Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: Kalman/Kalman.cpp
- Revision:
- 9:377560539b74
- Parent:
- 8:ffc7d8af2d5a
- Child:
- 10:294b9adbc9d3
--- a/Kalman/Kalman.cpp Fri Apr 27 18:36:54 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,380 +0,0 @@ -//*************************************************************************************** -//Kalman Filter implementation -//*************************************************************************************** -#include "Kalman.h" -#include "rtos.h" -#include "RFSRF05.h" -#include "math.h" -#include "globals.h" -#include "motors.h" -#include "system.h" -#include "geometryfuncs.h" - -#include <tvmet/Matrix.h> -#include <tvmet/Vector.h> -using namespace tvmet; - -Kalman::Kalman(Motors &motorsin, - UI &uiin, - PinName Sonar_Trig, - PinName Sonar_Echo0, - PinName Sonar_Echo1, - PinName Sonar_Echo2, - PinName Sonar_Echo3, - PinName Sonar_Echo4, - PinName Sonar_Echo5, - PinName Sonar_SDI, - PinName Sonar_SDO, - PinName Sonar_SCK, - PinName Sonar_NCS, - PinName Sonar_NIRQ) : - ir(*this), - sonararray(Sonar_Trig, - Sonar_Echo0, - Sonar_Echo1, - Sonar_Echo2, - Sonar_Echo3, - Sonar_Echo4, - Sonar_Echo5, - Sonar_SDI, - Sonar_SDO, - Sonar_SCK, - Sonar_NCS, - Sonar_NIRQ), - motors(motorsin), - ui(uiin), - predictthread(predictloopwrapper, this, osPriorityNormal, 512), - predictticker( SIGTICKARGS(predictthread, 0x1) ), -// sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), -// sonarticker( SIGTICKARGS(sonarthread, 0x1) ), - updatethread(updateloopwrapper, this, osPriorityNormal, 512) { - - Kalman_init = false; - //Intialising some arrays to zero - for (int kk = 0; kk < 3; kk ++) { - SonarMeasure_Offset[kk] = 0; - } - //Initialising other vars - - - //Initilising matrices - - // X = x, y, theta; - X = 0.5, 0, 0; - - P = 1, 0, 0, - 0, 1, 0, - 0, 0, 0.04; - - //measurment variance R is provided by each sensor when calling runupdate - - //attach callback - sonararray.callbackobj = (DummyCT*)this; - sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; - - - predictticker.start(20); -// sonarticker.start(50); - -} - - -//Note: this init function assumes that the robot faces east, theta=0, in the +x direction -void Kalman::KalmanInit() { - float SonarMeasuresx1000[3]; - float IRMeasuresloc[3]; - int beacon_cnt = 0; - // set initiating flag to false - Kalman_init = false; - - // init the offset array - for (int k = 0; k < 3; k ++) { - SonarMeasure_Offset[k] = 0; - IRMeasures[k] = 0; - } - -/* -#ifdef ROBOT_PRIMARY - LPC_UART3->FCR = LPC_UART3->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR -#else - LPC_UART1->FCR = LPC_UART1->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR -#endif -*/ - - ir.attachisr(); - //wating untill the IR has reved up and picked up some data - wait(1); - - //temporaraly disable IR updates - ir.detachisr(); - - //lock the state throughout the computation, as we will override the state at the end - statelock.lock(); - - SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f; - SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f; - SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f; - IRMeasuresloc[0] = IRMeasures[0]; - IRMeasuresloc[1] = IRMeasures[1]; - IRMeasuresloc[2] = IRMeasures[2]; - //printf("0: %0.4f, 1: %0.4f, 2: %0.4f \n\r", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI); - - float d = beaconpos[2].y - beaconpos[1].y; - float i = beaconpos[0].y - beaconpos[1].y; - float j = beaconpos[0].x - beaconpos[1].x; - float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d); - float x_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j; - - //Compute sonar offset - float Dist_Exp[3]; - for (int k = 0; k < 3; k++) { - Dist_Exp[k] = sqrt((beaconpos[k].y - y_coor)*(beaconpos[k].y - y_coor)+(beaconpos[k].x - x_coor)*(beaconpos[k].x - x_coor)); - SonarMeasure_Offset[k] = (SonarMeasuresx1000[k]-Dist_Exp[k])/1000.0f; - } - - //Compute IR offset - ir.angleOffset = 0; - for (int i = 0; i < 3; i++) { - float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor); - // take average offset angle from valid readings - if (IRMeasuresloc[i] != 0) { - beacon_cnt ++; - // changed to current angle - estimated angle - float angle_temp = IRMeasuresloc[i] - angle_est; - angle_temp -= (floor(angle_temp/(2*PI)))*2*PI; - ir.angleOffset += angle_temp; - } - } - ir.angleOffset = ir.angleOffset/float(beacon_cnt); - //printf("\n\r"); - - //statelock already locked - ir.angleInit = true; - // set int flag to true - Kalman_init = true; - X(0) = x_coor/1000.0f; - X(1) = y_coor/1000.0f; - X(2) = 0; - statelock.unlock(); - - //printf("x: %0.4f, y: %0.4f, offset: %0.4f \n\r", x_coor, y_coor, angleOffset*180/PI); - - //reattach the IR processing - ir.attachisr(); - //IRturret.attach(&IR::vIRValueISR,Serial::RxIrq); -} - - -void Kalman::predictloop() { - - OLED4 = !ui.regid(0, 3); - OLED4 = !ui.regid(1, 9); - - float lastleft = 0; - float lastright = 0; - - while (1) { - Thread::signal_wait(0x1); - OLED1 = !OLED1; - - int leftenc = motors.getEncoder1(); - int rightenc = motors.getEncoder2(); - - float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; - float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; - - lastleft = leftenc; - lastright = rightenc; - - - //The below calculation are in body frame (where +x is forward) - float dxp, dyp,d,r; - float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); - if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error - d = (dright + dleft)/2.0f; - dxp = d*cos(thetap/2.0f); - dyp = d*sin(thetap/2.0f); - - } else { //calculate circle arc - //float r = (right + left) / (4.0f * PI * thetap); - r = (dright + dleft) / (2.0f*thetap); - dxp = abs(r)*sin(thetap); - dyp = r - r*cos(thetap); - } - - statelock.lock(); - - //rotating to cartesian frame and updating state - X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); - X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); - X(2) = rectifyAng(X(2) + thetap); - - //Linearising F around X - Matrix<float, 3, 3> F; - F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), - 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), - 0, 0, 1; - - //Generating forward and rotational variance - float varfwd = fwdvarperunit * (dright + dleft) / 2.0f; - float varang = varperang * thetap; - float varxydt = xyvarpertime * PREDICTPERIOD; - float varangdt = angvarpertime * PREDICTPERIOD; - - //Rotating into cartesian frame - Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; - Qsub = varfwd + varxydt, 0, - 0, varxydt; - - Qrot = Rotmatrix(X(2)); - - Qsubrot = Qrot * Qsub * trans(Qrot); - - //Generate Q - Matrix<float, 3, 3> Q;//(Qsubrot); - Q = Qsubrot(0,0), Qsubrot(0,1), 0, - Qsubrot(1,0), Qsubrot(1,1), 0, - 0, 0, varang + varangdt; - - P = F * P * trans(F) + Q; - - //Update UI - float statecpy[] = {X(0), X(1), X(2)}; - OLED4 = !ui.updateval(0, statecpy, 3) || OLED4; - - float Pcpy[] = {P(0,0), P(0,1), P(0,2), P(1,0), P(1,1), P(1,2), P(2,0), P(2,1), P(2,2)}; - OLED4 = !ui.updateval(1, Pcpy, 9) || OLED4; - - statelock.unlock(); - } -} - -//void Kalman::sonarloop() { -// while (1) { -// Thread::signal_wait(0x1); -// sonararray.startRange(); -// } -//} - - -void Kalman::runupdate(measurement_t type, float value, float variance) { - //printf("beacon %d dist %f\r\n", sonarid, dist); - //led2 = !led2; - - measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); - if (measured) { - measured->mtype = type; - measured->value = value; - measured->variance = variance; - - osStatus putret = measureMQ.put(measured); - if (putret) - OLED4 = 1; - // printf("putting in MQ error code %#x\r\n", putret); - } else { - OLED4 = 1; - //printf("MQalloc returned NULL ptr\r\n"); - } - -} - -void Kalman::updateloop() { - measurement_t type; - float value,variance,rbx,rby,expecdist,Y; - float dhdx,dhdy; - bool aborton2stddev = false; - - Matrix<float, 1, 3> H; - - float S; - Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); - - - while (1) { - OLED2 = !OLED2; - - osEvent evt = measureMQ.get(); - - if (evt.status == osEventMail) { - - measurmentdata &measured = *(measurmentdata*)evt.value.p; - type = measured.mtype; //Note, may support more measurment types than sonar in the future! - value = measured.value; - variance = measured.variance; - - // don't forget to free the memory - measureMQ.free(&measured); - - if (type <= maxmeasure) { - - if (type <= SONAR3) { - - float dist = value / 1000.0f; //converting to m from mm - int sonarid = type; - aborton2stddev = false; - - // Remove the offset if possible - if (Kalman_init) - dist = dist - SonarMeasure_Offset[sonarid]; - - statelock.lock(); - //update the current sonar readings - SonarMeasures[sonarid] = dist; - - rbx = X(0) - beaconpos[sonarid].x/1000.0f; - rby = X(1) - beaconpos[sonarid].y/1000.0f; - - expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); - Y = dist - expecdist; - - dhdx = rbx / expecdist; - dhdy = rby / expecdist; - - H = dhdx, dhdy, 0; - - } else if (type <= IR3) { - - aborton2stddev = false; - int IRidx = type-3; - - statelock.lock(); - IRMeasures[IRidx] = value; - - rbx = X(0) - beaconpos[IRidx].x/1000.0f; - rby = X(1) - beaconpos[IRidx].y/1000.0f; - - float expecang = atan2(-rby, -rbx) - X(2); - Y = rectifyAng(value - expecang); - - float dstsq = rbx*rbx + rby*rby; - H = -rby/dstsq, rbx/dstsq, -1; - } - - Matrix<float, 3, 1> PH (P * trans(H)); - S = (H * PH)(0,0) + variance; - - if (aborton2stddev && Y*Y > 4 * S) { - statelock.unlock(); - continue; - } - - Matrix<float, 3, 1> K (PH * (1/S)); - - //Updating state - X += col(K, 0) * Y; - X(2) = rectifyAng(X(2)); - - P = (I3 - K * H) * P; - - statelock.unlock(); - - } - - } else { - OLED4 = 1; - //printf("ERROR: in updateloop, code %#x", evt); - } - - } - -} \ No newline at end of file