Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Kalman/Kalman.cpp@5:7ac07bf30707, 2012-04-26 (annotated)
- Committer:
- narshu
- Date:
- Thu Apr 26 23:49:49 2012 +0000
- Revision:
- 5:7ac07bf30707
- Parent:
- 4:7b7334441da9
- Child:
- 7:f9c59a3e4155
Fixed Sonar and most of the kalman filter except for the IR serial;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 4:7b7334441da9 | 1 | //*************************************************************************************** |
narshu | 4:7b7334441da9 | 2 | //Kalman Filter implementation |
narshu | 4:7b7334441da9 | 3 | //*************************************************************************************** |
narshu | 4:7b7334441da9 | 4 | #include "Kalman.h" |
narshu | 4:7b7334441da9 | 5 | #include "rtos.h" |
narshu | 4:7b7334441da9 | 6 | #include "RFSRF05.h" |
narshu | 4:7b7334441da9 | 7 | #include "math.h" |
narshu | 4:7b7334441da9 | 8 | #include "globals.h" |
narshu | 4:7b7334441da9 | 9 | #include "motors.h" |
narshu | 4:7b7334441da9 | 10 | #include "system.h" |
narshu | 4:7b7334441da9 | 11 | #include "geometryfuncs.h" |
narshu | 4:7b7334441da9 | 12 | |
narshu | 4:7b7334441da9 | 13 | #include <tvmet/Matrix.h> |
narshu | 4:7b7334441da9 | 14 | #include <tvmet/Vector.h> |
narshu | 4:7b7334441da9 | 15 | using namespace tvmet; |
narshu | 4:7b7334441da9 | 16 | |
narshu | 4:7b7334441da9 | 17 | Kalman::Kalman(Motors &motorsin, |
narshu | 4:7b7334441da9 | 18 | UI &uiin, |
narshu | 4:7b7334441da9 | 19 | PinName Sonar_Trig, |
narshu | 4:7b7334441da9 | 20 | PinName Sonar_Echo0, |
narshu | 4:7b7334441da9 | 21 | PinName Sonar_Echo1, |
narshu | 4:7b7334441da9 | 22 | PinName Sonar_Echo2, |
narshu | 4:7b7334441da9 | 23 | PinName Sonar_Echo3, |
narshu | 4:7b7334441da9 | 24 | PinName Sonar_Echo4, |
narshu | 4:7b7334441da9 | 25 | PinName Sonar_Echo5, |
narshu | 4:7b7334441da9 | 26 | PinName Sonar_SDI, |
narshu | 4:7b7334441da9 | 27 | PinName Sonar_SDO, |
narshu | 4:7b7334441da9 | 28 | PinName Sonar_SCK, |
narshu | 4:7b7334441da9 | 29 | PinName Sonar_NCS, |
narshu | 4:7b7334441da9 | 30 | PinName Sonar_NIRQ) : |
narshu | 4:7b7334441da9 | 31 | ir(*this), |
narshu | 4:7b7334441da9 | 32 | sonararray(Sonar_Trig, |
narshu | 4:7b7334441da9 | 33 | Sonar_Echo0, |
narshu | 4:7b7334441da9 | 34 | Sonar_Echo1, |
narshu | 4:7b7334441da9 | 35 | Sonar_Echo2, |
narshu | 4:7b7334441da9 | 36 | Sonar_Echo3, |
narshu | 4:7b7334441da9 | 37 | Sonar_Echo4, |
narshu | 4:7b7334441da9 | 38 | Sonar_Echo5, |
narshu | 4:7b7334441da9 | 39 | Sonar_SDI, |
narshu | 4:7b7334441da9 | 40 | Sonar_SDO, |
narshu | 4:7b7334441da9 | 41 | Sonar_SCK, |
narshu | 4:7b7334441da9 | 42 | Sonar_NCS, |
narshu | 4:7b7334441da9 | 43 | Sonar_NIRQ), |
narshu | 4:7b7334441da9 | 44 | motors(motorsin), |
narshu | 4:7b7334441da9 | 45 | ui(uiin), |
narshu | 4:7b7334441da9 | 46 | predictthread(predictloopwrapper, this, osPriorityNormal, 512), |
narshu | 4:7b7334441da9 | 47 | predictticker( SIGTICKARGS(predictthread, 0x1) ), |
narshu | 4:7b7334441da9 | 48 | // sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), |
narshu | 4:7b7334441da9 | 49 | // sonarticker( SIGTICKARGS(sonarthread, 0x1) ), |
narshu | 4:7b7334441da9 | 50 | updatethread(updateloopwrapper, this, osPriorityNormal, 512) { |
narshu | 4:7b7334441da9 | 51 | |
narshu | 4:7b7334441da9 | 52 | Kalman_init = false; |
narshu | 4:7b7334441da9 | 53 | //Intialising some arrays to zero |
narshu | 4:7b7334441da9 | 54 | for (int kk = 0; kk < 3; kk ++) { |
narshu | 4:7b7334441da9 | 55 | SonarMeasure_Offset[kk] = 0; |
narshu | 4:7b7334441da9 | 56 | } |
narshu | 4:7b7334441da9 | 57 | //Initialising other vars |
narshu | 4:7b7334441da9 | 58 | |
narshu | 4:7b7334441da9 | 59 | |
narshu | 4:7b7334441da9 | 60 | //Initilising matrices |
narshu | 4:7b7334441da9 | 61 | |
narshu | 4:7b7334441da9 | 62 | // X = x, y, theta; |
narshu | 4:7b7334441da9 | 63 | X = 0.5, 0, 0; |
narshu | 4:7b7334441da9 | 64 | |
narshu | 4:7b7334441da9 | 65 | P = 1, 0, 0, |
narshu | 4:7b7334441da9 | 66 | 0, 1, 0, |
narshu | 4:7b7334441da9 | 67 | 0, 0, 0.04; |
narshu | 4:7b7334441da9 | 68 | |
narshu | 4:7b7334441da9 | 69 | //measurment variance R is provided by each sensor when calling runupdate |
narshu | 4:7b7334441da9 | 70 | |
narshu | 4:7b7334441da9 | 71 | //attach callback |
narshu | 4:7b7334441da9 | 72 | sonararray.callbackobj = (DummyCT*)this; |
narshu | 4:7b7334441da9 | 73 | sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; |
narshu | 4:7b7334441da9 | 74 | |
narshu | 4:7b7334441da9 | 75 | |
narshu | 4:7b7334441da9 | 76 | predictticker.start(20); |
narshu | 4:7b7334441da9 | 77 | // sonarticker.start(50); |
narshu | 4:7b7334441da9 | 78 | |
narshu | 4:7b7334441da9 | 79 | } |
narshu | 4:7b7334441da9 | 80 | |
narshu | 4:7b7334441da9 | 81 | |
narshu | 4:7b7334441da9 | 82 | //Note: this init function assumes that the robot faces east, theta=0, in the +x direction |
narshu | 4:7b7334441da9 | 83 | void Kalman::KalmanInit() { |
narshu | 4:7b7334441da9 | 84 | float SonarMeasuresx1000[3]; |
narshu | 4:7b7334441da9 | 85 | float IRMeasuresloc[3]; |
narshu | 4:7b7334441da9 | 86 | int beacon_cnt = 0; |
narshu | 4:7b7334441da9 | 87 | // set initiating flag to false |
narshu | 4:7b7334441da9 | 88 | Kalman_init = false; |
narshu | 4:7b7334441da9 | 89 | |
narshu | 4:7b7334441da9 | 90 | // init the offset array |
narshu | 4:7b7334441da9 | 91 | for (int k = 0; k < 3; k ++) { |
narshu | 4:7b7334441da9 | 92 | SonarMeasure_Offset[k] = 0; |
narshu | 4:7b7334441da9 | 93 | IRMeasures[k] = 0; |
narshu | 4:7b7334441da9 | 94 | } |
narshu | 4:7b7334441da9 | 95 | |
narshu | 4:7b7334441da9 | 96 | #ifdef ROBOT_PRIMARY |
narshu | 4:7b7334441da9 | 97 | LPC_UART3->FCR = LPC_UART3->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR |
narshu | 4:7b7334441da9 | 98 | #else |
narshu | 4:7b7334441da9 | 99 | LPC_UART1->FCR = LPC_UART1->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR |
narshu | 4:7b7334441da9 | 100 | #endif |
narshu | 5:7ac07bf30707 | 101 | |
narshu | 4:7b7334441da9 | 102 | ir.attachisr(); |
narshu | 4:7b7334441da9 | 103 | //wating untill the IR has reved up and picked up some data |
narshu | 5:7ac07bf30707 | 104 | wait(1); |
narshu | 4:7b7334441da9 | 105 | |
narshu | 4:7b7334441da9 | 106 | //temporaraly disable IR updates |
narshu | 4:7b7334441da9 | 107 | ir.detachisr(); |
narshu | 4:7b7334441da9 | 108 | |
narshu | 4:7b7334441da9 | 109 | //lock the state throughout the computation, as we will override the state at the end |
narshu | 4:7b7334441da9 | 110 | statelock.lock(); |
narshu | 4:7b7334441da9 | 111 | |
narshu | 4:7b7334441da9 | 112 | SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f; |
narshu | 4:7b7334441da9 | 113 | SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f; |
narshu | 4:7b7334441da9 | 114 | SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f; |
narshu | 4:7b7334441da9 | 115 | IRMeasuresloc[0] = IRMeasures[0]; |
narshu | 4:7b7334441da9 | 116 | IRMeasuresloc[1] = IRMeasures[1]; |
narshu | 4:7b7334441da9 | 117 | IRMeasuresloc[2] = IRMeasures[2]; |
narshu | 4:7b7334441da9 | 118 | //printf("0: %0.4f, 1: %0.4f, 2: %0.4f \n\r", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI); |
narshu | 4:7b7334441da9 | 119 | |
narshu | 4:7b7334441da9 | 120 | float d = beaconpos[2].y - beaconpos[1].y; |
narshu | 4:7b7334441da9 | 121 | float i = beaconpos[0].y - beaconpos[1].y; |
narshu | 4:7b7334441da9 | 122 | float j = beaconpos[0].x - beaconpos[1].x; |
narshu | 4:7b7334441da9 | 123 | float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d); |
narshu | 4:7b7334441da9 | 124 | float x_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j; |
narshu | 4:7b7334441da9 | 125 | |
narshu | 4:7b7334441da9 | 126 | //Compute sonar offset |
narshu | 4:7b7334441da9 | 127 | float Dist_Exp[3]; |
narshu | 4:7b7334441da9 | 128 | for (int k = 0; k < 3; k++) { |
narshu | 4:7b7334441da9 | 129 | Dist_Exp[k] = sqrt((beaconpos[k].y - y_coor)*(beaconpos[k].y - y_coor)+(beaconpos[k].x - x_coor)*(beaconpos[k].x - x_coor)); |
narshu | 4:7b7334441da9 | 130 | SonarMeasure_Offset[k] = (SonarMeasuresx1000[k]-Dist_Exp[k])/1000.0f; |
narshu | 4:7b7334441da9 | 131 | } |
narshu | 4:7b7334441da9 | 132 | |
narshu | 4:7b7334441da9 | 133 | //Compute IR offset |
narshu | 4:7b7334441da9 | 134 | ir.angleOffset = 0; |
narshu | 4:7b7334441da9 | 135 | for (int i = 0; i < 3; i++) { |
narshu | 4:7b7334441da9 | 136 | float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); |
narshu | 4:7b7334441da9 | 137 | // take average offset angle from valid readings |
narshu | 4:7b7334441da9 | 138 | if (IRMeasuresloc[i] != 0) { |
narshu | 4:7b7334441da9 | 139 | beacon_cnt ++; |
narshu | 4:7b7334441da9 | 140 | // changed to current angle - estimated angle |
narshu | 4:7b7334441da9 | 141 | float angle_temp = IRMeasuresloc[i] - angle_est; |
narshu | 4:7b7334441da9 | 142 | angle_temp -= (floor(angle_temp/(2*PI)))*2*PI; |
narshu | 4:7b7334441da9 | 143 | ir.angleOffset += angle_temp; |
narshu | 4:7b7334441da9 | 144 | } |
narshu | 4:7b7334441da9 | 145 | } |
narshu | 4:7b7334441da9 | 146 | ir.angleOffset = ir.angleOffset/float(beacon_cnt); |
narshu | 4:7b7334441da9 | 147 | //printf("\n\r"); |
narshu | 4:7b7334441da9 | 148 | |
narshu | 4:7b7334441da9 | 149 | //statelock already locked |
narshu | 4:7b7334441da9 | 150 | ir.angleInit = true; |
narshu | 4:7b7334441da9 | 151 | // set int flag to true |
narshu | 4:7b7334441da9 | 152 | Kalman_init = true; |
narshu | 4:7b7334441da9 | 153 | X(0) = x_coor/1000.0f; |
narshu | 4:7b7334441da9 | 154 | X(1) = y_coor/1000.0f; |
narshu | 4:7b7334441da9 | 155 | X(2) = 0; |
narshu | 4:7b7334441da9 | 156 | statelock.unlock(); |
narshu | 4:7b7334441da9 | 157 | |
narshu | 4:7b7334441da9 | 158 | //printf("x: %0.4f, y: %0.4f, offset: %0.4f \n\r", x_coor, y_coor, angleOffset*180/PI); |
narshu | 4:7b7334441da9 | 159 | |
narshu | 4:7b7334441da9 | 160 | //reattach the IR processing |
narshu | 4:7b7334441da9 | 161 | ir.attachisr(); |
narshu | 4:7b7334441da9 | 162 | //IRturret.attach(&IR::vIRValueISR,Serial::RxIrq); |
narshu | 4:7b7334441da9 | 163 | } |
narshu | 4:7b7334441da9 | 164 | |
narshu | 4:7b7334441da9 | 165 | |
narshu | 4:7b7334441da9 | 166 | void Kalman::predictloop() { |
narshu | 4:7b7334441da9 | 167 | |
narshu | 4:7b7334441da9 | 168 | float lastleft = 0; |
narshu | 4:7b7334441da9 | 169 | float lastright = 0; |
narshu | 4:7b7334441da9 | 170 | |
narshu | 4:7b7334441da9 | 171 | while (1) { |
narshu | 4:7b7334441da9 | 172 | Thread::signal_wait(0x1); |
narshu | 4:7b7334441da9 | 173 | OLED1 = !OLED1; |
narshu | 4:7b7334441da9 | 174 | |
narshu | 4:7b7334441da9 | 175 | int leftenc = motors.getEncoder1(); |
narshu | 4:7b7334441da9 | 176 | int rightenc = motors.getEncoder2(); |
narshu | 4:7b7334441da9 | 177 | |
narshu | 4:7b7334441da9 | 178 | float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; |
narshu | 4:7b7334441da9 | 179 | float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; |
narshu | 4:7b7334441da9 | 180 | |
narshu | 4:7b7334441da9 | 181 | lastleft = leftenc; |
narshu | 4:7b7334441da9 | 182 | lastright = rightenc; |
narshu | 4:7b7334441da9 | 183 | |
narshu | 4:7b7334441da9 | 184 | |
narshu | 4:7b7334441da9 | 185 | //The below calculation are in body frame (where +x is forward) |
narshu | 4:7b7334441da9 | 186 | float dxp, dyp,d,r; |
narshu | 4:7b7334441da9 | 187 | float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); |
narshu | 4:7b7334441da9 | 188 | if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error |
narshu | 4:7b7334441da9 | 189 | d = (dright + dleft)/2.0f; |
narshu | 4:7b7334441da9 | 190 | dxp = d*cos(thetap/2.0f); |
narshu | 4:7b7334441da9 | 191 | dyp = d*sin(thetap/2.0f); |
narshu | 4:7b7334441da9 | 192 | |
narshu | 4:7b7334441da9 | 193 | } else { //calculate circle arc |
narshu | 4:7b7334441da9 | 194 | //float r = (right + left) / (4.0f * PI * thetap); |
narshu | 4:7b7334441da9 | 195 | r = (dright + dleft) / (2.0f*thetap); |
narshu | 4:7b7334441da9 | 196 | dxp = abs(r)*sin(thetap); |
narshu | 4:7b7334441da9 | 197 | dyp = r - r*cos(thetap); |
narshu | 4:7b7334441da9 | 198 | } |
narshu | 4:7b7334441da9 | 199 | |
narshu | 4:7b7334441da9 | 200 | statelock.lock(); |
narshu | 4:7b7334441da9 | 201 | |
narshu | 4:7b7334441da9 | 202 | //rotating to cartesian frame and updating state |
narshu | 4:7b7334441da9 | 203 | X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); |
narshu | 4:7b7334441da9 | 204 | X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); |
narshu | 4:7b7334441da9 | 205 | X(2) = rectifyAng(X(2) + thetap); |
narshu | 4:7b7334441da9 | 206 | |
narshu | 4:7b7334441da9 | 207 | //Linearising F around X |
narshu | 4:7b7334441da9 | 208 | Matrix<float, 3, 3> F; |
narshu | 4:7b7334441da9 | 209 | F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), |
narshu | 4:7b7334441da9 | 210 | 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), |
narshu | 4:7b7334441da9 | 211 | 0, 0, 1; |
narshu | 4:7b7334441da9 | 212 | |
narshu | 4:7b7334441da9 | 213 | //Generating forward and rotational variance |
narshu | 4:7b7334441da9 | 214 | float varfwd = fwdvarperunit * (dright + dleft) / 2.0f; |
narshu | 4:7b7334441da9 | 215 | float varang = varperang * thetap; |
narshu | 4:7b7334441da9 | 216 | float varxydt = xyvarpertime * PREDICTPERIOD; |
narshu | 4:7b7334441da9 | 217 | float varangdt = angvarpertime * PREDICTPERIOD; |
narshu | 4:7b7334441da9 | 218 | |
narshu | 4:7b7334441da9 | 219 | //Rotating into cartesian frame |
narshu | 4:7b7334441da9 | 220 | Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; |
narshu | 4:7b7334441da9 | 221 | Qsub = varfwd + varxydt, 0, |
narshu | 4:7b7334441da9 | 222 | 0, varxydt; |
narshu | 4:7b7334441da9 | 223 | |
narshu | 4:7b7334441da9 | 224 | Qrot = Rotmatrix(X(2)); |
narshu | 4:7b7334441da9 | 225 | |
narshu | 4:7b7334441da9 | 226 | Qsubrot = Qrot * Qsub * trans(Qrot); |
narshu | 4:7b7334441da9 | 227 | |
narshu | 4:7b7334441da9 | 228 | //Generate Q |
narshu | 4:7b7334441da9 | 229 | Matrix<float, 3, 3> Q;//(Qsubrot); |
narshu | 4:7b7334441da9 | 230 | Q = Qsubrot(0,0), Qsubrot(0,1), 0, |
narshu | 4:7b7334441da9 | 231 | Qsubrot(1,0), Qsubrot(1,1), 0, |
narshu | 4:7b7334441da9 | 232 | 0, 0, varang + varangdt; |
narshu | 4:7b7334441da9 | 233 | |
narshu | 4:7b7334441da9 | 234 | P = F * P * trans(F) + Q; |
narshu | 4:7b7334441da9 | 235 | |
narshu | 4:7b7334441da9 | 236 | statelock.unlock(); |
narshu | 4:7b7334441da9 | 237 | //Thread::wait(PREDICTPERIOD); |
narshu | 4:7b7334441da9 | 238 | |
narshu | 4:7b7334441da9 | 239 | //cout << "predict" << X << endl; |
narshu | 4:7b7334441da9 | 240 | //cout << P << endl; |
narshu | 4:7b7334441da9 | 241 | } |
narshu | 4:7b7334441da9 | 242 | } |
narshu | 4:7b7334441da9 | 243 | |
narshu | 4:7b7334441da9 | 244 | //void Kalman::sonarloop() { |
narshu | 4:7b7334441da9 | 245 | // while (1) { |
narshu | 4:7b7334441da9 | 246 | // Thread::signal_wait(0x1); |
narshu | 4:7b7334441da9 | 247 | // sonararray.startRange(); |
narshu | 4:7b7334441da9 | 248 | // } |
narshu | 4:7b7334441da9 | 249 | //} |
narshu | 4:7b7334441da9 | 250 | |
narshu | 4:7b7334441da9 | 251 | |
narshu | 4:7b7334441da9 | 252 | void Kalman::runupdate(measurement_t type, float value, float variance) { |
narshu | 4:7b7334441da9 | 253 | //printf("beacon %d dist %f\r\n", sonarid, dist); |
narshu | 4:7b7334441da9 | 254 | //led2 = !led2; |
narshu | 4:7b7334441da9 | 255 | |
narshu | 4:7b7334441da9 | 256 | measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); |
narshu | 4:7b7334441da9 | 257 | if (measured) { |
narshu | 4:7b7334441da9 | 258 | measured->mtype = type; |
narshu | 4:7b7334441da9 | 259 | measured->value = value; |
narshu | 4:7b7334441da9 | 260 | measured->variance = variance; |
narshu | 4:7b7334441da9 | 261 | |
narshu | 4:7b7334441da9 | 262 | osStatus putret = measureMQ.put(measured); |
narshu | 4:7b7334441da9 | 263 | if (putret) |
narshu | 4:7b7334441da9 | 264 | OLED4 = 1; |
narshu | 4:7b7334441da9 | 265 | // printf("putting in MQ error code %#x\r\n", putret); |
narshu | 4:7b7334441da9 | 266 | } else { |
narshu | 4:7b7334441da9 | 267 | OLED4 = 1; |
narshu | 4:7b7334441da9 | 268 | //printf("MQalloc returned NULL ptr\r\n"); |
narshu | 4:7b7334441da9 | 269 | } |
narshu | 4:7b7334441da9 | 270 | |
narshu | 4:7b7334441da9 | 271 | } |
narshu | 4:7b7334441da9 | 272 | |
narshu | 4:7b7334441da9 | 273 | void Kalman::updateloop() { |
narshu | 4:7b7334441da9 | 274 | measurement_t type; |
narshu | 4:7b7334441da9 | 275 | float value,variance,rbx,rby,expecdist,Y; |
narshu | 4:7b7334441da9 | 276 | float dhdx,dhdy; |
narshu | 4:7b7334441da9 | 277 | bool aborton2stddev = false; |
narshu | 4:7b7334441da9 | 278 | |
narshu | 4:7b7334441da9 | 279 | Matrix<float, 1, 3> H; |
narshu | 4:7b7334441da9 | 280 | |
narshu | 4:7b7334441da9 | 281 | float S; |
narshu | 4:7b7334441da9 | 282 | Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); |
narshu | 4:7b7334441da9 | 283 | |
narshu | 4:7b7334441da9 | 284 | |
narshu | 4:7b7334441da9 | 285 | while (1) { |
narshu | 4:7b7334441da9 | 286 | OLED2 = !OLED2; |
narshu | 4:7b7334441da9 | 287 | |
narshu | 4:7b7334441da9 | 288 | osEvent evt = measureMQ.get(); |
narshu | 4:7b7334441da9 | 289 | |
narshu | 4:7b7334441da9 | 290 | if (evt.status == osEventMail) { |
narshu | 4:7b7334441da9 | 291 | |
narshu | 4:7b7334441da9 | 292 | measurmentdata &measured = *(measurmentdata*)evt.value.p; |
narshu | 4:7b7334441da9 | 293 | type = measured.mtype; //Note, may support more measurment types than sonar in the future! |
narshu | 4:7b7334441da9 | 294 | value = measured.value; |
narshu | 4:7b7334441da9 | 295 | variance = measured.variance; |
narshu | 4:7b7334441da9 | 296 | |
narshu | 4:7b7334441da9 | 297 | // don't forget to free the memory |
narshu | 4:7b7334441da9 | 298 | measureMQ.free(&measured); |
narshu | 4:7b7334441da9 | 299 | |
narshu | 4:7b7334441da9 | 300 | if (type <= maxmeasure) { |
narshu | 4:7b7334441da9 | 301 | |
narshu | 4:7b7334441da9 | 302 | if (type <= SONAR3) { |
narshu | 4:7b7334441da9 | 303 | |
narshu | 4:7b7334441da9 | 304 | float dist = value / 1000.0f; //converting to m from mm |
narshu | 4:7b7334441da9 | 305 | int sonarid = type; |
narshu | 4:7b7334441da9 | 306 | aborton2stddev = false; |
narshu | 4:7b7334441da9 | 307 | |
narshu | 4:7b7334441da9 | 308 | // Remove the offset if possible |
narshu | 4:7b7334441da9 | 309 | if (Kalman_init) |
narshu | 4:7b7334441da9 | 310 | dist = dist - SonarMeasure_Offset[sonarid]; |
narshu | 4:7b7334441da9 | 311 | |
narshu | 4:7b7334441da9 | 312 | statelock.lock(); |
narshu | 4:7b7334441da9 | 313 | //update the current sonar readings |
narshu | 4:7b7334441da9 | 314 | SonarMeasures[sonarid] = dist; |
narshu | 4:7b7334441da9 | 315 | |
narshu | 4:7b7334441da9 | 316 | rbx = X(0) - beaconpos[sonarid].x/1000.0f; |
narshu | 4:7b7334441da9 | 317 | rby = X(1) - beaconpos[sonarid].y/1000.0f; |
narshu | 4:7b7334441da9 | 318 | |
narshu | 4:7b7334441da9 | 319 | expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); |
narshu | 4:7b7334441da9 | 320 | Y = dist - expecdist; |
narshu | 4:7b7334441da9 | 321 | |
narshu | 4:7b7334441da9 | 322 | dhdx = rbx / expecdist; |
narshu | 4:7b7334441da9 | 323 | dhdy = rby / expecdist; |
narshu | 4:7b7334441da9 | 324 | |
narshu | 4:7b7334441da9 | 325 | H = dhdx, dhdy, 0; |
narshu | 4:7b7334441da9 | 326 | |
narshu | 4:7b7334441da9 | 327 | } else if (type <= IR3) { |
narshu | 4:7b7334441da9 | 328 | |
narshu | 4:7b7334441da9 | 329 | aborton2stddev = false; |
narshu | 4:7b7334441da9 | 330 | int IRidx = type-3; |
narshu | 4:7b7334441da9 | 331 | |
narshu | 4:7b7334441da9 | 332 | statelock.lock(); |
narshu | 4:7b7334441da9 | 333 | IRMeasures[IRidx] = value; |
narshu | 4:7b7334441da9 | 334 | |
narshu | 4:7b7334441da9 | 335 | rbx = X(0) - beaconpos[IRidx].x/1000.0f; |
narshu | 4:7b7334441da9 | 336 | rby = X(1) - beaconpos[IRidx].y/1000.0f; |
narshu | 4:7b7334441da9 | 337 | |
narshu | 4:7b7334441da9 | 338 | float expecang = atan2(-rby, -rbx) - X(2); |
narshu | 4:7b7334441da9 | 339 | Y = rectifyAng(value - expecang); |
narshu | 4:7b7334441da9 | 340 | |
narshu | 4:7b7334441da9 | 341 | float dstsq = rbx*rbx + rby*rby; |
narshu | 4:7b7334441da9 | 342 | H = -rby/dstsq, rbx/dstsq, -1; |
narshu | 4:7b7334441da9 | 343 | } |
narshu | 4:7b7334441da9 | 344 | |
narshu | 4:7b7334441da9 | 345 | Matrix<float, 3, 1> PH (P * trans(H)); |
narshu | 4:7b7334441da9 | 346 | S = (H * PH)(0,0) + variance; |
narshu | 4:7b7334441da9 | 347 | |
narshu | 4:7b7334441da9 | 348 | if (aborton2stddev && Y*Y > 4 * S) { |
narshu | 4:7b7334441da9 | 349 | statelock.unlock(); |
narshu | 4:7b7334441da9 | 350 | continue; |
narshu | 4:7b7334441da9 | 351 | } |
narshu | 4:7b7334441da9 | 352 | |
narshu | 4:7b7334441da9 | 353 | Matrix<float, 3, 1> K (PH * (1/S)); |
narshu | 4:7b7334441da9 | 354 | |
narshu | 4:7b7334441da9 | 355 | //Updating state |
narshu | 4:7b7334441da9 | 356 | X += col(K, 0) * Y; |
narshu | 4:7b7334441da9 | 357 | X(2) = rectifyAng(X(2)); |
narshu | 4:7b7334441da9 | 358 | |
narshu | 4:7b7334441da9 | 359 | P = (I3 - K * H) * P; |
narshu | 4:7b7334441da9 | 360 | |
narshu | 4:7b7334441da9 | 361 | statelock.unlock(); |
narshu | 4:7b7334441da9 | 362 | |
narshu | 4:7b7334441da9 | 363 | } |
narshu | 4:7b7334441da9 | 364 | |
narshu | 4:7b7334441da9 | 365 | } else { |
narshu | 4:7b7334441da9 | 366 | OLED4 = 1; |
narshu | 4:7b7334441da9 | 367 | //printf("ERROR: in updateloop, code %#x", evt); |
narshu | 4:7b7334441da9 | 368 | } |
narshu | 4:7b7334441da9 | 369 | |
narshu | 4:7b7334441da9 | 370 | } |
narshu | 4:7b7334441da9 | 371 | |
narshu | 4:7b7334441da9 | 372 | } |