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PX4-Autopilot/matlab/scripts/Inertial Nav EKF/SaveScriptCode.m
T
Paul Riseborough e9ccfdd484 EKF: Update derivation scripts and outputs 
Work around limitation in Symbolic toolbox environment space by incrementally saving and clearing workspace
Remove vehicle vertical position from optical flow prediction equations (use range measurement instead) and regenerate auto-code
Remove legacy optical flow auto-code conversion method as it is not required now a work around for symbolic toolbox limitations has been developed
Fix out of date syntax
2016-03-11 11:03:43 +11:00

667 lines
19 KiB
Matlab
Raw Blame History

function SaveScriptCode(nStates)
%% Load Data
fileName = strcat('SymbolicOutput',int2str(nStates),'.mat');
load(fileName);
%% Open output file
fileName = strcat('SymbolicOutput',int2str(nStates),'.txt');
fid = fopen(fileName,'wt');
%% Write equation for state transition matrix
if exist('SF','var')
fprintf(fid,'SF = zeros(%d,1);\n',numel(SF));
for rowIndex = 1:numel(SF)
string = char(SF(rowIndex,1));
fprintf(fid,'SF(%d) = %s;\n',rowIndex,string);
end
% fprintf(fid,'\n');
% fprintf(fid,'F = zeros(%d,%d);\n',nStates,nStates);
% for rowIndex = 1:nStates
% for colIndex = 1:nStates
% string = char(F(rowIndex,colIndex));
% % don't write out a zero-assignment
% if ~strcmpi(string,'0')
% fprintf(fid,'F(%d,%d) = %s;\n',rowIndex,colIndex,string);
% end
% end
% end
% fprintf(fid,'\n');
end
%% Write equations for control influence (disturbance) matrix
if exist('SG','var')
fprintf(fid,'\n');
fprintf(fid,'SG = zeros(%d,1);\n',numel(SG));
for rowIndex = 1:numel(SG)
string = char(SG(rowIndex,1));
fprintf(fid,'SG(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
% fprintf(fid,'\n');
% fprintf(fid,'G = zeros(%d,%d);\n',nStates,numel([da;dv]));
% for rowIndex = 1:nStates
% for colIndex = 1:numel([da;dv])
% string = char(G(rowIndex,colIndex));
% % don't write out a zero-assignment
% if ~strcmpi(string,'0')
% fprintf(fid,'G(%d,%d) = %s;\n',rowIndex,colIndex,string);
% end
% end
% end
% fprintf(fid,'\n');
end
%% Write equations for state error matrix
if exist('SQ','var')
fprintf(fid,'\n');
fprintf(fid,'SQ = zeros(%d,1);\n',numel(SQ));
for rowIndex = 1:numel(SQ)
string = char(SQ(rowIndex,1));
fprintf(fid,'SQ(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
% fprintf(fid,'\n');
% fprintf(fid,'Q = zeros(%d,%d);\n',nStates,nStates);
% for rowIndex = 1:nStates
% for colIndex = 1:nStates
% string = char(Q(rowIndex,colIndex));
% % don't write out a zero-assignment
% if ~strcmpi(string,'0')
% fprintf(fid,'Q(%d,%d) = %s;\n',rowIndex,colIndex,string);
% end
% end
% end
% fprintf(fid,'\n');
end
%% Write equations for covariance prediction
% Only write out upper diagonal (matrix is symmetric)
if exist('SPP','var')
fprintf(fid,'\n');
fprintf(fid,'SPP = zeros(%d,1);\n',numel(SPP));
for rowIndex = 1:numel(SPP)
string = char(SPP(rowIndex,1));
fprintf(fid,'SPP(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
end
if exist('PP','var')
fprintf(fid,'\n');
fprintf(fid,'nextP = zeros(%d,%d);\n',nStates,nStates);
for colIndex = 1:nStates
for rowIndex = 1:colIndex
string = char(PP(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'nextP(%d,%d) = %s;\n',rowIndex,colIndex,string);
end
end
end
fprintf(fid,'\n');
end
%% Write equations for velocity and position data fusion
if exist('H_VP','var')
[nRow,nCol] = size(H_VP);
fprintf(fid,'\n');
fprintf(fid,'H_VP = zeros(%d,%d);\n',nRow,nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_VP(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_VP(%d,%d) = %s;\n',rowIndex,colIndex,string);
end
end
end
fprintf(fid,'\n');
[nRow,nCol] = size(SK_VP);
fprintf(fid,'\n');
fprintf(fid,'SK_VP = zeros(%d,%d);\n',nRow,nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(SK_VP(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'SK_VP(%d,%d) = %s;\n',rowIndex,colIndex,string);
end
end
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_VP);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,%d);\n',nRow,nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(K_VP(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d,%d) = %s;\n',rowIndex,colIndex,string);
end
end
end
fprintf(fid,'\n');
end
%% Write equations for true airspeed data fusion
if exist('SH_TAS','var')
fprintf(fid,'\n');
fprintf(fid,'SH_TAS = zeros(%d,1);\n',numel(SH_TAS));
for rowIndex = 1:numel(SH_TAS)
string = char(SH_TAS(rowIndex,1));
fprintf(fid,'SH_TAS(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(H_TAS);
fprintf(fid,'\n');
fprintf(fid,'H_TAS = zeros(1,%d);\n',nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_TAS(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_TAS(1,%d) = %s;\n',colIndex,string);
end
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_TAS = zeros(%d,1);\n',numel(SK_TAS));
for rowIndex = 1:numel(SK_TAS)
string = char(SK_TAS(rowIndex,1));
fprintf(fid,'SK_TAS(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_TAS);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_TAS(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for sideslip data fusion
if exist('SH_BETA','var')
fprintf(fid,'\n');
fprintf(fid,'SH_BETA = zeros(%d,1);\n',numel(SH_BETA));
for rowIndex = 1:numel(SH_BETA)
string = char(SH_BETA(rowIndex,1));
fprintf(fid,'SH_BETA(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(H_BETA);
fprintf(fid,'\n');
fprintf(fid,'H_BETA = zeros(1,%d);\n',nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_BETA(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_BETA(1,%d) = %s;\n',colIndex,string);
end
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_BETA = zeros(%d,1);\n',numel(SK_BETA));
for rowIndex = 1:numel(SK_BETA)
string = char(SK_BETA(rowIndex,1));
fprintf(fid,'SK_BETA(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_BETA);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_BETA(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for magnetometer data fusion
if exist('SH_MAG','var')
fprintf(fid,'\n');
fprintf(fid,'SH_MAG = zeros(%d,1);\n',numel(SH_MAG));
for rowIndex = 1:numel(SH_MAG)
string = char(SH_MAG(rowIndex,1));
fprintf(fid,'SH_MAG(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(H_MAG);
fprintf(fid,'\n');
fprintf(fid,'H_MAG = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_MAG(1,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_MAG(%d) = %s;\n',colIndex,string);
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_MX = zeros(%d,1);\n',numel(SK_MX));
for rowIndex = 1:numel(SK_MX)
string = char(SK_MX(rowIndex,1));
fprintf(fid,'SK_MX(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_MX);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_MX(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
[nRow,nCol] = size(H_MAG);
fprintf(fid,'\n');
fprintf(fid,'H_MAG = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_MAG(2,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_MAG(%d) = %s;\n',colIndex,string);
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_MY = zeros(%d,1);\n',numel(SK_MY));
for rowIndex = 1:numel(SK_MY)
string = char(SK_MY(rowIndex,1));
fprintf(fid,'SK_MY(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_MY);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_MY(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
[nRow,nCol] = size(H_MAG);
fprintf(fid,'\n');
fprintf(fid,'H_MAG = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_MAG(3,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_MAG(%d) = %s;\n',colIndex,string);
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_MZ = zeros(%d,1);\n',numel(SK_MZ));
for rowIndex = 1:numel(SK_MZ)
string = char(SK_MZ(rowIndex,1));
fprintf(fid,'SK_MZ(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_MZ);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_MZ(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for optical flow sensor angular LOS data fusion
if exist('SH_LOS','var')
fprintf(fid,'\n');
fprintf(fid,'SH_LOS = zeros(%d,1);\n',numel(SH_LOS));
for rowIndex = 1:numel(SH_LOS)
string = char(SH_LOS(rowIndex,1));
fprintf(fid,'SH_LOS(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
fprintf(fid,'\n');
[nRow,nCol] = size(H_LOS);
fprintf(fid,'\n');
fprintf(fid,'H_LOS = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_LOS(1,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_LOS(%d) = %s;\n',colIndex,string);
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
[nRow,nCol] = size(H_LOS);
fprintf(fid,'\n');
fprintf(fid,'H_LOS = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_LOS(2,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_LOS(%d) = %s;\n',colIndex,string);
end
end
% fprintf(fid,'\n');
% fprintf(fid,'SKK_LOS = zeros(%d,1);\n',numel(SKK_LOS));
% for rowIndex = 1:numel(SKK_LOS)
% string = char(SKK_LOS(rowIndex,1));
% fprintf(fid,'SKK_LOS(%d) = %s;\n',rowIndex,string);
% end
fprintf(fid,'\n');
fprintf(fid,'SK_LOS = zeros(%d,1);\n',numel(SK_LOS));
for rowIndex = 1:numel(SK_LOS)
string = char(SK_LOS(rowIndex,1));
fprintf(fid,'SK_LOS(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(K_LOSX);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_LOSX(rowIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_LOSY);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_LOSY(rowIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
end
%% Write observation fusion equations for optical flow sensor scale factor error estimation
if exist('SH_OPT','var')
fprintf(fid,'\n');
for rowIndex = 1:numel(SH_OPT)
string = char(SH_OPT(rowIndex,1));
fprintf(fid,'SH_OPT(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
fprintf(fid,'\n');
string = char(H_OPT(1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_OPT(1) = %s;\n',1,string);
end
fprintf(fid,'\n');
fprintf(fid,'\n');
string = char(H_OPT(2));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_OPT(2) = %s;\n',1,string);
end
fprintf(fid,'\n');
fprintf(fid,'\n');
for rowIndex = 1:numel(SK_OPT)
string = char(SK_OPT(rowIndex,1));
fprintf(fid,'SK_OPT(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
string = char(K_OPT(1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'K_OPT(1) = %s;\n',1,string);
end
fprintf(fid,'\n');
fprintf(fid,'\n');
string = char(K_OPT(2));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'K_OPT(2) = %s;\n',1,string);
end
fprintf(fid,'\n');
end
%% Write equations for laser range finder data fusion
if exist('SH_RNG','var')
fprintf(fid,'\n');
fprintf(fid,'SH_RNG = zeros(%d,1);\n',numel(SH_RNG));
for rowIndex = 1:numel(SH_RNG)
string = char(SH_RNG(rowIndex,1));
fprintf(fid,'SH_RNG(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(H_RNG);
fprintf(fid,'\n');
fprintf(fid,'H_RNG = zeros(1,%d);\n',nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_RNG(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_RNG(1,%d) = %s;\n',colIndex,string);
end
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_RNG = zeros(%d,1);\n',numel(SK_RNG));
for rowIndex = 1:numel(SK_RNG)
string = char(SK_RNG(rowIndex,1));
fprintf(fid,'SK_RNG(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_RNG);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_RNG(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for simple magnetomter data fusion
if exist('SH_MAGS','var')
fprintf(fid,'\n');
fprintf(fid,'SH_MAGS = zeros(%d,1);\n',numel(SH_MAGS));
for rowIndex = 1:numel(SH_MAGS)
string = char(SH_MAGS(rowIndex,1));
fprintf(fid,'SH_MAGS(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(H_MAGS);
fprintf(fid,'\n');
fprintf(fid,'H_MAGS = zeros(1,%d);\n',nCol);
for colIndex = 1:nCol
string = char(H_MAGS(1,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_MAGS(%d) = %s;\n',colIndex,string);
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_MAGS = zeros(%d,1);\n',numel(SK_MAGS));
for rowIndex = 1:numel(SK_MAGS)
string = char(SK_MAGS(rowIndex,1));
fprintf(fid,'SK_MAGS(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_MAGS);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_MAGS(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for X accel fusion
if exist('SH_ACCX','var')
fprintf(fid,'\n');
fprintf(fid,'SH_ACCX = zeros(%d,1);\n',numel(SH_ACCX));
for rowIndex = 1:numel(SH_ACCX)
string = char(SH_ACCX(rowIndex,1));
fprintf(fid,'SH_ACCX(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(H_ACCX);
fprintf(fid,'\n');
fprintf(fid,'H_ACCX = zeros(1,%d);\n',nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_ACCX(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_ACCX(1,%d) = %s;\n',colIndex,string);
end
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_ACCX = zeros(%d,1);\n',numel(SK_ACCX));
for rowIndex = 1:numel(SK_ACCX)
string = char(SK_ACCX(rowIndex,1));
fprintf(fid,'SK_ACCX(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_ACCX);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_ACCX(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Write equations for Y accel fusion
if exist('SH_ACCY','var')
fprintf(fid,'\n');
fprintf(fid,'SH_ACCY = zeros(%d,1);\n',numel(SH_ACCY));
for rowIndex = 1:numel(SH_ACCY)
string = char(SH_ACCY(rowIndex,1));
fprintf(fid,'SH_ACCY(%d) = %s;\n',rowIndex,string);
end
[nRow,nCol] = size(H_ACCY);
fprintf(fid,'\n');
fprintf(fid,'H_ACCY = zeros(1,%d);\n',nCol);
for rowIndex = 1:nRow
for colIndex = 1:nCol
string = char(H_ACCY(rowIndex,colIndex));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'H_ACCY(1,%d) = %s;\n',colIndex,string);
end
end
end
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'SK_ACCY = zeros(%d,1);\n',numel(SK_ACCY));
for rowIndex = 1:numel(SK_ACCY)
string = char(SK_ACCY(rowIndex,1));
fprintf(fid,'SK_ACCY(%d) = %s;\n',rowIndex,string);
end
fprintf(fid,'\n');
[nRow,nCol] = size(K_ACCY);
fprintf(fid,'\n');
fprintf(fid,'Kfusion = zeros(%d,1);\n',nRow,nCol);
for rowIndex = 1:nRow
string = char(K_ACCY(rowIndex,1));
% don't write out a zero-assignment
if ~strcmpi(string,'0')
fprintf(fid,'Kfusion(%d) = %s;\n',rowIndex,string);
end
end
fprintf(fid,'\n');
end
%% Close output file
fclose(fid);
end
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