current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
publish_armed_status(current_status);
printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
current_status->flag_system_armed) {
mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
} else {
mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
}
}
/* switch manual / auto */
if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
}
/* vehicle is disarmed, mode requests arming */
if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only arm in standby state */
// XXX REMOVE
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
printf("[cmd] arming due to command request\n");
}
}
/* vehicle is armed, mode requests disarming */
if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only disarm in ground ready */
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
ret = OK;
printf("[cmd] disarming due to command request\n");
}
}
/* NEVER actually switch off HIL without reboot */
if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
ret = ERROR;
}
return ret;
}
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations
{
commander_state_machine_t current_system_state = current_status->state_machine;
uint8_t ret = 1;
switch (custom_mode) {
case SYSTEM_STATE_GROUND_READY:
break;
case SYSTEM_STATE_STANDBY:
break;
case SYSTEM_STATE_REBOOT:
printf("try to reboot\n");
if (current_system_state == SYSTEM_STATE_STANDBY
|| current_system_state == SYSTEM_STATE_PREFLIGHT
|| current_status->flag_hil_enabled) {
printf("system will reboot\n");
mavlink_log_critical(mavlink_fd, "Rebooting..");
usleep(200000);
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT);
ret = 0;
}
break;
case SYSTEM_STATE_AUTO:
printf("try to switch to auto/takeoff\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO);
printf("state: auto\n");
ret = 0;
}
break;
case SYSTEM_STATE_MANUAL:
printf("try to switch to manual\n");
if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) {
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL);
printf("state: manual\n");
ret = 0;
}
break;
default:
break;
}
return ret;
}
src/modules/commander/state_machine_helper.h
+209
View File
@@ -0,0 +1,209 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 PX4 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 state_machine_helper.h
* State machine helper functions definitions
*/
#ifndef STATE_MACHINE_HELPER_H_
#define STATE_MACHINE_HELPER_H_
#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
/**
* Switch to new state with no checking.
*
* do_state_update: this is the functions that all other functions have to call in order to update the state.
* the function does not question the state change, this must be done before
* The function performs actions that are connected with the new state (buzzer, reboot, ...)
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*
* @return 0 (macro OK) or 1 on error (macro ERROR)
*/
int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state);
/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */
// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type);
/**
* Handle state machine if got position fix
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if position fix lost
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if user wants to arm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if user wants to disarm
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is manual
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is stabilized
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is guided
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Handle state machine if mode switch is auto
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Publish current state information
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/*
* Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app).
* If the request is obeyed the functions return 0
*
*/
/**
* Handles *incoming request* to switch to a specific state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode);
/**
* Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode);
/**
* Always switches to critical mode under any circumstances.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Switches to emergency if required.
*
* @param status_pub file descriptor for state update topic publication
* @param current_status pointer to the current state machine to operate on
* @param mavlink_fd file descriptor for MAVLink statustext messages
*/
void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
/**
* Publish the armed state depending on the current system state
*
* @param current_status the current system status
*/
void publish_armed_status(const struct vehicle_status_s *current_status);
#endif /* STATE_MACHINE_HELPER_H_ */
src/modules/controllib/block/Block.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 Block.cpp
*
* Controller library code
*/
#include <math.h>
#include <string.h>
#include <stdio.h>
#include "Block.hpp"
#include "BlockParam.hpp"
#include "UOrbSubscription.hpp"
#include "UOrbPublication.hpp"
namespace control
{
Block::Block(SuperBlock *parent, const char *name) :
_name(name),
_parent(parent),
_dt(0),
_subscriptions(),
_params()
{
if (getParent() != NULL) {
getParent()->getChildren().add(this);
}
}
void Block::getName(char *buf, size_t n)
{
if (getParent() == NULL) {
strncpy(buf, _name, n);
} else {
char parentName[blockNameLengthMax];
getParent()->getName(parentName, n);
if (!strcmp(_name, "")) {
strncpy(buf, parentName, blockNameLengthMax);
} else {
snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name);
}
}
}
void Block::updateParams()
{
BlockParamBase *param = getParams().getHead();
int count = 0;
while (param != NULL) {
if (count++ > maxParamsPerBlock) {
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
printf("exceeded max params for block: %s\n", name);
break;
}
//printf("updating param: %s\n", param->getName());
param->update();
param = param->getSibling();
}
}
void Block::updateSubscriptions()
{
UOrbSubscriptionBase *sub = getSubscriptions().getHead();
int count = 0;
while (sub != NULL) {
if (count++ > maxSubscriptionsPerBlock) {
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
printf("exceeded max subscriptions for block: %s\n", name);
break;
}
sub->update();
sub = sub->getSibling();
}
}
void Block::updatePublications()
{
UOrbPublicationBase *pub = getPublications().getHead();
int count = 0;
while (pub != NULL) {
if (count++ > maxPublicationsPerBlock) {
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
printf("exceeded max publications for block: %s\n", name);
break;
}
pub->update();
pub = pub->getSibling();
}
}
void SuperBlock::setDt(float dt)
{
Block::setDt(dt);
Block *child = getChildren().getHead();
int count = 0;
while (child != NULL) {
if (count++ > maxChildrenPerBlock) {
char name[40];
getName(name, 40);
printf("exceeded max children for block: %s\n", name);
break;
}
child->setDt(dt);
child = child->getSibling();
}
}
void SuperBlock::updateChildParams()
{
Block *child = getChildren().getHead();
int count = 0;
while (child != NULL) {
if (count++ > maxChildrenPerBlock) {
char name[40];
getName(name, 40);
printf("exceeded max children for block: %s\n", name);
break;
}
child->updateParams();
child = child->getSibling();
}
}
void SuperBlock::updateChildSubscriptions()
{
Block *child = getChildren().getHead();
int count = 0;
while (child != NULL) {
if (count++ > maxChildrenPerBlock) {
char name[40];
getName(name, 40);
printf("exceeded max children for block: %s\n", name);
break;
}
child->updateSubscriptions();
child = child->getSibling();
}
}
void SuperBlock::updateChildPublications()
{
Block *child = getChildren().getHead();
int count = 0;
while (child != NULL) {
if (count++ > maxChildrenPerBlock) {
char name[40];
getName(name, 40);
printf("exceeded max children for block: %s\n", name);
break;
}
child->updatePublications();
child = child->getSibling();
}
}
} // namespace control
src/modules/controllib/block/Block.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 Block.h
*
* Controller library code
*/
#pragma once
#include <stdint.h>
#include <inttypes.h>
#include "List.hpp"
namespace control
{
static const uint16_t maxChildrenPerBlock = 100;
static const uint16_t maxParamsPerBlock = 100;
static const uint16_t maxSubscriptionsPerBlock = 100;
static const uint16_t maxPublicationsPerBlock = 100;
static const uint8_t blockNameLengthMax = 80;
// forward declaration
class BlockParamBase;
class UOrbSubscriptionBase;
class UOrbPublicationBase;
class SuperBlock;
/**
*/
class __EXPORT Block :
public ListNode<Block *>
{
public:
friend class BlockParamBase;
// methods
Block(SuperBlock *parent, const char *name);
void getName(char *name, size_t n);
virtual ~Block() {};
virtual void updateParams();
virtual void updateSubscriptions();
virtual void updatePublications();
virtual void setDt(float dt) { _dt = dt; }
// accessors
float getDt() { return _dt; }
protected:
// accessors
SuperBlock *getParent() { return _parent; }
List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
List<UOrbPublicationBase *> & getPublications() { return _publications; }
List<BlockParamBase *> & getParams() { return _params; }
// attributes
const char *_name;
SuperBlock *_parent;
float _dt;
List<UOrbSubscriptionBase *> _subscriptions;
List<UOrbPublicationBase *> _publications;
List<BlockParamBase *> _params;
};
class __EXPORT SuperBlock :
public Block
{
public:
friend class Block;
// methods
SuperBlock(SuperBlock *parent, const char *name) :
Block(parent, name),
_children() {
}
virtual ~SuperBlock() {};
virtual void setDt(float dt);
virtual void updateParams() {
Block::updateParams();
if (getChildren().getHead() != NULL) updateChildParams();
}
virtual void updateSubscriptions() {
Block::updateSubscriptions();
if (getChildren().getHead() != NULL) updateChildSubscriptions();
}
virtual void updatePublications() {
Block::updatePublications();
if (getChildren().getHead() != NULL) updateChildPublications();
}
protected:
// methods
List<Block *> & getChildren() { return _children; }
void updateChildParams();
void updateChildSubscriptions();
void updateChildPublications();
// attributes
List<Block *> _children;
};
} // namespace control
src/modules/controllib/block/BlockParam.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 Blockparam.cpp
*
* Controller library code
*/
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "BlockParam.hpp"
namespace control
{
BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
_handle(PARAM_INVALID)
{
char fullname[blockNameLengthMax];
if (parent == NULL) {
strncpy(fullname, name, blockNameLengthMax);
} else {
char parentName[blockNameLengthMax];
parent->getName(parentName, blockNameLengthMax);
if (!strcmp(name, "")) {
strncpy(fullname, parentName, blockNameLengthMax);
} else if (parent_prefix) {
snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
} else {
strncpy(fullname, name, blockNameLengthMax);
}
parent->getParams().add(this);
}
_handle = param_find(fullname);
if (_handle == PARAM_INVALID)
printf("error finding param: %s\n", fullname);
};
} // namespace control
src/modules/controllib/block/BlockParam.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 BlockParam.h
*
* Controller library code
*/
#pragma once
#include <systemlib/param/param.h>
#include "Block.hpp"
#include "List.hpp"
namespace control
{
/**
* A base class for block params that enables traversing linked list.
*/
class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
{
public:
/**
* Instantiate a block param base.
*
* @param parent_prefix Set to true to include the parent name in the parameter name
*/
BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
virtual ~BlockParamBase() {};
virtual void update() = 0;
const char *getName() { return param_name(_handle); }
protected:
param_t _handle;
};
/**
* Parameters that are tied to blocks for updating and nameing.
*/
template<class T>
class __EXPORT BlockParam : public BlockParamBase
{
public:
BlockParam(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
T get() { return _val; }
void set(T val) { _val = val; }
void update() {
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
}
protected:
T _val;
};
} // namespace control
src/modules/controllib/block/List.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 Node.h
*
* A node of a linked list.
*/
#pragma once
template<class T>
class __EXPORT ListNode
{
public:
ListNode() : _sibling(NULL) {
}
void setSibling(T sibling) { _sibling = sibling; }
T getSibling() { return _sibling; }
T get() {
return _sibling;
}
protected:
T _sibling;
};
template<class T>
class __EXPORT List
{
public:
List() : _head() {
}
void add(T newNode) {
newNode->setSibling(getHead());
setHead(newNode);
}
T getHead() { return _head; }
private:
void setHead(T &head) { _head = head; }
T _head;
};
src/modules/controllib/block/UOrbPublication.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 UOrbPublication.cpp
*
*/
#include "UOrbPublication.hpp"
src/modules/controllib/block/UOrbPublication.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 UOrbPublication.h
*
*/
#pragma once
#include <uORB/uORB.h>
#include "Block.hpp"
#include "List.hpp"
namespace control
{
class Block;
/**
* Base publication warapper class, used in list traversal
* of various publications.
*/
class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
{
public:
UOrbPublicationBase(
List<UOrbPublicationBase *> * list,
const struct orb_metadata *meta) :
_meta(meta),
_handle() {
if (list != NULL) list->add(this);
}
void update() {
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
}
virtual void *getDataVoidPtr() = 0;
virtual ~UOrbPublicationBase() {
orb_unsubscribe(getHandle());
}
const struct orb_metadata *getMeta() { return _meta; }
int getHandle() { return _handle; }
protected:
void setHandle(orb_advert_t handle) { _handle = handle; }
const struct orb_metadata *_meta;
orb_advert_t _handle;
};
/**
* UOrb Publication wrapper class
*/
template<class T>
class UOrbPublication :
public T, // this must be first!
public UOrbPublicationBase
{
public:
/**
* Constructor
*
* @param list A list interface for adding to list during construction
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
*/
UOrbPublication(
List<UOrbPublicationBase *> * list,
const struct orb_metadata *meta) :
T(), // initialize data structure to zero
UOrbPublicationBase(list, meta) {
// It is important that we call T()
// before we publish the data, so we
// call this here instead of the base class
setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
}
virtual ~UOrbPublication() {}
/*
* XXX
* This function gets the T struct, assuming
* the struct is the first base class, this
* should use dynamic cast, but doesn't
* seem to be available
*/
void *getDataVoidPtr() { return (void *)(T *)(this); }
};
} // namespace control
src/modules/controllib/block/UOrbSubscription.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 UOrbSubscription.cpp
*
*/
#include "UOrbSubscription.hpp"
namespace control
{
bool __EXPORT UOrbSubscriptionBase::updated()
{
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
}
} // namespace control
src/modules/controllib/block/UOrbSubscription.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 UOrbSubscription.h
*
*/
#pragma once
#include <uORB/uORB.h>
#include "Block.hpp"
#include "List.hpp"
namespace control
{
class Block;
/**
* Base subscription warapper class, used in list traversal
* of various subscriptions.
*/
class __EXPORT UOrbSubscriptionBase :
public ListNode<control::UOrbSubscriptionBase *>
{
public:
// methods
/**
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
*/
UOrbSubscriptionBase(
List<UOrbSubscriptionBase *> * list,
const struct orb_metadata *meta) :
_meta(meta),
_handle() {
if (list != NULL) list->add(this);
}
bool updated();
void update() {
if (updated()) {
orb_copy(_meta, _handle, getDataVoidPtr());
}
}
virtual void *getDataVoidPtr() = 0;
virtual ~UOrbSubscriptionBase() {
orb_unsubscribe(_handle);
}
// accessors
const struct orb_metadata *getMeta() { return _meta; }
int getHandle() { return _handle; }
protected:
// accessors
void setHandle(int handle) { _handle = handle; }
// attributes
const struct orb_metadata *_meta;
int _handle;
};
/**
* UOrb Subscription wrapper class
*/
template<class T>
class __EXPORT UOrbSubscription :
public T, // this must be first!
public UOrbSubscriptionBase
{
public:
/**
* Constructor
*
* @param list A list interface for adding to list during construction
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
* @param interval The minimum interval in milliseconds between updates
*/
UOrbSubscription(
List<UOrbSubscriptionBase *> * list,
const struct orb_metadata *meta, unsigned interval) :
T(), // initialize data structure to zero
UOrbSubscriptionBase(list, meta) {
setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval);
}
/**
* Deconstructor
*/
virtual ~UOrbSubscription() {}
/*
* XXX
* This function gets the T struct, assuming
* the struct is the first base class, this
* should use dynamic cast, but doesn't
* seem to be available
*/
void *getDataVoidPtr() { return (void *)(T *)(this); }
T getData() { return T(*this); }
};
} // namespace control
src/modules/controllib/blocks.cpp
+486
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 blocks.cpp
*
* Controller library code
*/
#include <math.h>
#include <stdio.h>
#include "blocks.hpp"
namespace control
{
int basicBlocksTest()
{
blockLimitTest();
blockLimitSymTest();
blockLowPassTest();
blockHighPassTest();
blockIntegralTest();
blockIntegralTrapTest();
blockDerivativeTest();
blockPTest();
blockPITest();
blockPDTest();
blockPIDTest();
blockOutputTest();
blockRandUniformTest();
blockRandGaussTest();
return 0;
}
float BlockLimit::update(float input)
{
if (input > getMax()) {
input = _max.get();
} else if (input < getMin()) {
input = getMin();
}
return input;
}
int blockLimitTest()
{
printf("Test BlockLimit\t\t\t: ");
BlockLimit limit(NULL, "TEST");
// initial state
ASSERT(equal(1.0f, limit.getMax()));
ASSERT(equal(-1.0f, limit.getMin()));
ASSERT(equal(0.0f, limit.getDt()));
// update
ASSERT(equal(-1.0f, limit.update(-2.0f)));
ASSERT(equal(1.0f, limit.update(2.0f)));
ASSERT(equal(0.0f, limit.update(0.0f)));
printf("PASS\n");
return 0;
}
float BlockLimitSym::update(float input)
{
if (input > getMax()) {
input = _max.get();
} else if (input < -getMax()) {
input = -getMax();
}
return input;
}
int blockLimitSymTest()
{
printf("Test BlockLimitSym\t\t: ");
BlockLimitSym limit(NULL, "TEST");
// initial state
ASSERT(equal(1.0f, limit.getMax()));
ASSERT(equal(0.0f, limit.getDt()));
// update
ASSERT(equal(-1.0f, limit.update(-2.0f)));
ASSERT(equal(1.0f, limit.update(2.0f)));
ASSERT(equal(0.0f, limit.update(0.0f)));
printf("PASS\n");
return 0;
}
float BlockLowPass::update(float input)
{
float b = 2 * float(M_PI) * getFCut() * getDt();
float a = b / (1 + b);
setState(a * input + (1 - a)*getState());
return getState();
}
int blockLowPassTest()
{
printf("Test BlockLowPass\t\t: ");
BlockLowPass lowPass(NULL, "TEST_LP");
// test initial state
ASSERT(equal(10.0f, lowPass.getFCut()));
ASSERT(equal(0.0f, lowPass.getState()));
ASSERT(equal(0.0f, lowPass.getDt()));
// set dt
lowPass.setDt(0.1f);
ASSERT(equal(0.1f, lowPass.getDt()));
// set state
lowPass.setState(1.0f);
ASSERT(equal(1.0f, lowPass.getState()));
// test update
ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
// test end condition
for (int i = 0; i < 100; i++) {
lowPass.update(2.0f);
}
ASSERT(equal(2.0f, lowPass.getState()));
ASSERT(equal(2.0f, lowPass.update(2.0f)));
printf("PASS\n");
return 0;
};
float BlockHighPass::update(float input)
{
float b = 2 * float(M_PI) * getFCut() * getDt();
float a = 1 / (1 + b);
setY(a * (getY() + input - getU()));
setU(input);
return getY();
}
int blockHighPassTest()
{
printf("Test BlockHighPass\t\t: ");
BlockHighPass highPass(NULL, "TEST_HP");
// test initial state
ASSERT(equal(10.0f, highPass.getFCut()));
ASSERT(equal(0.0f, highPass.getU()));
ASSERT(equal(0.0f, highPass.getY()));
ASSERT(equal(0.0f, highPass.getDt()));
// set dt
highPass.setDt(0.1f);
ASSERT(equal(0.1f, highPass.getDt()));
// set state
highPass.setU(1.0f);
ASSERT(equal(1.0f, highPass.getU()));
highPass.setY(1.0f);
ASSERT(equal(1.0f, highPass.getY()));
// test update
ASSERT(equal(0.2746051f, highPass.update(2.0f)));
// test end condition
for (int i = 0; i < 100; i++) {
highPass.update(2.0f);
}
ASSERT(equal(0.0f, highPass.getY()));
ASSERT(equal(0.0f, highPass.update(2.0f)));
printf("PASS\n");
return 0;
}
float BlockIntegral::update(float input)
{
// trapezoidal integration
setY(_limit.update(getY() + input * getDt()));
return getY();
}
int blockIntegralTest()
{
printf("Test BlockIntegral\t\t: ");
BlockIntegral integral(NULL, "TEST_I");
// test initial state
ASSERT(equal(1.0f, integral.getMax()));
ASSERT(equal(0.0f, integral.getDt()));
// set dt
integral.setDt(0.1f);
ASSERT(equal(0.1f, integral.getDt()));
// set Y
integral.setY(0.9f);
ASSERT(equal(0.9f, integral.getY()));
// test exceed max
for (int i = 0; i < 100; i++) {
integral.update(1.0f);
}
ASSERT(equal(1.0f, integral.update(1.0f)));
// test exceed min
integral.setY(-0.9f);
ASSERT(equal(-0.9f, integral.getY()));
for (int i = 0; i < 100; i++) {
integral.update(-1.0f);
}
ASSERT(equal(-1.0f, integral.update(-1.0f)));
// test update
integral.setY(0.1f);
ASSERT(equal(0.2f, integral.update(1.0)));
ASSERT(equal(0.2f, integral.getY()));
printf("PASS\n");
return 0;
}
float BlockIntegralTrap::update(float input)
{
// trapezoidal integration
setY(_limit.update(getY() +
(getU() + input) / 2.0f * getDt()));
setU(input);
return getY();
}
int blockIntegralTrapTest()
{
printf("Test BlockIntegralTrap\t\t: ");
BlockIntegralTrap integral(NULL, "TEST_I");
// test initial state
ASSERT(equal(1.0f, integral.getMax()));
ASSERT(equal(0.0f, integral.getDt()));
// set dt
integral.setDt(0.1f);
ASSERT(equal(0.1f, integral.getDt()));
// set U
integral.setU(1.0f);
ASSERT(equal(1.0f, integral.getU()));
// set Y
integral.setY(0.9f);
ASSERT(equal(0.9f, integral.getY()));
// test exceed max
for (int i = 0; i < 100; i++) {
integral.update(1.0f);
}
ASSERT(equal(1.0f, integral.update(1.0f)));
// test exceed min
integral.setU(-1.0f);
integral.setY(-0.9f);
ASSERT(equal(-0.9f, integral.getY()));
for (int i = 0; i < 100; i++) {
integral.update(-1.0f);
}
ASSERT(equal(-1.0f, integral.update(-1.0f)));
// test update
integral.setU(2.0f);
integral.setY(0.1f);
ASSERT(equal(0.25f, integral.update(1.0)));
ASSERT(equal(0.25f, integral.getY()));
ASSERT(equal(1.0f, integral.getU()));
printf("PASS\n");
return 0;
}
float BlockDerivative::update(float input)
{
float output = _lowPass.update((input - getU()) / getDt());
setU(input);
return output;
}
int blockDerivativeTest()
{
printf("Test BlockDerivative\t\t: ");
BlockDerivative derivative(NULL, "TEST_D");
// test initial state
ASSERT(equal(0.0f, derivative.getU()));
ASSERT(equal(10.0f, derivative.getLP()));
// set dt
derivative.setDt(0.1f);
ASSERT(equal(0.1f, derivative.getDt()));
// set U
derivative.setU(1.0f);
ASSERT(equal(1.0f, derivative.getU()));
// test update
ASSERT(equal(8.6269744f, derivative.update(2.0f)));
ASSERT(equal(2.0f, derivative.getU()));
printf("PASS\n");
return 0;
}
int blockPTest()
{
printf("Test BlockP\t\t\t: ");
BlockP blockP(NULL, "TEST_P");
// test initial state
ASSERT(equal(0.2f, blockP.getKP()));
ASSERT(equal(0.0f, blockP.getDt()));
// set dt
blockP.setDt(0.1f);
ASSERT(equal(0.1f, blockP.getDt()));
// test update
ASSERT(equal(0.4f, blockP.update(2.0f)));
printf("PASS\n");
return 0;
}
int blockPITest()
{
printf("Test BlockPI\t\t\t: ");
BlockPI blockPI(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPI.getKP()));
ASSERT(equal(0.1f, blockPI.getKI()));
ASSERT(equal(0.0f, blockPI.getDt()));
ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
// set dt
blockPI.setDt(0.1f);
ASSERT(equal(0.1f, blockPI.getDt()));
// set integral state
blockPI.getIntegral().setY(0.1f);
ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
// test update
// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
ASSERT(equal(0.43f, blockPI.update(2.0f)));
printf("PASS\n");
return 0;
}
int blockPDTest()
{
printf("Test BlockPD\t\t\t: ");
BlockPD blockPD(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPD.getKP()));
ASSERT(equal(0.01f, blockPD.getKD()));
ASSERT(equal(0.0f, blockPD.getDt()));
ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
// set dt
blockPD.setDt(0.1f);
ASSERT(equal(0.1f, blockPD.getDt()));
// set derivative state
blockPD.getDerivative().setU(1.0f);
ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
// test update
// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
printf("PASS\n");
return 0;
}
int blockPIDTest()
{
printf("Test BlockPID\t\t\t: ");
BlockPID blockPID(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPID.getKP()));
ASSERT(equal(0.1f, blockPID.getKI()));
ASSERT(equal(0.01f, blockPID.getKD()));
ASSERT(equal(0.0f, blockPID.getDt()));
ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
// set dt
blockPID.setDt(0.1f);
ASSERT(equal(0.1f, blockPID.getDt()));
// set derivative state
blockPID.getDerivative().setU(1.0f);
ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
// set integral state
blockPID.getIntegral().setY(0.1f);
ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
// test update
// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
printf("PASS\n");
return 0;
}
int blockOutputTest()
{
printf("Test BlockOutput\t\t: ");
BlockOutput blockOutput(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockOutput.getDt()));
ASSERT(equal(0.5f, blockOutput.get()));
ASSERT(equal(-1.0f, blockOutput.getMin()));
ASSERT(equal(1.0f, blockOutput.getMax()));
// test update below min
blockOutput.update(-2.0f);
ASSERT(equal(-1.0f, blockOutput.get()));
// test update above max
blockOutput.update(2.0f);
ASSERT(equal(1.0f, blockOutput.get()));
// test trim
blockOutput.update(0.0f);
ASSERT(equal(0.5f, blockOutput.get()));
printf("PASS\n");
return 0;
}
int blockRandUniformTest()
{
srand(1234);
printf("Test BlockRandUniform\t\t: ");
BlockRandUniform blockRandUniform(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockRandUniform.getDt()));
ASSERT(equal(-1.0f, blockRandUniform.getMin()));
ASSERT(equal(1.0f, blockRandUniform.getMax()));
// test update
int n = 10000;
float mean = blockRandUniform.update();
// recursive mean algorithm from Knuth
for (int i = 2; i < n + 1; i++) {
float val = blockRandUniform.update();
mean += (val - mean) / i;
ASSERT(val <= blockRandUniform.getMax());
ASSERT(val >= blockRandUniform.getMin());
}
ASSERT(equal(mean, (blockRandUniform.getMin() +
blockRandUniform.getMax()) / 2, 1e-1));
printf("PASS\n");
return 0;
}
int blockRandGaussTest()
{
srand(1234);
printf("Test BlockRandGauss\t\t: ");
BlockRandGauss blockRandGauss(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockRandGauss.getDt()));
ASSERT(equal(1.0f, blockRandGauss.getMean()));
ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
// test update
int n = 10000;
float mean = blockRandGauss.update();
float sum = 0;
// recursive mean, stdev algorithm from Knuth
for (int i = 2; i < n + 1; i++) {
float val = blockRandGauss.update();
float newMean = mean + (val - mean) / i;
sum += (val - mean) * (val - newMean);
mean = newMean;
}
float stdDev = sqrt(sum / (n - 1));
ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
printf("PASS\n");
return 0;
}
} // namespace control
src/modules/controllib/blocks.hpp
+494
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@@ -0,0 +1,494 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 blocks.h
*
* Controller library code
*/
#pragma once
#include <assert.h>
#include <time.h>
#include <stdlib.h>
#include <mathlib/math/test/test.hpp>
#include "block/Block.hpp"
#include "block/BlockParam.hpp"
namespace control
{
int __EXPORT basicBlocksTest();
/**
* A limiter/ saturation.
* The output of update is the input, bounded
* by min/max.
*/
class __EXPORT BlockLimit : public Block
{
public:
// methods
BlockLimit(SuperBlock *parent, const char *name) :
Block(parent, name),
_min(this, "MIN"),
_max(this, "MAX")
{};
virtual ~BlockLimit() {};
float update(float input);
// accessors
float getMin() { return _min.get(); }
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
};
int __EXPORT blockLimitTest();
/**
* A symmetric limiter/ saturation.
* Same as limiter but with only a max, is used for
* upper limit of +max, and lower limit of -max
*/
class __EXPORT BlockLimitSym : public Block
{
public:
// methods
BlockLimitSym(SuperBlock *parent, const char *name) :
Block(parent, name),
_max(this, "MAX")
{};
virtual ~BlockLimitSym() {};
float update(float input);
// accessors
float getMax() { return _max.get(); }
protected:
// attributes
BlockParam<float> _max;
};
int __EXPORT blockLimitSymTest();
/**
* A low pass filter as described here:
* http://en.wikipedia.org/wiki/Low-pass_filter.
*/
class __EXPORT BlockLowPass : public Block
{
public:
// methods
BlockLowPass(SuperBlock *parent, const char *name) :
Block(parent, name),
_state(0),
_fCut(this, "") // only one parameter, no need to name
{};
virtual ~BlockLowPass() {};
float update(float input);
// accessors
float getState() { return _state; }
float getFCut() { return _fCut.get(); }
void setState(float state) { _state = state; }
protected:
// attributes
float _state;
BlockParam<float> _fCut;
};
int __EXPORT blockLowPassTest();
/**
* A high pass filter as described here:
* http://en.wikipedia.org/wiki/High-pass_filter.
*/
class __EXPORT BlockHighPass : public Block
{
public:
// methods
BlockHighPass(SuperBlock *parent, const char *name) :
Block(parent, name),
_u(0),
_y(0),
_fCut(this, "") // only one parameter, no need to name
{};
virtual ~BlockHighPass() {};
float update(float input);
// accessors
float getU() {return _u;}
float getY() {return _y;}
float getFCut() {return _fCut.get();}
void setU(float u) {_u = u;}
void setY(float y) {_y = y;}
protected:
// attributes
float _u; /**< previous input */
float _y; /**< previous output */
BlockParam<float> _fCut; /**< cut-off frequency, Hz */
};
int __EXPORT blockHighPassTest();
/**
* A rectangular integrator.
* A limiter is built into the class to bound the
* integral's internal state. This is important
* for windup protection.
* @see Limit
*/
class __EXPORT BlockIntegral: public SuperBlock
{
public:
// methods
BlockIntegral(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_y(0),
_limit(this, "") {};
virtual ~BlockIntegral() {};
float update(float input);
// accessors
float getY() {return _y;}
float getMax() {return _limit.getMax();}
void setY(float y) {_y = y;}
protected:
// attributes
float _y; /**< previous output */
BlockLimitSym _limit; /**< limiter */
};
int __EXPORT blockIntegralTest();
/**
* A trapezoidal integrator.
* http://en.wikipedia.org/wiki/Trapezoidal_rule
* A limiter is built into the class to bound the
* integral's internal state. This is important
* for windup protection.
* @see Limit
*/
class __EXPORT BlockIntegralTrap : public SuperBlock
{
public:
// methods
BlockIntegralTrap(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_u(0),
_y(0),
_limit(this, "") {};
virtual ~BlockIntegralTrap() {};
float update(float input);
// accessors
float getU() {return _u;}
float getY() {return _y;}
float getMax() {return _limit.getMax();}
void setU(float u) {_u = u;}
void setY(float y) {_y = y;}
protected:
// attributes
float _u; /**< previous input */
float _y; /**< previous output */
BlockLimitSym _limit; /**< limiter */
};
int __EXPORT blockIntegralTrapTest();
/**
* A simple derivative approximation.
* This uses the previous and current input.
* This has a built in low pass filter.
* @see LowPass
*/
class __EXPORT BlockDerivative : public SuperBlock
{
public:
// methods
BlockDerivative(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_u(0),
_lowPass(this, "LP")
{};
virtual ~BlockDerivative() {};
float update(float input);
// accessors
void setU(float u) {_u = u;}
float getU() {return _u;}
float getLP() {return _lowPass.getFCut();}
protected:
// attributes
float _u; /**< previous input */
BlockLowPass _lowPass; /**< low pass filter */
};
int __EXPORT blockDerivativeTest();
/**
* A proportional controller.
* @link http://en.wikipedia.org/wiki/PID_controller
*/
class __EXPORT BlockP: public Block
{
public:
// methods
BlockP(SuperBlock *parent, const char *name) :
Block(parent, name),
_kP(this, "") // only one param, no need to name
{};
virtual ~BlockP() {};
float update(float input) {
return getKP() * input;
}
// accessors
float getKP() { return _kP.get(); }
protected:
BlockParam<float> _kP;
};
int __EXPORT blockPTest();
/**
* A proportional-integral controller.
* @link http://en.wikipedia.org/wiki/PID_controller
*/
class __EXPORT BlockPI: public SuperBlock
{
public:
// methods
BlockPI(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_integral(this, "I"),
_kP(this, "P"),
_kI(this, "I")
{};
virtual ~BlockPI() {};
float update(float input) {
return getKP() * input +
getKI() * getIntegral().update(input);
}
// accessors
float getKP() { return _kP.get(); }
float getKI() { return _kI.get(); }
BlockIntegral &getIntegral() { return _integral; }
private:
BlockIntegral _integral;
BlockParam<float> _kP;
BlockParam<float> _kI;
};
int __EXPORT blockPITest();
/**
* A proportional-derivative controller.
* @link http://en.wikipedia.org/wiki/PID_controller
*/
class __EXPORT BlockPD: public SuperBlock
{
public:
// methods
BlockPD(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_derivative(this, "D"),
_kP(this, "P"),
_kD(this, "D")
{};
virtual ~BlockPD() {};
float update(float input) {
return getKP() * input +
getKD() * getDerivative().update(input);
}
// accessors
float getKP() { return _kP.get(); }
float getKD() { return _kD.get(); }
BlockDerivative &getDerivative() { return _derivative; }
private:
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kD;
};
int __EXPORT blockPDTest();
/**
* A proportional-integral-derivative controller.
* @link http://en.wikipedia.org/wiki/PID_controller
*/
class __EXPORT BlockPID: public SuperBlock
{
public:
// methods
BlockPID(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_integral(this, "I"),
_derivative(this, "D"),
_kP(this, "P"),
_kI(this, "I"),
_kD(this, "D")
{};
virtual ~BlockPID() {};
float update(float input) {
return getKP() * input +
getKI() * getIntegral().update(input) +
getKD() * getDerivative().update(input);
}
// accessors
float getKP() { return _kP.get(); }
float getKI() { return _kI.get(); }
float getKD() { return _kD.get(); }
BlockIntegral &getIntegral() { return _integral; }
BlockDerivative &getDerivative() { return _derivative; }
private:
// attributes
BlockIntegral _integral;
BlockDerivative _derivative;
BlockParam<float> _kP;
BlockParam<float> _kI;
BlockParam<float> _kD;
};
int __EXPORT blockPIDTest();
/**
* An output trim/ saturation block
*/
class __EXPORT BlockOutput: public SuperBlock
{
public:
// methods
BlockOutput(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_trim(this, "TRIM"),
_limit(this, ""),
_val(0) {
update(0);
};
virtual ~BlockOutput() {};
void update(float input) {
_val = _limit.update(input + getTrim());
}
// accessors
float getMin() { return _limit.getMin(); }
float getMax() { return _limit.getMax(); }
float getTrim() { return _trim.get(); }
float get() { return _val; }
private:
// attributes
BlockParam<float> _trim;
BlockLimit _limit;
float _val;
};
int __EXPORT blockOutputTest();
/**
* A uniform random number generator
*/
class __EXPORT BlockRandUniform: public Block
{
public:
// methods
BlockRandUniform(SuperBlock *parent,
const char *name) :
Block(parent, name),
_min(this, "MIN"),
_max(this, "MAX") {
// seed should be initialized somewhere
// in main program for all calls to rand
// XXX currently in nuttx if you seed to 0, rand breaks
};
virtual ~BlockRandUniform() {};
float update() {
static float rand_max = MAX_RAND;
float rand_val = rand();
float bounds = getMax() - getMin();
return getMin() + (rand_val * bounds) / rand_max;
}
// accessors
float getMin() { return _min.get(); }
float getMax() { return _max.get(); }
private:
// attributes
BlockParam<float> _min;
BlockParam<float> _max;
};
int __EXPORT blockRandUniformTest();
class __EXPORT BlockRandGauss: public Block
{
public:
// methods
BlockRandGauss(SuperBlock *parent,
const char *name) :
Block(parent, name),
_mean(this, "MEAN"),
_stdDev(this, "DEV") {
// seed should be initialized somewhere
// in main program for all calls to rand
// XXX currently in nuttx if you seed to 0, rand breaks
};
virtual ~BlockRandGauss() {};
float update() {
static float V1, V2, S;
static int phase = 0;
float X;
if (phase == 0) {
do {
float U1 = (float)rand() / MAX_RAND;
float U2 = (float)rand() / MAX_RAND;
V1 = 2 * U1 - 1;
V2 = 2 * U2 - 1;
S = V1 * V1 + V2 * V2;
} while (S >= 1 || fabsf(S) < 1e-8f);
X = V1 * float(sqrt(-2 * float(log(S)) / S));
} else
X = V2 * float(sqrt(-2 * float(log(S)) / S));
phase = 1 - phase;
return X * getStdDev() + getMean();
}
// accessors
float getMean() { return _mean.get(); }
float getStdDev() { return _stdDev.get(); }
private:
// attributes
BlockParam<float> _mean;
BlockParam<float> _stdDev;
};
int __EXPORT blockRandGaussTest();
} // namespace control
src/modules/controllib/fixedwing.cpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 fixedwing.cpp
*
* Controller library code
*/
#include "fixedwing.hpp"
namespace control
{
namespace fixedwing
{
BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_rLowPass(this, "R_LP"),
_rWashout(this, "R_HP"),
_r2Rdr(this, "R2RDR"),
_rudder(0)
{
}
BlockYawDamper::~BlockYawDamper() {};
void BlockYawDamper::update(float rCmd, float r, float outputScale)
{
_rudder = outputScale*_r2Rdr.update(rCmd -
_rWashout.update(_rLowPass.update(r)));
}
BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_yawDamper(this, ""),
_pLowPass(this, "P_LP"),
_qLowPass(this, "Q_LP"),
_p2Ail(this, "P2AIL"),
_q2Elv(this, "Q2ELV"),
_aileron(0),
_elevator(0)
{
}
BlockStabilization::~BlockStabilization() {};
void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
float p, float q, float r, float outputScale)
{
_aileron = outputScale*_p2Ail.update(
pCmd - _pLowPass.update(p));
_elevator = outputScale*_q2Elv.update(
qCmd - _qLowPass.update(q));
_yawDamper.update(rCmd, r, outputScale);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
_xt2Yaw(this, "XT2YAW"),
_psiCmd(0)
{
}
BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd)
{
// heading to waypoint
float psiTrack = get_bearing_to_next_waypoint(
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
// cross track
struct crosstrack_error_s xtrackError;
get_distance_to_line(&xtrackError,
(double)pos.lat / (double)1e7d,
(double)pos.lon / (double)1e7d,
(double)lastPosCmd.lat / (double)1e7d,
(double)lastPosCmd.lon / (double)1e7d,
(double)posCmd.lat / (double)1e7d,
(double)posCmd.lon / (double)1e7d);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
{
}
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
BlockUorbEnabledAutopilot(parent, name),
_stabilization(this, ""), // no name needed, already unique
// heading hold
_psi2Phi(this, "PSI2PHI"),
_phi2P(this, "PHI2P"),
_phiLimit(this, "PHI_LIM"),
// velocity hold
_v2Theta(this, "V2THE"),
_theta2Q(this, "THE2Q"),
_theLimit(this, "THE"),
_vLimit(this, "V"),
// altitude/climb rate hold
_h2Thr(this, "H2THR"),
_cr2Thr(this, "CR2THR"),
// guidance block
_guide(this, ""),
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
_trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */
_vCmd(this, "V_CMD"),
_crMax(this, "CR_MAX"),
_attPoll(),
_lastPosCmd(),
_timeStamp(0)
{
_attPoll.fd = _att.getHandle();
_attPoll.events = POLLIN;
}
void BlockMultiModeBacksideAutopilot::update()
{
// wait for a sensor update, check for exit condition every 100 ms
if (poll(&_attPoll, 1, 100) < 0) return; // poll error
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// check for sane values of dt
// to prevent large control responses
if (dt > 1.0f || dt < 0) return;
// set dt for all child blocks
setDt(dt);
// store old position command before update if new command sent
if (_posCmd.updated()) {
_lastPosCmd = _posCmd.getData();
}
// check for new updates
if (_param_update.updated()) updateParams();
// get new information from subscriptions
updateSubscriptions();
// default all output to zero unless handled by mode
for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
_actuators.control[i] = 0.0f;
// only update guidance in auto mode
if (_status.state_machine == SYSTEM_STATE_AUTO) {
// update guidance
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
}
// XXX handle STABILIZED (loiter on spot) as well
// once the system switches from manual or auto to stabilized
// the setpoint should update to loitering around this position
// handle autopilot modes
if (_status.state_machine == SYSTEM_STATE_AUTO ||
_status.state_machine == SYSTEM_STATE_STABILIZED) {
// update guidance
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
_pos.vy * _pos.vy +
_pos.vz * _pos.vz));
// limit velocity command between min/max velocity
float vCmd = _vLimit.update(_vCmd.get());
// altitude hold
float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
float pCmd = _phi2P.update(phiCmd - _att.roll);
// velocity hold
// negative sign because nose over to increase speed
float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
// stabilization
float velocityRatio = _trimV.get()/v;
float outputScale = velocityRatio*velocityRatio;
// this term scales the output based on the dynamic pressure change from trim
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed,
outputScale);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
_actuators.control[CH_THR] = dThrottle + _trimThr.get();
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
_pos.vy * _pos.vy +
_pos.vz * _pos.vz));
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
// from +1 -> -1 m/s for rate of climb
//float dThrottle = _cr2Thr.update(
//_crMax.get()*_manual.pitch - _pos.vz);
// roll channel -> bank angle
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
float pCmd = _phi2P.update(phiCmd - _att.roll);
// throttle channel -> velocity
// negative sign because nose over to increase speed
float vCmd = _vLimit.update(_manual.throttle *
(_vLimit.getMax() - _vLimit.getMin()) +
_vLimit.getMin());
float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
// stabilization
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
// currenlty using manual throttle
// XXX if you enable this watch out, vz might be very noisy
//_actuators.control[CH_THR] = dThrottle + _trimThr.get();
_actuators.control[CH_THR] = _manual.throttle;
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
}
// body rates controller, disabled for now
else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {
_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
}
}
// update all publications
updatePublications();
}
BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
{
// send one last publication when destroyed, setting
// all output to zero
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
_actuators.control[i] = 0.0f;
updatePublications();
}
} // namespace fixedwing
} // namespace control
src/modules/controllib/fixedwing.hpp
+344
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 fixedwing.h
*
* Controller library code
*/
#pragma once
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <poll.h>
#include "blocks.hpp"
#include "block/UOrbSubscription.hpp"
#include "block/UOrbPublication.hpp"
extern "C" {
#include <systemlib/geo/geo.h>
}
namespace control
{
namespace fixedwing
{
/**
* BlockYawDamper
*
* This block has more explations to help new developers
* add their own blocks. It includes a limited explanation
* of some C++ basics.
*
* Block: The generic class describing a typical block as you
* would expect in Simulink or ScicosLab. A block can have
* parameters. It cannot have other blocks.
*
* SuperBlock: A superblock is a block that can have other
* blocks. It has methods that manage the blocks beneath it.
*
* BlockYawDamper inherits from SuperBlock publically, this
* means that any public function in SuperBlock are public within
* BlockYawDamper and may be called from outside the
* class methods. Any protected function within block
* are private to the class and may not be called from
* outside this class. Protected should be preferred
* where possible to public as it is important to
* limit access to the bare minimum to prevent
* accidental errors.
*/
class __EXPORT BlockYawDamper : public SuperBlock
{
private:
/**
* Declaring other blocks used by this block
*
* In this section we declare all child blocks that
* this block is composed of. They are private
* members so only this block has direct access to
* them.
*/
BlockLowPass _rLowPass;
BlockHighPass _rWashout;
BlockP _r2Rdr;
/**
* Declaring output values and accessors
*
* If we have any output values for the block we
* declare them here. Output can be directly returned
* through the update function, but outputs should be
* declared here if the information will likely be requested
* again, or if there are multiple outputs.
*
* You should only be able to set outputs from this block,
* so the outputs are declared in the private section.
* A get accessor is provided
* in the public section for other blocks to get the
* value of the output.
*/
float _rudder;
public:
/**
* BlockYawDamper Constructor
*
* The job of the constructor is to initialize all
* parameter in this block and initialize all child
* blocks. Note also, that the output values must be
* initialized here. The order of the members in the
* member initialization list should follow the
* order in which they are declared within the class.
* See the private member declarations above.
*
* Block Construction
*
* All blocks are constructed with their parent block
* and their name. This allows parameters within the
* block to construct a fully qualified name from
* concatenating the two. If the name provided to the
* block is "", then the block will use the parent
* name as it's name. This is useful in cases where
* you have a block that has parameters "MIN", "MAX",
* such as BlockLimit and you do not want an extra name
* to qualify them since the parent block has no "MIN",
* "MAX" parameters.
*
* Block Parameter Construction
*
* Block parameters are named constants, they are
* constructed using:
* BlockParam::BlockParam(Block * parent, const char * name)
* This funciton takes both a parent block and a name.
* The constructore then uses the parent name and the name of
* the paramter to ask the px4 param library if it has any
* parameters with this name. If it does, a handle to the
* parameter is retrieved.
*
* Block/ BlockParam Naming
*
* When desigining new blocks, the naming of the parameters and
* blocks determines the fully qualified name of the parameters
* within the ground station, so it is important to choose
* short, easily understandable names. Again, when a name of
* "" is passed, the parent block name is used as the value to
* prepend to paramters names.
*/
BlockYawDamper(SuperBlock *parent, const char *name);
/**
* Block deconstructor
*
* It is always a good idea to declare a virtual
* deconstructor so that upon calling delete from
* a class derived from this, all of the
* deconstructors all called, the derived class first, and
* then the base class
*/
virtual ~BlockYawDamper();
/**
* Block update function
*
* The job of the update function is to compute the output
* values for the block. In a simple block with one output,
* the output may be returned directly. If the output is
* required frequenly by other processses, it might be a
* good idea to declare a member to store the temporary
* variable.
*/
void update(float rCmd, float r, float outputScale = 1.0);
/**
* Rudder output value accessor
*
* This is a public accessor function, which means that the
* private value _rudder is returned to anyone calling
* BlockYawDamper::getRudder(). Note thate a setRudder() is
* not provided, this is because the updateParams() call
* for a block provides the mechanism for updating the
* paramter.
*/
float getRudder() { return _rudder; }
};
/**
* Stability augmentation system.
* Aircraft Control and Simulation, Stevens and Lewis, pg. 292, 299
*/
class __EXPORT BlockStabilization : public SuperBlock
{
private:
BlockYawDamper _yawDamper;
BlockLowPass _pLowPass;
BlockLowPass _qLowPass;
BlockP _p2Ail;
BlockP _q2Elv;
float _aileron;
float _elevator;
public:
BlockStabilization(SuperBlock *parent, const char *name);
virtual ~BlockStabilization();
void update(float pCmd, float qCmd, float rCmd,
float p, float q, float r,
float outputScale = 1.0);
float getAileron() { return _aileron; }
float getElevator() { return _elevator; }
float getRudder() { return _yawDamper.getRudder(); }
};
/**
* Frontside/ Backside Control Systems
*
* Frontside :
* velocity error -> throttle
* altitude error -> elevator
*
* Backside :
* velocity error -> elevator
* altitude error -> throttle
*
* Backside control systems are more resilient at
* slow speeds on the back-side of the power
* required curve/ landing etc. Less performance
* than frontside at high speeds.
*/
/**
* Waypoint Guidance block
*/
class __EXPORT BlockWaypointGuidance : public SuperBlock
{
private:
BlockLimitSym _xtYawLimit;
BlockP _xt2Yaw;
float _psiCmd;
public:
BlockWaypointGuidance(SuperBlock *parent, const char *name);
virtual ~BlockWaypointGuidance();
void update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
vehicle_global_position_setpoint_s &posCmd,
vehicle_global_position_setpoint_s &lastPosCmd);
float getPsiCmd() { return _psiCmd; }
};
/**
* UorbEnabledAutopilot
*/
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
UOrbSubscription<vehicle_attitude_s> _att;
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;
// publications
UOrbPublication<actuator_controls_s> _actuators;
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot();
};
/**
* Multi-mode Autopilot
*/
class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
{
private:
// stabilization
BlockStabilization _stabilization;
// heading hold
BlockP _psi2Phi;
BlockP _phi2P;
BlockLimitSym _phiLimit;
// velocity hold
BlockPID _v2Theta;
BlockPID _theta2Q;
BlockLimit _theLimit;
BlockLimit _vLimit;
// altitude/ climb rate hold
BlockPID _h2Thr;
BlockPID _cr2Thr;
// guidance
BlockWaypointGuidance _guide;
// block params
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
BlockParam<float> _trimV;
BlockParam<float> _vCmd;
BlockParam<float> _crMax;
struct pollfd _attPoll;
vehicle_global_position_setpoint_s _lastPosCmd;
enum {CH_AIL, CH_ELV, CH_RDR, CH_THR};
uint64_t _timeStamp;
public:
BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name);
void update();
virtual ~BlockMultiModeBacksideAutopilot();
};
} // namespace fixedwing
} // namespace control
src/modules/controllib/module.mk
+43
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Control library
#
SRCS = test_params.c \
block/Block.cpp \
block/BlockParam.cpp \
block/UOrbPublication.cpp \
block/UOrbSubscription.cpp \
blocks.cpp \
fixedwing.cpp
src/modules/controllib/test_params.c
+22
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#include <systemlib/param/param.h>
// WARNING:
// do not changes these unless
// you want to recompute the
// answers for all of the unit tests
PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f);
PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f);
PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f);
PARAM_DEFINE_FLOAT(TEST_HP, 10.0f);
PARAM_DEFINE_FLOAT(TEST_LP, 10.0f);
PARAM_DEFINE_FLOAT(TEST_P, 0.2f);
PARAM_DEFINE_FLOAT(TEST_I, 0.1f);
PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f);
PARAM_DEFINE_FLOAT(TEST_D, 0.01f);
PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f);
PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f);
PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f);
src/modules/fixedwing_att_control/fixedwing_att_control_att.c
+169
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* 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 PX4 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 fixedwing_att_control_rate.c
* Implementation of a fixed wing attitude controller.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>
#include "fixedwing_att_control_att.h"
struct fw_att_control_params {
float roll_p;
float rollrate_lim;
float pitch_p;
float pitchrate_lim;
float yawrate_lim;
float pitch_roll_compensation_p;
};
struct fw_pos_control_param_handles {
param_t roll_p;
param_t rollrate_lim;
param_t pitch_p;
param_t pitchrate_lim;
param_t yawrate_lim;
param_t pitch_roll_compensation_p;
};
/* Internal Prototypes */
static int parameters_init(struct fw_pos_control_param_handles *h);
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->roll_p = param_find("FW_ROLL_P");
h->rollrate_lim = param_find("FW_ROLLR_LIM");
h->pitch_p = param_find("FW_PITCH_P");
h->pitchrate_lim = param_find("FW_PITCHR_LIM");
h->yawrate_lim = param_find("FW_YAWR_LIM");
h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
return OK;
}
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
{
param_get(h->roll_p, &(p->roll_p));
param_get(h->rollrate_lim, &(p->rollrate_lim));
param_get(h->pitch_p, &(p->pitch_p));
param_get(h->pitchrate_lim, &(p->pitchrate_lim));
param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
return OK;
}
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp)
{
static int counter = 0;
static bool initialized = false;
static struct fw_att_control_params p;
static struct fw_pos_control_param_handles h;
static PID_t roll_controller;
static PID_t pitch_controller;
if (!initialized) {
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller
initialized = true;
}
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
}
/* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
/* set pitch plus feedforward roll compensation */
rates_sp->pitch = pid_calculate(&pitch_controller,
att_sp->pitch_body + pitch_sp_rollcompensation,
att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */
rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
counter++;
return 0;
}
src/modules/fixedwing_att_control/fixedwing_att_control_att.h
+51
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
*
* 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 PX4 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 Fixed Wing Attitude Control */
#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
#define FIXEDWING_ATT_CONTROL_ATT_H_
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp);
#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
src/modules/fixedwing_att_control/fixedwing_att_control_main.c
+370
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Doug Weibel <douglas.weibel@colorado.edu>
*
* 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 PX4 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 fixedwing_att_control.c
* Implementation of a fixed wing attitude controller.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/debug_key_value.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include "fixedwing_att_control_rate.h"
#include "fixedwing_att_control_att.h"
/* Prototypes */
/**
* Deamon management function.
*/
__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int fixedwing_att_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
/* Variables */
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* Main Thread */
int fixedwing_att_control_thread_main(int argc, char *argv[])
{
/* read arguments */
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
verbose = true;
}
}
/* welcome user */
printf("[fixedwing att control] started\n");
/* declare and safely initialize all structs */
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
memset(&att_sp, 0, sizeof(att_sp));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
/* output structs */
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* subscribe */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
float speed_body[3] = {0.0f, 0.0f, 0.0f};
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
/* Check if there is a new position measurement or attitude setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool att_sp_updated;
orb_check(att_sp_sub, &att_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (att_sp_updated)
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if (att.R_valid) {
speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
} else {
speed_body[0] = 0;
speed_body[1] = 0;
speed_body[2] = 0;
printf("FW ATT CONTROL: Did not get a valid R\n");
}
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* set flaps to zero */
actuators.control[4] = 0.0f;
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost) {
/* put plane into loiter */
att_sp.roll_body = 0.3f;
att_sp.pitch_body = 0.0f;
/* limit throttle to 60 % of last value if sane */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.0f) &&
(manual_sp.throttle <= 1.0f)) {
att_sp.thrust = 0.6f * manual_sp.throttle;
} else {
att_sp.thrust = 0.0f;
}
att_sp.yaw_body = 0;
// XXX disable yaw control, loiter
} else {
att_sp.roll_body = manual_sp.roll;
att_sp.pitch_body = manual_sp.pitch;
att_sp.yaw_body = 0;
att_sp.thrust = manual_sp.throttle;
}
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* angular rate control */
fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
/* pass through flaps */
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
/* positive pitch means negative actuator -> pull up */
actuators.control[1] = manual_sp.pitch;
actuators.control[2] = manual_sp.yaw;
actuators.control[3] = manual_sp.throttle;
if (isfinite(manual_sp.flaps)) {
actuators.control[4] = manual_sp.flaps;
} else {
actuators.control[4] = 0.0f;
}
}
}
/* publish rates */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
/* sanity check and publish actuator outputs */
if (isfinite(actuators.control[0]) &&
isfinite(actuators.control[1]) &&
isfinite(actuators.control[2]) &&
isfinite(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
}
}
printf("[fixedwing_att_control] exiting, stopping all motors.\n");
thread_running = false;
/* kill all outputs */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
close(att_sub);
close(actuator_pub);
close(rates_pub);
fflush(stdout);
exit(0);
return 0;
}
/* Startup Functions */
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int fixedwing_att_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("fixedwing_att_control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("fixedwing_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
fixedwing_att_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tfixedwing_att_control is running\n");
} else {
printf("\tfixedwing_att_control not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
*
* 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 PX4 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 fixedwing_att_control_rate.c
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Implementation of a fixed wing attitude controller.
*
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>
#include "fixedwing_att_control_rate.h"
/*
* Controller parameters, accessible via MAVLink
*
*/
// Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
//Yaw control parameters //XXX TODO this is copy paste, asign correct values
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec
/* feedforward compensation */
PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */
struct fw_rate_control_params {
float rollrate_p;
float rollrate_i;
float rollrate_awu;
float pitchrate_p;
float pitchrate_i;
float pitchrate_awu;
float yawrate_p;
float yawrate_i;
float yawrate_awu;
float pitch_thr_ff;
};
struct fw_rate_control_param_handles {
param_t rollrate_p;
param_t rollrate_i;
param_t rollrate_awu;
param_t pitchrate_p;
param_t pitchrate_i;
param_t pitchrate_awu;
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_awu;
param_t pitch_thr_ff;
};
/* Internal Prototypes */
static int parameters_init(struct fw_rate_control_param_handles *h);
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
static int parameters_init(struct fw_rate_control_param_handles *h)
{
/* PID parameters */
h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
h->rollrate_i = param_find("FW_ROLLR_I");
h->rollrate_awu = param_find("FW_ROLLR_AWU");
h->pitchrate_p = param_find("FW_PITCHR_P");
h->pitchrate_i = param_find("FW_PITCHR_I");
h->pitchrate_awu = param_find("FW_PITCHR_AWU");
h->yawrate_p = param_find("FW_YAWR_P");
h->yawrate_i = param_find("FW_YAWR_I");
h->yawrate_awu = param_find("FW_YAWR_AWU");
h->pitch_thr_ff = param_find("FW_PITCH_THR_P");
return OK;
}
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
{
param_get(h->rollrate_p, &(p->rollrate_p));
param_get(h->rollrate_i, &(p->rollrate_i));
param_get(h->rollrate_awu, &(p->rollrate_awu));
param_get(h->pitchrate_p, &(p->pitchrate_p));
param_get(h->pitchrate_i, &(p->pitchrate_i));
param_get(h->pitchrate_awu, &(p->pitchrate_awu));
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_awu, &(p->yawrate_awu));
param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
return OK;
}
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[],
struct actuator_controls_s *actuators)
{
static int counter = 0;
static bool initialized = false;
static struct fw_rate_control_params p;
static struct fw_rate_control_param_handles h;
static PID_t roll_rate_controller;
static PID_t pitch_rate_controller;
static PID_t yaw_rate_controller;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
if (!initialized) {
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
initialized = true;
}
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
}
/* roll rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
counter++;
return 0;
}
src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
*
* 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 PX4 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 Fixed Wing Attitude Rate Control */
#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
#define FIXEDWING_ATT_CONTROL_RATE_H_
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[],
struct actuator_controls_s *actuators);
#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
src/modules/fixedwing_att_control/module.mk
+42
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Fixedwing Attitude Control application
#
MODULE_COMMAND = fixedwing_att_control
SRCS = fixedwing_att_control_main.c \
fixedwing_att_control_att.c \
fixedwing_att_control_rate.c
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+170
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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: James Goppert
*
* 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 PX4 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 fixedwing_backside_main.cpp
* @author James Goppert
*
* Fixedwing backside controller using control library
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <controllib/fixedwing.hpp>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
#include <math.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int control_demo_thread_main(int argc, char *argv[]);
/**
* Test function
*/
void test();
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int fixedwing_backside_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("control_demo already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("control_demo",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
5120,
control_demo_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
if (!strcmp(argv[1], "test")) {
test();
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tcontrol_demo app is running\n");
} else {
printf("\tcontrol_demo app not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
int control_demo_thread_main(int argc, char *argv[])
{
printf("[control_Demo] starting\n");
using namespace control;
fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB");
thread_running = true;
while (!thread_should_exit) {
autopilot.update();
}
printf("[control_demo] exiting.\n");
thread_running = false;
return 0;
}
void test()
{
printf("beginning control lib test\n");
control::basicBlocksTest();
}
src/modules/fixedwing_backside/module.mk
+40
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Fixedwing backside controller
#
MODULE_COMMAND = fixedwing_backside
SRCS = fixedwing_backside_main.cpp
src/modules/fixedwing_backside/params.c
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#include <systemlib/param/param.h>
// currently tuned for easystar from arkhangar in HIL
//https://github.com/arktools/arkhangar
// 16 is max name length
// gyro low pass filter
PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
// yaw washout
PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
// stabilization mode
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
// psi -> phi -> p
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll
PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg
// velocity -> theta
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle
// theta -> q
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID
PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
// h -> thr
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
// crosstrack
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain
// speed command
PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
// rate of climb
// this is what rate of climb is commanded (in m/s)
// when the pitch stick is fully defelcted in simple mode
PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f);
// climb rate -> thr
PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID
PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s
src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+479
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Doug Weibel <douglas.weibel@colorado.edu>
*
* 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 PX4 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 fixedwing_pos_control.c
* Implementation of a fixed wing attitude controller.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track
PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */
struct fw_pos_control_params {
float heading_p;
float headingr_p;
float headingr_i;
float headingr_lim;
float xtrack_p;
float altitude_p;
float roll_lim;
float pitch_lim;
};
struct fw_pos_control_param_handles {
param_t heading_p;
param_t headingr_p;
param_t headingr_i;
param_t headingr_lim;
param_t xtrack_p;
param_t altitude_p;
param_t roll_lim;
param_t pitch_lim;
};
struct planned_path_segments_s {
bool segment_type;
double start_lat; // Start of line or center of arc
double start_lon;
double end_lat;
double end_lon;
float radius; // Radius of arc
float arc_start_bearing; // Bearing from center to start of arc
float arc_sweep; // Angle (radians) swept out by arc around center.
// Positive for clockwise, negative for counter-clockwise
};
/* Prototypes */
/* Internal Prototypes */
static int parameters_init(struct fw_pos_control_param_handles *h);
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
/**
* Deamon management function.
*/
__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int fixedwing_pos_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
/* Variables */
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Parameter management
*/
static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->heading_p = param_find("FW_HEAD_P");
h->headingr_p = param_find("FW_HEADR_P");
h->headingr_i = param_find("FW_HEADR_I");
h->headingr_lim = param_find("FW_HEADR_LIM");
h->xtrack_p = param_find("FW_XTRACK_P");
h->altitude_p = param_find("FW_ALT_P");
h->roll_lim = param_find("FW_ROLL_LIM");
h->pitch_lim = param_find("FW_PITCH_LIM");
return OK;
}
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
{
param_get(h->heading_p, &(p->heading_p));
param_get(h->headingr_p, &(p->headingr_p));
param_get(h->headingr_i, &(p->headingr_i));
param_get(h->headingr_lim, &(p->headingr_lim));
param_get(h->xtrack_p, &(p->xtrack_p));
param_get(h->altitude_p, &(p->altitude_p));
param_get(h->roll_lim, &(p->roll_lim));
param_get(h->pitch_lim, &(p->pitch_lim));
return OK;
}
/* Main Thread */
int fixedwing_pos_control_thread_main(int argc, char *argv[])
{
/* read arguments */
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
verbose = true;
}
}
/* welcome user */
printf("[fixedwing pos control] started\n");
/* declare and safely initialize all structs */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct vehicle_global_position_s start_pos; // Temporary variable, replace with
memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available
struct vehicle_global_position_setpoint_s global_setpoint;
memset(&global_setpoint, 0, sizeof(global_setpoint));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct crosstrack_error_s xtrack_err;
memset(&xtrack_err, 0, sizeof(xtrack_err));
struct parameter_update_s param_update;
memset(&param_update, 0, sizeof(param_update));
/* output structs */
struct vehicle_attitude_setpoint_s attitude_setpoint;
memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
/* publish attitude setpoint */
attitude_setpoint.roll_body = 0.0f;
attitude_setpoint.pitch_body = 0.0f;
attitude_setpoint.yaw_body = 0.0f;
attitude_setpoint.thrust = 0.0f;
orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
/* subscribe */
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
struct pollfd fds[2] = {
{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }
};
bool global_sp_updated_set_once = false;
float psi_track = 0.0f;
int counter = 0;
struct fw_pos_control_params p;
struct fw_pos_control_param_handles h;
PID_t heading_controller;
PID_t heading_rate_controller;
PID_t offtrack_controller;
PID_t altitude_controller;
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
/* error and performance monitoring */
perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
while (!thread_should_exit) {
/* wait for a sensor update, check for exit condition every 500 ms */
int ret = poll(fds, 2, 500);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(fw_err_perf);
} else if (ret == 0) {
/* no return value, ignore */
} else {
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), param_sub, &update);
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* check if there is a new position or setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_setpoint_sub, &global_sp_updated);
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
}
if (global_sp_updated) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("next wp direction: %0.4f\n", (double)psi_track);
}
/* Simple Horizontal Control */
if (global_sp_updated_set_once) {
// if (counter % 100 == 0)
// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
// XXX what is xtrack_err.past_end?
if (distance_res == OK /*&& !xtrack_err.past_end*/) {
float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
float psi_c = psi_track + delta_psi_c;
float psi_e = psi_c - att.yaw;
/* wrap difference back onto -pi..pi range */
psi_e = _wrap_pi(psi_e);
if (verbose) {
printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
printf("delta_psi_c %.4f ", (double)delta_psi_c);
printf("psi_c %.4f ", (double)psi_c);
printf("att.yaw %.4f ", (double)att.yaw);
printf("psi_e %.4f ", (double)psi_e);
}
/* calculate roll setpoint, do this artificially around zero */
float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
float psi_rate_c = delta_psi_rate_c + psi_rate_track;
/* limit turn rate */
if (psi_rate_c > p.headingr_lim) {
psi_rate_c = p.headingr_lim;
} else if (psi_rate_c < -p.headingr_lim) {
psi_rate_c = -p.headingr_lim;
}
float psi_rate_e = psi_rate_c - att.yawspeed;
// XXX sanity check: Assume 10 m/s stall speed and no stall condition
float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
if (ground_speed < 10.0f) {
ground_speed = 10.0f;
}
float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
if (verbose) {
printf("psi_rate_c %.4f ", (double)psi_rate_c);
printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
}
if (verbose && counter % 100 == 0)
printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
} else {
if (verbose && counter % 100 == 0)
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
}
/* Very simple Altitude Control */
if (pos_updated) {
//TODO: take care of relative vs. ab. altitude
attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
}
// XXX need speed control
attitude_setpoint.thrust = 0.7f;
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
/* measure in what intervals the controller runs */
perf_count(fw_interval_perf);
counter++;
} else {
// XXX no setpoint, decent default needed (loiter?)
}
}
}
}
printf("[fixedwing_pos_control] exiting.\n");
thread_running = false;
close(attitude_setpoint_pub);
fflush(stdout);
exit(0);
return 0;
}
/* Startup Functions */
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int fixedwing_pos_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("fixedwing_pos_control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn("fixedwing_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
fixedwing_pos_control_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tfixedwing_pos_control is running\n");
} else {
printf("\tfixedwing_pos_control not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
src/modules/fixedwing_pos_control/module.mk
+40
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############################################################################
#
# Copyright (c) 2012, 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Fixedwing PositionControl application
#
MODULE_COMMAND = fixedwing_pos_control
SRCS = fixedwing_pos_control_main.c
src/modules/gpio_led/gpio_led.c
+159
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@@ -0,0 +1,159 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* 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 PX4 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 gpio_led.c
*
* Status LED via GPIO driver.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/systemlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
struct gpio_led_s
{
struct work_s work;
int gpio_fd;
struct vehicle_status_s status;
int vehicle_status_sub;
bool led_state;
int counter;
};
static struct gpio_led_s gpio_led;
__EXPORT int gpio_led_main(int argc, char *argv[]);
void gpio_led_start(FAR void *arg);
void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
memset(&gpio_led, 0, sizeof(gpio_led));
int ret = work_queue(LPWORK, &gpio_led.work, gpio_led_start, &gpio_led, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
exit(1);
}
exit(0);
}
void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* open GPIO device */
priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
if (priv->gpio_fd < 0) {
printf("[gpio_led] GPIO: open fail\n");
return;
}
/* configure GPIO pin */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, GPIO_EXT_1);
/* subscribe to vehicle status topic */
memset(&priv->status, 0, sizeof(priv->status));
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
return;
}
printf("[gpio_led] Started\n");
}
void gpio_led_cycle(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
/* select pattern for current status */
int pattern = 0;
if (priv->status.flag_system_armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
}
} else {
if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
}
/* blink pattern */
bool led_state_new = (pattern & (1 << priv->counter)) != 0;
if (led_state_new != priv->led_state) {
priv->led_state = led_state_new;
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, GPIO_EXT_1);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, GPIO_EXT_1);
}
}
priv->counter++;
if (priv->counter > 5)
priv->counter = 0;
/* repeat cycle at 5 Hz*/
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
}
src/modules/gpio_led/module.mk
+39
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############################################################################
#
# Copyright (C) 2013 PX4 Development Team. 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 PX4 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.
#
############################################################################
#
# Status LED via GPIO driver
#
MODULE_COMMAND = gpio_led
SRCS = gpio_led.c
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
+159
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_abs_f32.c
*
* Description: Vector absolute value.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
#include <math.h>
/**
* @ingroup groupMath
*/
/**
* @defgroup BasicAbs Vector Absolute Value
*
* Computes the absolute value of a vector on an element-by-element basis.
*
* <pre>
* pDst[n] = abs(pSrcA[n]), 0 <= n < blockSize.
* </pre>
*
* The operation can be done in-place by setting the input and output pointers to the same buffer.
* There are separate functions for floating-point, Q7, Q15, and Q31 data types.
*/
/**
* @addtogroup BasicAbs
* @{
*/
/**
* @brief Floating-point vector absolute value.
* @param[in] *pSrc points to the input buffer
* @param[out] *pDst points to the output buffer
* @param[in] blockSize number of samples in each vector
* @return none.
*/
void arm_abs_f32(
float32_t * pSrc,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t in1, in2, in3, in4; /* temporary variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = |A| */
/* Calculate absolute and then store the results in the destination buffer. */
/* read sample from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
in3 = *(pSrc + 2);
/* find absolute value */
in1 = fabsf(in1);
/* read sample from source */
in4 = *(pSrc + 3);
/* find absolute value */
in2 = fabsf(in2);
/* read sample from source */
*pDst = in1;
/* find absolute value */
in3 = fabsf(in3);
/* find absolute value */
in4 = fabsf(in4);
/* store result to destination */
*(pDst + 1) = in2;
/* store result to destination */
*(pDst + 2) = in3;
/* store result to destination */
*(pDst + 3) = in4;
/* Update source pointer to process next sampels */
pSrc += 4u;
/* Update destination pointer to process next sampels */
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = |A| */
/* Calculate absolute and then store the results in the destination buffer. */
*pDst++ = fabsf(*pSrc++);
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of BasicAbs group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
+173
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_abs_q15.c
*
* Description: Q15 vector absolute value.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAbs
* @{
*/
/**
* @brief Q15 vector absolute value.
* @param[in] *pSrc points to the input buffer
* @param[out] *pDst points to the output buffer
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.
*/
void arm_abs_q15(
q15_t * pSrc,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q15_t in1; /* Input value1 */
q15_t in2; /* Input value2 */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = |A| */
/* Read two inputs */
in1 = *pSrc++;
in2 = *pSrc++;
/* Store the Absolute result in the destination buffer by packing the two values, in a single cycle */
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ =
__PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),
((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);
#else
*__SIMD32(pDst)++ =
__PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),
((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
in1 = *pSrc++;
in2 = *pSrc++;
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ =
__PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),
((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);
#else
*__SIMD32(pDst)++ =
__PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),
((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = |A| */
/* Read the input */
in1 = *pSrc++;
/* Calculate absolute value of input and then store the result in the destination buffer. */
*pDst++ = (in1 > 0) ? in1 : __QSUB16(0, in1);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
q15_t in; /* Temporary input variable */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = |A| */
/* Read the input */
in = *pSrc++;
/* Calculate absolute value of input and then store the result in the destination buffer. */
*pDst++ = (in > 0) ? in : ((in == (q15_t) 0x8000) ? 0x7fff : -in);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of BasicAbs group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
+125
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@@ -0,0 +1,125 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_abs_q31.c
*
* Description: Q31 vector absolute value.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAbs
* @{
*/
/**
* @brief Q31 vector absolute value.
* @param[in] *pSrc points to the input buffer
* @param[out] *pDst points to the output buffer
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.
*/
void arm_abs_q31(
q31_t * pSrc,
q31_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
q31_t in; /* Input value */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2, in3, in4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = |A| */
/* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */
in1 = *pSrc++;
in2 = *pSrc++;
in3 = *pSrc++;
in4 = *pSrc++;
*pDst++ = (in1 > 0) ? in1 : __QSUB(0, in1);
*pDst++ = (in2 > 0) ? in2 : __QSUB(0, in2);
*pDst++ = (in3 > 0) ? in3 : __QSUB(0, in3);
*pDst++ = (in4 > 0) ? in4 : __QSUB(0, in4);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = |A| */
/* Calculate absolute value of the input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */
in = *pSrc++;
*pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in);
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of BasicAbs group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
+152
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_abs_q7.c
*
* Description: Q7 vector absolute value.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAbs
* @{
*/
/**
* @brief Q7 vector absolute value.
* @param[in] *pSrc points to the input buffer
* @param[out] *pDst points to the output buffer
* @param[in] blockSize number of samples in each vector
* @return none.
*
* \par Conditions for optimum performance
* Input and output buffers should be aligned by 32-bit
*
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.
*/
void arm_abs_q7(
q7_t * pSrc,
q7_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
q7_t in; /* Input value1 */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2, in3, in4; /* temporary input variables */
q31_t out1, out2, out3, out4; /* temporary output variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = |A| */
/* Read inputs */
in1 = (q31_t) * pSrc;
in2 = (q31_t) * (pSrc + 1);
in3 = (q31_t) * (pSrc + 2);
/* find absolute value */
out1 = (in1 > 0) ? in1 : __QSUB8(0, in1);
/* read input */
in4 = (q31_t) * (pSrc + 3);
/* find absolute value */
out2 = (in2 > 0) ? in2 : __QSUB8(0, in2);
/* store result to destination */
*pDst = (q7_t) out1;
/* find absolute value */
out3 = (in3 > 0) ? in3 : __QSUB8(0, in3);
/* find absolute value */
out4 = (in4 > 0) ? in4 : __QSUB8(0, in4);
/* store result to destination */
*(pDst + 1) = (q7_t) out2;
/* store result to destination */
*(pDst + 2) = (q7_t) out3;
/* store result to destination */
*(pDst + 3) = (q7_t) out4;
/* update pointers to process next samples */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
blkCnt = blockSize;
#endif // #define ARM_MATH_CM0
while(blkCnt > 0u)
{
/* C = |A| */
/* Read the input */
in = *pSrc++;
/* Store the Absolute result in the destination buffer */
*pDst++ = (in > 0) ? in : ((in == (q7_t) 0x80) ? 0x7f : -in);
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of BasicAbs group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
+145
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@@ -0,0 +1,145 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_add_f32.c
*
* Description: Floating-point vector addition.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup BasicAdd Vector Addition
*
* Element-by-element addition of two vectors.
*
* <pre>
* pDst[n] = pSrcA[n] + pSrcB[n], 0 <= n < blockSize.
* </pre>
*
* There are separate functions for floating-point, Q7, Q15, and Q31 data types.
*/
/**
* @addtogroup BasicAdd
* @{
*/
/**
* @brief Floating-point vector addition.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*/
void arm_add_f32(
float32_t * pSrcA,
float32_t * pSrcB,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t inA1, inA2, inA3, inA4; /* temporary input variabels */
float32_t inB1, inB2, inB3, inB4; /* temporary input variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
/* read four inputs from sourceA and four inputs from sourceB */
inA1 = *pSrcA;
inB1 = *pSrcB;
inA2 = *(pSrcA + 1);
inB2 = *(pSrcB + 1);
inA3 = *(pSrcA + 2);
inB3 = *(pSrcB + 2);
inA4 = *(pSrcA + 3);
inB4 = *(pSrcB + 3);
/* C = A + B */
/* add and store result to destination */
*pDst = inA1 + inB1;
*(pDst + 1) = inA2 + inB2;
*(pDst + 2) = inA3 + inB3;
*(pDst + 3) = inA4 + inB4;
/* update pointers to process next samples */
pSrcA += 4u;
pSrcB += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (*pSrcA++) + (*pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of BasicAdd group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
+135
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@@ -0,0 +1,135 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_add_q15.c
*
* Description: Q15 vector addition
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAdd
* @{
*/
/**
* @brief Q15 vector addition.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.
*/
void arm_add_q15(
q15_t * pSrcA,
q15_t * pSrcB,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t inA1, inA2, inB1, inB2;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
inA1 = *__SIMD32(pSrcA)++;
inA2 = *__SIMD32(pSrcA)++;
inB1 = *__SIMD32(pSrcB)++;
inB2 = *__SIMD32(pSrcB)++;
*__SIMD32(pDst)++ = __QADD16(inA1, inB1);
*__SIMD32(pDst)++ = __QADD16(inA2, inB2);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (q15_t) __QADD16(*pSrcA++, *pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ + *pSrcB++), 16);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of BasicAdd group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
+143
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@@ -0,0 +1,143 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_add_q31.c
*
* Description: Q31 vector addition.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAdd
* @{
*/
/**
* @brief Q31 vector addition.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.
*/
void arm_add_q31(
q31_t * pSrcA,
q31_t * pSrcB,
q31_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t inA1, inA2, inA3, inA4;
q31_t inB1, inB2, inB3, inB4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
inA1 = *pSrcA++;
inA2 = *pSrcA++;
inB1 = *pSrcB++;
inB2 = *pSrcB++;
inA3 = *pSrcA++;
inA4 = *pSrcA++;
inB3 = *pSrcB++;
inB4 = *pSrcB++;
*pDst++ = __QADD(inA1, inB1);
*pDst++ = __QADD(inA2, inB2);
*pDst++ = __QADD(inA3, inB3);
*pDst++ = __QADD(inA4, inB4);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = __QADD(*pSrcA++, *pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ + *pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of BasicAdd group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_add_q7.c
*
* Description: Q7 vector addition.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicAdd
* @{
*/
/**
* @brief Q7 vector addition.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.
*/
void arm_add_q7(
q7_t * pSrcA,
q7_t * pSrcB,
q7_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (q7_t) __SSAT(*pSrcA++ + *pSrcB++, 8);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + B */
/* Add and then store the results in the destination buffer. */
*pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ + *pSrcB++, 8);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of BasicAdd group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_dot_prod_f32.c
*
* Description: Floating-point dot product.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup dot_prod Vector Dot Product
*
* Computes the dot product of two vectors.
* The vectors are multiplied element-by-element and then summed.
* There are separate functions for floating-point, Q7, Q15, and Q31 data types.
*/
/**
* @addtogroup dot_prod
* @{
*/
/**
* @brief Dot product of floating-point vectors.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[in] blockSize number of samples in each vector
* @param[out] *result output result returned here
* @return none.
*/
void arm_dot_prod_f32(
float32_t * pSrcA,
float32_t * pSrcB,
uint32_t blockSize,
float32_t * result)
{
float32_t sum = 0.0f; /* Temporary result storage */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the result in a temporary buffer */
sum += (*pSrcA++) * (*pSrcB++);
sum += (*pSrcA++) * (*pSrcB++);
sum += (*pSrcA++) * (*pSrcB++);
sum += (*pSrcA++) * (*pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the result in a temporary buffer. */
sum += (*pSrcA++) * (*pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
/* Store the result back in the destination buffer */
*result = sum;
}
/**
* @} end of dot_prod group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_dot_prod_q15.c
*
* Description: Q15 dot product.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup dot_prod
* @{
*/
/**
* @brief Dot product of Q15 vectors.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[in] blockSize number of samples in each vector
* @param[out] *result output result returned here
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these
* results are added to a 64-bit accumulator in 34.30 format.
* Nonsaturating additions are used and given that there are 33 guard bits in the accumulator
* there is no risk of overflow.
* The return result is in 34.30 format.
*/
void arm_dot_prod_q15(
q15_t * pSrcA,
q15_t * pSrcB,
uint32_t blockSize,
q63_t * result)
{
q63_t sum = 0; /* Temporary result storage */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the result in a temporary buffer. */
sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);
sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the results in a temporary buffer. */
sum = __SMLALD(*pSrcA++, *pSrcB++, sum);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the results in a temporary buffer. */
sum += (q63_t) ((q31_t) * pSrcA++ * *pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
/* Store the result in the destination buffer in 34.30 format */
*result = sum;
}
/**
* @} end of dot_prod group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
+138
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_dot_prod_q31.c
*
* Description: Q31 dot product.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup dot_prod
* @{
*/
/**
* @brief Dot product of Q31 vectors.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[in] blockSize number of samples in each vector
* @param[out] *result output result returned here
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these
* are truncated to 2.48 format by discarding the lower 14 bits.
* The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.
* There are 15 guard bits in the accumulator and there is no risk of overflow as long as
* the length of the vectors is less than 2^16 elements.
* The return result is in 16.48 format.
*/
void arm_dot_prod_q31(
q31_t * pSrcA,
q31_t * pSrcB,
uint32_t blockSize,
q63_t * result)
{
q63_t sum = 0; /* Temporary result storage */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t inA1, inA2, inA3, inA4;
q31_t inB1, inB2, inB3, inB4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the result in a temporary buffer. */
inA1 = *pSrcA++;
inA2 = *pSrcA++;
inA3 = *pSrcA++;
inA4 = *pSrcA++;
inB1 = *pSrcB++;
inB2 = *pSrcB++;
inB3 = *pSrcB++;
inB4 = *pSrcB++;
sum += ((q63_t) inA1 * inB1) >> 14u;
sum += ((q63_t) inA2 * inB2) >> 14u;
sum += ((q63_t) inA3 * inB3) >> 14u;
sum += ((q63_t) inA4 * inB4) >> 14u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Calculate dot product and then store the result in a temporary buffer. */
sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u;
/* Decrement the loop counter */
blkCnt--;
}
/* Store the result in the destination buffer in 16.48 format */
*result = sum;
}
/**
* @} end of dot_prod group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
+154
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_dot_prod_q7.c
*
* Description: Q7 dot product.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup dot_prod
* @{
*/
/**
* @brief Dot product of Q7 vectors.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[in] blockSize number of samples in each vector
* @param[out] *result output result returned here
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these
* results are added to an accumulator in 18.14 format.
* Nonsaturating additions are used and there is no danger of wrap around as long as
* the vectors are less than 2^18 elements long.
* The return result is in 18.14 format.
*/
void arm_dot_prod_q7(
q7_t * pSrcA,
q7_t * pSrcB,
uint32_t blockSize,
q31_t * result)
{
uint32_t blkCnt; /* loop counter */
q31_t sum = 0; /* Temporary variables to store output */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t input1, input2; /* Temporary variables to store input */
q31_t inA1, inA2, inB1, inB2; /* Temporary variables to store input */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* read 4 samples at a time from sourceA */
input1 = *__SIMD32(pSrcA)++;
/* read 4 samples at a time from sourceB */
input2 = *__SIMD32(pSrcB)++;
/* extract two q7_t samples to q15_t samples */
inA1 = __SXTB16(__ROR(input1, 8));
/* extract reminaing two samples */
inA2 = __SXTB16(input1);
/* extract two q7_t samples to q15_t samples */
inB1 = __SXTB16(__ROR(input2, 8));
/* extract reminaing two samples */
inB2 = __SXTB16(input2);
/* multiply and accumulate two samples at a time */
sum = __SMLAD(inA1, inB1, sum);
sum = __SMLAD(inA2, inB2, sum);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Dot product and then store the results in a temporary buffer. */
sum = __SMLAD(*pSrcA++, *pSrcB++, sum);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
/* Dot product and then store the results in a temporary buffer. */
sum += (q31_t) ((q15_t) * pSrcA++ * *pSrcB++);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
/* Store the result in the destination buffer in 18.14 format */
*result = sum;
}
/**
* @} end of dot_prod group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
+172
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_mult_f32.c
*
* Description: Floating-point vector multiplication.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.5 2010/04/26
* incorporated review comments and updated with latest CMSIS layer
*
* Version 0.0.3 2010/03/10
* Initial version
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup BasicMult Vector Multiplication
*
* Element-by-element multiplication of two vectors.
*
* <pre>
* pDst[n] = pSrcA[n] * pSrcB[n], 0 <= n < blockSize.
* </pre>
*
* There are separate functions for floating-point, Q7, Q15, and Q31 data types.
*/
/**
* @addtogroup BasicMult
* @{
*/
/**
* @brief Floating-point vector multiplication.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*/
void arm_mult_f32(
float32_t * pSrcA,
float32_t * pSrcB,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counters */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t inA1, inA2, inA3, inA4; /* temporary input variables */
float32_t inB1, inB2, inB3, inB4; /* temporary input variables */
float32_t out1, out2, out3, out4; /* temporary output variables */
/* loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and store the results in output buffer */
/* read sample from sourceA */
inA1 = *pSrcA;
/* read sample from sourceB */
inB1 = *pSrcB;
/* read sample from sourceA */
inA2 = *(pSrcA + 1);
/* read sample from sourceB */
inB2 = *(pSrcB + 1);
/* out = sourceA * sourceB */
out1 = inA1 * inB1;
/* read sample from sourceA */
inA3 = *(pSrcA + 2);
/* read sample from sourceB */
inB3 = *(pSrcB + 2);
/* out = sourceA * sourceB */
out2 = inA2 * inB2;
/* read sample from sourceA */
inA4 = *(pSrcA + 3);
/* store result to destination buffer */
*pDst = out1;
/* read sample from sourceB */
inB4 = *(pSrcB + 3);
/* out = sourceA * sourceB */
out3 = inA3 * inB3;
/* store result to destination buffer */
*(pDst + 1) = out2;
/* out = sourceA * sourceB */
out4 = inA4 * inB4;
/* store result to destination buffer */
*(pDst + 2) = out3;
/* store result to destination buffer */
*(pDst + 3) = out4;
/* update pointers to process next samples */
pSrcA += 4u;
pSrcB += 4u;
pDst += 4u;
/* Decrement the blockSize loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and store the results in output buffer */
*pDst++ = (*pSrcA++) * (*pSrcB++);
/* Decrement the blockSize loop counter */
blkCnt--;
}
}
/**
* @} end of BasicMult group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
+152
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@@ -0,0 +1,152 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_mult_q15.c
*
* Description: Q15 vector multiplication.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.5 2010/04/26
* incorporated review comments and updated with latest CMSIS layer
*
* Version 0.0.3 2010/03/10
* Initial version
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicMult
* @{
*/
/**
* @brief Q15 vector multiplication
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.
*/
void arm_mult_q15(
q15_t * pSrcA,
q15_t * pSrcB,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counters */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t inA1, inA2, inB1, inB2; /* temporary input variables */
q15_t out1, out2, out3, out4; /* temporary output variables */
q31_t mul1, mul2, mul3, mul4; /* temporary variables */
/* loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* read two samples at a time from sourceA */
inA1 = *__SIMD32(pSrcA)++;
/* read two samples at a time from sourceB */
inB1 = *__SIMD32(pSrcB)++;
/* read two samples at a time from sourceA */
inA2 = *__SIMD32(pSrcA)++;
/* read two samples at a time from sourceB */
inB2 = *__SIMD32(pSrcB)++;
/* multiply mul = sourceA * sourceB */
mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
mul2 = (q31_t) ((q15_t) inA1 * (q15_t) inB1);
mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16));
mul4 = (q31_t) ((q15_t) inA2 * (q15_t) inB2);
/* saturate result to 16 bit */
out1 = (q15_t) __SSAT(mul1 >> 15, 16);
out2 = (q15_t) __SSAT(mul2 >> 15, 16);
out3 = (q15_t) __SSAT(mul3 >> 15, 16);
out4 = (q15_t) __SSAT(mul4 >> 15, 16);
/* store the result */
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);
*__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);
#else
*__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);
*__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);
#endif // #ifndef ARM_MATH_BIG_ENDIAN
/* Decrement the blockSize loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and store the result in the destination buffer */
*pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
/* Decrement the blockSize loop counter */
blkCnt--;
}
}
/**
* @} end of BasicMult group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
+143
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_mult_q31.c
*
* Description: Q31 vector multiplication.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.5 2010/04/26
* incorporated review comments and updated with latest CMSIS layer
*
* Version 0.0.3 2010/03/10
* Initial version
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicMult
* @{
*/
/**
* @brief Q31 vector multiplication.
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.
*/
void arm_mult_q31(
q31_t * pSrcA,
q31_t * pSrcB,
q31_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counters */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t inA1, inA2, inA3, inA4; /* temporary input variables */
q31_t inB1, inB2, inB3, inB4; /* temporary input variables */
q31_t out1, out2, out3, out4; /* temporary output variables */
/* loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and then store the results in the destination buffer. */
inA1 = *pSrcA++;
inA2 = *pSrcA++;
inA3 = *pSrcA++;
inA4 = *pSrcA++;
inB1 = *pSrcB++;
inB2 = *pSrcB++;
inB3 = *pSrcB++;
inB4 = *pSrcB++;
out1 = ((q63_t) inA1 * inB1) >> 32;
out2 = ((q63_t) inA2 * inB2) >> 32;
out3 = ((q63_t) inA3 * inB3) >> 32;
out4 = ((q63_t) inA4 * inB4) >> 32;
out1 = __SSAT(out1, 31);
out2 = __SSAT(out2, 31);
out3 = __SSAT(out3, 31);
out4 = __SSAT(out4, 31);
*pDst++ = out1 << 1u;
*pDst++ = out2 << 1u;
*pDst++ = out3 << 1u;
*pDst++ = out4 << 1u;
/* Decrement the blockSize loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and then store the results in the destination buffer. */
*pDst++ =
(q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31);
/* Decrement the blockSize loop counter */
blkCnt--;
}
}
/**
* @} end of BasicMult group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
+128
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_mult_q7.c
*
* Description: Q7 vector multiplication.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
*
* Version 0.0.5 2010/04/26
* incorporated review comments and updated with latest CMSIS layer
*
* Version 0.0.3 2010/03/10 DP
* Initial version
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup BasicMult
* @{
*/
/**
* @brief Q7 vector multiplication
* @param[in] *pSrcA points to the first input vector
* @param[in] *pSrcB points to the second input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in each vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.
*/
void arm_mult_q7(
q7_t * pSrcA,
q7_t * pSrcB,
q7_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counters */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q7_t out1, out2, out3, out4; /* Temporary variables to store the product */
/* loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and store the results in temporary variables */
out1 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
out2 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
out3 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
out4 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
/* Store the results of 4 inputs in the destination buffer in single cycle by packing */
*__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
/* Decrement the blockSize loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * B */
/* Multiply the inputs and store the result in the destination buffer */
*pDst++ = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
/* Decrement the blockSize loop counter */
blkCnt--;
}
}
/**
* @} end of BasicMult group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
+137
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@@ -0,0 +1,137 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_negate_f32.c
*
* Description: Negates floating-point vectors.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup negate Vector Negate
*
* Negates the elements of a vector.
*
* <pre>
* pDst[n] = -pSrc[n], 0 <= n < blockSize.
* </pre>
*/
/**
* @addtogroup negate
* @{
*/
/**
* @brief Negates the elements of a floating-point vector.
* @param[in] *pSrc points to the input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*/
void arm_negate_f32(
float32_t * pSrc,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t in1, in2, in3, in4; /* temporary variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* read inputs from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
in3 = *(pSrc + 2);
in4 = *(pSrc + 3);
/* negate the input */
in1 = -in1;
in2 = -in2;
in3 = -in3;
in4 = -in4;
/* store the result to destination */
*pDst = in1;
*(pDst + 1) = in2;
*(pDst + 2) = in3;
*(pDst + 3) = in4;
/* update pointers to process next samples */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = -A */
/* Negate and then store the results in the destination buffer. */
*pDst++ = -*pSrc++;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of negate group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
+137
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@@ -0,0 +1,137 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_negate_q15.c
*
* Description: Negates Q15 vectors.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup negate
* @{
*/
/**
* @brief Negates the elements of a Q15 vector.
* @param[in] *pSrc points to the input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* \par Conditions for optimum performance
* Input and output buffers should be aligned by 32-bit
*
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.
*/
void arm_negate_q15(
q15_t * pSrc,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
q15_t in;
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2; /* Temporary variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = -A */
/* Read two inputs at a time */
in1 = _SIMD32_OFFSET(pSrc);
in2 = _SIMD32_OFFSET(pSrc + 2);
/* negate two samples at a time */
in1 = __QSUB16(0, in1);
/* negate two samples at a time */
in2 = __QSUB16(0, in2);
/* store the result to destination 2 samples at a time */
_SIMD32_OFFSET(pDst) = in1;
/* store the result to destination 2 samples at a time */
_SIMD32_OFFSET(pDst + 2) = in2;
/* update pointers to process next samples */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = -A */
/* Negate and then store the result in the destination buffer. */
in = *pSrc++;
*pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of negate group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
+124
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@@ -0,0 +1,124 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_negate_q31.c
*
* Description: Negates Q31 vectors.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup negate
* @{
*/
/**
* @brief Negates the elements of a Q31 vector.
* @param[in] *pSrc points to the input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.
*/
void arm_negate_q31(
q31_t * pSrc,
q31_t * pDst,
uint32_t blockSize)
{
q31_t in; /* Temporary variable */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2, in3, in4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = -A */
/* Negate and then store the results in the destination buffer. */
in1 = *pSrc++;
in2 = *pSrc++;
in3 = *pSrc++;
in4 = *pSrc++;
*pDst++ = __QSUB(0, in1);
*pDst++ = __QSUB(0, in2);
*pDst++ = __QSUB(0, in3);
*pDst++ = __QSUB(0, in4);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = -A */
/* Negate and then store the result in the destination buffer. */
in = *pSrc++;
*pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of negate group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
+120
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@@ -0,0 +1,120 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_negate_q7.c
*
* Description: Negates Q7 vectors.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup negate
* @{
*/
/**
* @brief Negates the elements of a Q7 vector.
* @param[in] *pSrc points to the input vector
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.
*/
void arm_negate_q7(
q7_t * pSrc,
q7_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
q7_t in;
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t input; /* Input values1-4 */
q31_t zero = 0x00000000;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = -A */
/* Read four inputs */
input = *__SIMD32(pSrc)++;
/* Store the Negated results in the destination buffer in a single cycle by packing the results */
*__SIMD32(pDst)++ = __QSUB8(zero, input);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = -A */
/* Negate and then store the results in the destination buffer. */ \
in = *pSrc++;
*pDst++ = (in == (q7_t) 0x80) ? 0x7f : -in;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of negate group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
+158
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_offset_f32.c
*
* Description: Floating-point vector offset.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup offset Vector Offset
*
* Adds a constant offset to each element of a vector.
*
* <pre>
* pDst[n] = pSrc[n] + offset, 0 <= n < blockSize.
* </pre>
*
* There are separate functions for floating-point, Q7, Q15, and Q31 data types.
*/
/**
* @addtogroup offset
* @{
*/
/**
* @brief Adds a constant offset to a floating-point vector.
* @param[in] *pSrc points to the input vector
* @param[in] offset is the offset to be added
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*/
void arm_offset_f32(
float32_t * pSrc,
float32_t offset,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t in1, in2, in3, in4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination buffer. */
/* read samples from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
/* add offset to input */
in1 = in1 + offset;
/* read samples from source */
in3 = *(pSrc + 2);
/* add offset to input */
in2 = in2 + offset;
/* read samples from source */
in4 = *(pSrc + 3);
/* add offset to input */
in3 = in3 + offset;
/* store result to destination */
*pDst = in1;
/* add offset to input */
in4 = in4 + offset;
/* store result to destination */
*(pDst + 1) = in2;
/* store result to destination */
*(pDst + 2) = in3;
/* store result to destination */
*(pDst + 3) = in4;
/* update pointers to process next samples */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the result in the destination buffer. */
*pDst++ = (*pSrc++) + offset;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of offset group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_offset_q15.c
*
* Description: Q15 vector offset.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup offset
* @{
*/
/**
* @brief Adds a constant offset to a Q15 vector.
* @param[in] *pSrc points to the input vector
* @param[in] offset is the offset to be added
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
*/
void arm_offset_q15(
q15_t * pSrc,
q15_t offset,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t offset_packed; /* Offset packed to 32 bit */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* Offset is packed to 32 bit in order to use SIMD32 for addition */
offset_packed = __PKHBT(offset, offset, 16);
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination buffer, 2 samples at a time. */
*__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);
*__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination buffer. */
*pDst++ = (q15_t) __QADD16(*pSrc++, offset);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination buffer. */
*pDst++ = (q15_t) __SSAT(((q31_t) * pSrc++ + offset), 16);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of offset group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_offset_q31.c
*
* Description: Q31 vector offset.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup offset
* @{
*/
/**
* @brief Adds a constant offset to a Q31 vector.
* @param[in] *pSrc points to the input vector
* @param[in] offset is the offset to be added
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.
*/
void arm_offset_q31(
q31_t * pSrc,
q31_t offset,
q31_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2, in3, in4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination buffer. */
in1 = *pSrc++;
in2 = *pSrc++;
in3 = *pSrc++;
in4 = *pSrc++;
*pDst++ = __QADD(in1, offset);
*pDst++ = __QADD(in2, offset);
*pDst++ = __QADD(in3, offset);
*pDst++ = __QADD(in4, offset);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the result in the destination buffer. */
*pDst++ = __QADD(*pSrc++, offset);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the result in the destination buffer. */
*pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrc++ + offset);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of offset group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_offset_q7.c
*
* Description: Q7 vector offset.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup offset
* @{
*/
/**
* @brief Adds a constant offset to a Q7 vector.
* @param[in] *pSrc points to the input vector
* @param[in] offset is the offset to be added
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q7 range [0x80 0x7F] are saturated.
*/
void arm_offset_q7(
q7_t * pSrc,
q7_t offset,
q7_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t offset_packed; /* Offset packed to 32 bit */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* Offset is packed to 32 bit in order to use SIMD32 for addition */
offset_packed = __PACKq7(offset, offset, offset, offset);
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the results in the destination bufferfor 4 samples at a time. */
*__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrc)++, offset_packed);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the result in the destination buffer. */
*pDst++ = (q7_t) __SSAT(*pSrc++ + offset, 8);
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A + offset */
/* Add offset and then store the result in the destination buffer. */
*pDst++ = (q7_t) __SSAT((q15_t) * pSrc++ + offset, 8);
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of offset group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
+161
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_scale_f32.c
*
* Description: Multiplies a floating-point vector by a scalar.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* ---------------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @defgroup scale Vector Scale
*
* Multiply a vector by a scalar value. For floating-point data, the algorithm used is:
*
* <pre>
* pDst[n] = pSrc[n] * scale, 0 <= n < blockSize.
* </pre>
*
* In the fixed-point Q7, Q15, and Q31 functions, <code>scale</code> is represented by
* a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.
* The shift allows the gain of the scaling operation to exceed 1.0.
* The algorithm used with fixed-point data is:
*
* <pre>
* pDst[n] = (pSrc[n] * scaleFract) << shift, 0 <= n < blockSize.
* </pre>
*
* The overall scale factor applied to the fixed-point data is
* <pre>
* scale = scaleFract * 2^shift.
* </pre>
*/
/**
* @addtogroup scale
* @{
*/
/**
* @brief Multiplies a floating-point vector by a scalar.
* @param[in] *pSrc points to the input vector
* @param[in] scale scale factor to be applied
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*/
void arm_scale_f32(
float32_t * pSrc,
float32_t scale,
float32_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
float32_t in1, in2, in3, in4; /* temporary variabels */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the results in the destination buffer. */
/* read input samples from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
/* multiply with scaling factor */
in1 = in1 * scale;
/* read input sample from source */
in3 = *(pSrc + 2);
/* multiply with scaling factor */
in2 = in2 * scale;
/* read input sample from source */
in4 = *(pSrc + 3);
/* multiply with scaling factor */
in3 = in3 * scale;
in4 = in4 * scale;
/* store the result to destination */
*pDst = in1;
*(pDst + 1) = in2;
*(pDst + 2) = in3;
*(pDst + 3) = in4;
/* update pointers to process next samples */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
*pDst++ = (*pSrc++) * scale;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of scale group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
+157
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_scale_q15.c
*
* Description: Multiplies a Q15 vector by a scalar.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup scale
* @{
*/
/**
* @brief Multiplies a Q15 vector by a scalar.
* @param[in] *pSrc points to the input vector
* @param[in] scaleFract fractional portion of the scale value
* @param[in] shift number of bits to shift the result by
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.
* These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.
*/
void arm_scale_q15(
q15_t * pSrc,
q15_t scaleFract,
int8_t shift,
q15_t * pDst,
uint32_t blockSize)
{
int8_t kShift = 15 - shift; /* shift to apply after scaling */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q15_t in1, in2, in3, in4;
q31_t inA1, inA2; /* Temporary variables */
q31_t out1, out2, out3, out4;
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* Reading 2 inputs from memory */
inA1 = *__SIMD32(pSrc)++;
inA2 = *__SIMD32(pSrc)++;
/* C = A * scale */
/* Scale the inputs and then store the 2 results in the destination buffer
* in single cycle by packing the outputs */
out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
out2 = (q31_t) ((q15_t) inA1 * scaleFract);
out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
out4 = (q31_t) ((q15_t) inA2 * scaleFract);
/* apply shifting */
out1 = out1 >> kShift;
out2 = out2 >> kShift;
out3 = out3 >> kShift;
out4 = out4 >> kShift;
/* saturate the output */
in1 = (q15_t) (__SSAT(out1, 16));
in2 = (q15_t) (__SSAT(out2, 16));
in3 = (q15_t) (__SSAT(out3, 16));
in4 = (q15_t) (__SSAT(out4, 16));
/* store the result to destination */
*__SIMD32(pDst)++ = __PKHBT(in2, in1, 16);
*__SIMD32(pDst)++ = __PKHBT(in4, in3, 16);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
*pDst++ = (q15_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 16));
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
*pDst++ = (q15_t) (__SSAT(((q31_t) * pSrc++ * scaleFract) >> kShift, 16));
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of scale group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
+221
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@@ -0,0 +1,221 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_scale_q31.c
*
* Description: Multiplies a Q31 vector by a scalar.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup scale
* @{
*/
/**
* @brief Multiplies a Q31 vector by a scalar.
* @param[in] *pSrc points to the input vector
* @param[in] scaleFract fractional portion of the scale value
* @param[in] shift number of bits to shift the result by
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.31 format.
* These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.
*/
void arm_scale_q31(
q31_t * pSrc,
q31_t scaleFract,
int8_t shift,
q31_t * pDst,
uint32_t blockSize)
{
int8_t kShift = shift + 1; /* Shift to apply after scaling */
int8_t sign = (kShift & 0x80);
uint32_t blkCnt; /* loop counter */
q31_t in, out;
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q31_t in1, in2, in3, in4; /* temporary input variables */
q31_t out1, out2, out3, out4; /* temporary output variabels */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
if(sign == 0u)
{
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* read four inputs from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
in3 = *(pSrc + 2);
in4 = *(pSrc + 3);
/* multiply input with scaler value */
in1 = ((q63_t) in1 * scaleFract) >> 32;
in2 = ((q63_t) in2 * scaleFract) >> 32;
in3 = ((q63_t) in3 * scaleFract) >> 32;
in4 = ((q63_t) in4 * scaleFract) >> 32;
/* apply shifting */
out1 = in1 << kShift;
out2 = in2 << kShift;
/* saturate the results. */
if(in1 != (out1 >> kShift))
out1 = 0x7FFFFFFF ^ (in1 >> 31);
if(in2 != (out2 >> kShift))
out2 = 0x7FFFFFFF ^ (in2 >> 31);
out3 = in3 << kShift;
out4 = in4 << kShift;
*pDst = out1;
*(pDst + 1) = out2;
if(in3 != (out3 >> kShift))
out3 = 0x7FFFFFFF ^ (in3 >> 31);
if(in4 != (out4 >> kShift))
out4 = 0x7FFFFFFF ^ (in4 >> 31);
/* Store result destination */
*(pDst + 2) = out3;
*(pDst + 3) = out4;
/* Update pointers to process next sampels */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
}
else
{
kShift = -kShift;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* read four inputs from source */
in1 = *pSrc;
in2 = *(pSrc + 1);
in3 = *(pSrc + 2);
in4 = *(pSrc + 3);
/* multiply input with scaler value */
in1 = ((q63_t) in1 * scaleFract) >> 32;
in2 = ((q63_t) in2 * scaleFract) >> 32;
in3 = ((q63_t) in3 * scaleFract) >> 32;
in4 = ((q63_t) in4 * scaleFract) >> 32;
/* apply shifting */
out1 = in1 >> kShift;
out2 = in2 >> kShift;
out3 = in3 >> kShift;
out4 = in4 >> kShift;
/* Store result destination */
*pDst = out1;
*(pDst + 1) = out2;
*(pDst + 2) = out3;
*(pDst + 3) = out4;
/* Update pointers to process next sampels */
pSrc += 4u;
pDst += 4u;
/* Decrement the loop counter */
blkCnt--;
}
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
#endif /* #ifndef ARM_MATH_CM0 */
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
in = *pSrc++;
in = ((q63_t) in * scaleFract) >> 32;
if(sign == 0)
{
out = in << kShift;
if(in != (out >> kShift))
out = 0x7FFFFFFF ^ (in >> 31);
}
else
{
out = in >> kShift;
}
*pDst++ = out;
/* Decrement the loop counter */
blkCnt--;
}
}
/**
* @} end of scale group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
+144
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/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_scale_q7.c
*
* Description: Multiplies a Q7 vector by a scalar.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup scale
* @{
*/
/**
* @brief Multiplies a Q7 vector by a scalar.
* @param[in] *pSrc points to the input vector
* @param[in] scaleFract fractional portion of the scale value
* @param[in] shift number of bits to shift the result by
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.7 format.
* These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format.
*/
void arm_scale_q7(
q7_t * pSrc,
q7_t scaleFract,
int8_t shift,
q7_t * pDst,
uint32_t blockSize)
{
int8_t kShift = 7 - shift; /* shift to apply after scaling */
uint32_t blkCnt; /* loop counter */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q7_t in1, in2, in3, in4, out1, out2, out3, out4; /* Temporary variables to store input & output */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* Reading 4 inputs from memory */
in1 = *pSrc++;
in2 = *pSrc++;
in3 = *pSrc++;
in4 = *pSrc++;
/* C = A * scale */
/* Scale the inputs and then store the results in the temporary variables. */
out1 = (q7_t) (__SSAT(((in1) * scaleFract) >> kShift, 8));
out2 = (q7_t) (__SSAT(((in2) * scaleFract) >> kShift, 8));
out3 = (q7_t) (__SSAT(((in3) * scaleFract) >> kShift, 8));
out4 = (q7_t) (__SSAT(((in4) * scaleFract) >> kShift, 8));
/* Packing the individual outputs into 32bit and storing in
* destination buffer in single write */
*__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
*pDst++ = (q7_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 8));
/* Decrement the loop counter */
blkCnt--;
}
#else
/* Run the below code for Cortex-M0 */
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A * scale */
/* Scale the input and then store the result in the destination buffer. */
*pDst++ = (q7_t) (__SSAT((((q15_t) * pSrc++ * scaleFract) >> kShift), 8));
/* Decrement the loop counter */
blkCnt--;
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of scale group
*/
src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
+243
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@@ -0,0 +1,243 @@
/* ----------------------------------------------------------------------
* Copyright (C) 2010 ARM Limited. All rights reserved.
*
* $Date: 15. February 2012
* $Revision: V1.1.0
*
* Project: CMSIS DSP Library
* Title: arm_shift_q15.c
*
* Description: Shifts the elements of a Q15 vector by a specified number of bits.
*
* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
*
* Version 1.1.0 2012/02/15
* Updated with more optimizations, bug fixes and minor API changes.
*
* Version 1.0.10 2011/7/15
* Big Endian support added and Merged M0 and M3/M4 Source code.
*
* Version 1.0.3 2010/11/29
* Re-organized the CMSIS folders and updated documentation.
*
* Version 1.0.2 2010/11/11
* Documentation updated.
*
* Version 1.0.1 2010/10/05
* Production release and review comments incorporated.
*
* Version 1.0.0 2010/09/20
* Production release and review comments incorporated.
*
* Version 0.0.7 2010/06/10
* Misra-C changes done
* -------------------------------------------------------------------- */
#include "arm_math.h"
/**
* @ingroup groupMath
*/
/**
* @addtogroup shift
* @{
*/
/**
* @brief Shifts the elements of a Q15 vector a specified number of bits.
* @param[in] *pSrc points to the input vector
* @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right.
* @param[out] *pDst points to the output vector
* @param[in] blockSize number of samples in the vector
* @return none.
*
* <b>Scaling and Overflow Behavior:</b>
* \par
* The function uses saturating arithmetic.
* Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.
*/
void arm_shift_q15(
q15_t * pSrc,
int8_t shiftBits,
q15_t * pDst,
uint32_t blockSize)
{
uint32_t blkCnt; /* loop counter */
uint8_t sign; /* Sign of shiftBits */
#ifndef ARM_MATH_CM0
/* Run the below code for Cortex-M4 and Cortex-M3 */
q15_t in1, in2; /* Temporary variables */
/*loop Unrolling */
blkCnt = blockSize >> 2u;
/* Getting the sign of shiftBits */
sign = (shiftBits & 0x80);
/* If the shift value is positive then do right shift else left shift */
if(sign == 0u)
{
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* Read 2 inputs */
in1 = *pSrc++;
in2 = *pSrc++;
/* C = A << shiftBits */
/* Shift the inputs and then store the results in the destination buffer. */
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),
__SSAT((in2 << shiftBits), 16), 16);
#else
*__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),
__SSAT((in1 << shiftBits), 16), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
in1 = *pSrc++;
in2 = *pSrc++;
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),
__SSAT((in2 << shiftBits), 16), 16);
#else
*__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),
__SSAT((in1 << shiftBits), 16), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A << shiftBits */
/* Shift and then store the results in the destination buffer. */
*pDst++ = __SSAT((*pSrc++ << shiftBits), 16);
/* Decrement the loop counter */
blkCnt--;
}
}
else
{
/* First part of the processing with loop unrolling. Compute 4 outputs at a time.
** a second loop below computes the remaining 1 to 3 samples. */
while(blkCnt > 0u)
{
/* Read 2 inputs */
in1 = *pSrc++;
in2 = *pSrc++;
/* C = A >> shiftBits */
/* Shift the inputs and then store the results in the destination buffer. */
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),
(in2 >> -shiftBits), 16);
#else
*__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),
(in1 >> -shiftBits), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
in1 = *pSrc++;
in2 = *pSrc++;
#ifndef ARM_MATH_BIG_ENDIAN
*__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),
(in2 >> -shiftBits), 16);
#else
*__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),
(in1 >> -shiftBits), 16);
#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
/* Decrement the loop counter */
blkCnt--;
}
/* If the blockSize is not a multiple of 4, compute any remaining output samples here.
** No loop unrolling is used. */
blkCnt = blockSize % 0x4u;
while(blkCnt > 0u)
{
/* C = A >> shiftBits */
/* Shift the inputs and then store the results in the destination buffer. */
*pDst++ = (*pSrc++ >> -shiftBits);
/* Decrement the loop counter */
blkCnt--;
}
}
#else
/* Run the below code for Cortex-M0 */
/* Getting the sign of shiftBits */
sign = (shiftBits & 0x80);
/* If the shift value is positive then do right shift else left shift */
if(sign == 0u)
{
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A << shiftBits */
/* Shift and then store the results in the destination buffer. */
*pDst++ = __SSAT(((q31_t) * pSrc++ << shiftBits), 16);
/* Decrement the loop counter */
blkCnt--;
}
}
else
{
/* Initialize blkCnt with number of samples */
blkCnt = blockSize;
while(blkCnt > 0u)
{
/* C = A >> shiftBits */
/* Shift the inputs and then store the results in the destination buffer. */
*pDst++ = (*pSrc++ >> -shiftBits);
/* Decrement the loop counter */
blkCnt--;
}
}
#endif /* #ifndef ARM_MATH_CM0 */
}
/**
* @} end of shift group
*/

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