Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/Kalman/Kalman.cpp@38:6ecf0d21e492, 2013-04-10 (annotated)

Committer:
rsavitski
Date:
Wed Apr 10 20:44:29 2013 +0000
Revision:
38:6ecf0d21e492
Parent:
36:f8e7f0a72a3d
Child:
39:c9058a401410
rubbish angle facing what

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 16:52250d8d8fce 1 //***************************************************************************************
madcowswe 16:52250d8d8fce 2 //Kalman Filter implementation
madcowswe 16:52250d8d8fce 3 //***************************************************************************************
madcowswe 16:52250d8d8fce 4 #include "Kalman.h"
madcowswe 16:52250d8d8fce 5 #include "rtos.h"
madcowswe 16:52250d8d8fce 6 #include "math.h"
madcowswe 16:52250d8d8fce 7 #include "supportfuncs.h"
madcowswe 20:70d651156779 8 #include "Encoder.h"
madcowswe 22:167dacfe0b14 9 #include "globals.h"
madcowswe 22:167dacfe0b14 10 #include "Printing.h"
madcowswe 16:52250d8d8fce 11
madcowswe 20:70d651156779 12 #include "tvmet/Matrix.h"
madcowswe 16:52250d8d8fce 13 using namespace tvmet;
madcowswe 16:52250d8d8fce 14
madcowswe 16:52250d8d8fce 15
madcowswe 16:52250d8d8fce 16
madcowswe 16:52250d8d8fce 17 namespace Kalman
madcowswe 16:52250d8d8fce 18 {
madcowswe 16:52250d8d8fce 19
madcowswe 20:70d651156779 20 Ticker predictticker;
madcowswe 20:70d651156779 21
rsavitski 36:f8e7f0a72a3d 22 //DigitalOut OLED4(LED4);
rsavitski 36:f8e7f0a72a3d 23 DigitalOut OLED4(p10);
rsavitski 38:6ecf0d21e492 24 //DigitalOut OLED1(LED1);
rsavitski 38:6ecf0d21e492 25 DigitalOut OLED1(p11);
madcowswe 27:7cb3a21d9a2e 26 DigitalOut OLED2(LED2);
madcowswe 20:70d651156779 27
madcowswe 16:52250d8d8fce 28 //State variables
madcowswe 19:4b993a9a156e 29 Matrix<float, 3, 1> X;
madcowswe 16:52250d8d8fce 30 Matrix<float, 3, 3> P;
madcowswe 16:52250d8d8fce 31 Mutex statelock;
madcowswe 16:52250d8d8fce 32
madcowswe 16:52250d8d8fce 33 float RawReadings[maxmeasure+1];
madcowswe 32:ada943ecaceb 34 int sensorseenflags = 0;
madcowswe 23:6e3218cf75f8 35 float IRphaseOffset;
madcowswe 16:52250d8d8fce 36
madcowswe 20:70d651156779 37 bool Kalman_inited = 0;
madcowswe 16:52250d8d8fce 38
madcowswe 16:52250d8d8fce 39 struct measurmentdata {
madcowswe 16:52250d8d8fce 40 measurement_t mtype;
madcowswe 16:52250d8d8fce 41 float value;
madcowswe 16:52250d8d8fce 42 float variance;
madcowswe 19:4b993a9a156e 43 };
madcowswe 16:52250d8d8fce 44
madcowswe 16:52250d8d8fce 45 Mail <measurmentdata, 16> measureMQ;
madcowswe 16:52250d8d8fce 46
madcowswe 20:70d651156779 47 Thread* predict_thread_ptr = NULL;
madcowswe 16:52250d8d8fce 48
madcowswe 16:52250d8d8fce 49
madcowswe 16:52250d8d8fce 50 //Note: this init function assumes that the robot faces east, theta=0, in the +x direction
madcowswe 16:52250d8d8fce 51 void KalmanInit()
madcowswe 16:52250d8d8fce 52 {
madcowswe 20:70d651156779 53 printf("kalmaninit \r\n");
madcowswe 20:70d651156779 54
madcowswe 30:00e1493b44f0 55 //WARNING: HARDCODED! TODO: fix it so it works for both sides!
madcowswe 20:70d651156779 56
madcowswe 32:ada943ecaceb 57 printf("waiting for all sonar, and at least 1 IR\r\n");
madcowswe 32:ada943ecaceb 58 while( ((sensorseenflags & 0x7)^0x7) || !(sensorseenflags & 0x7<<3) );
madcowswe 32:ada943ecaceb 59
madcowswe 16:52250d8d8fce 60 //solve for our position (assume perfect bias)
madcowswe 20:70d651156779 61 const float d = beaconpos[2].y - beaconpos[1].y;
madcowswe 20:70d651156779 62 const float i = beaconpos[2].y - beaconpos[0].y;
madcowswe 20:70d651156779 63 const float j = beaconpos[2].x - beaconpos[0].x;
madcowswe 20:70d651156779 64 float r1 = RawReadings[SONAR2];
madcowswe 19:4b993a9a156e 65 float r2 = RawReadings[SONAR1];
madcowswe 20:70d651156779 66 float r3 = RawReadings[SONAR0];
madcowswe 20:70d651156779 67
madcowswe 20:70d651156779 68 printf("ranges: 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", r1, r2, r3);
madcowswe 17:6263e90bf3ba 69
madcowswe 19:4b993a9a156e 70 float y_coor = (r1*r1-r2*r2+d*d)/(2*d);
madcowswe 17:6263e90bf3ba 71 float x_coor = (r1*r1-r3*r3+i*i+j*j)/(2*j) - (i*y_coor)/j;
madcowswe 20:70d651156779 72
madcowswe 20:70d651156779 73 //coordinate system hack (for now)
madcowswe 20:70d651156779 74 x_coor = beaconpos[2].x - x_coor;
madcowswe 20:70d651156779 75 y_coor = beaconpos[2].y - y_coor;
madcowswe 20:70d651156779 76
madcowswe 20:70d651156779 77 printf("solved pos from sonar: %f, %f \r\n", x_coor, y_coor);
madcowswe 20:70d651156779 78
madcowswe 16:52250d8d8fce 79 //IR
madcowswe 16:52250d8d8fce 80 float IRMeasuresloc[3];
madcowswe 16:52250d8d8fce 81 IRMeasuresloc[0] = RawReadings[IR0];
madcowswe 16:52250d8d8fce 82 IRMeasuresloc[1] = RawReadings[IR1];
madcowswe 16:52250d8d8fce 83 IRMeasuresloc[2] = RawReadings[IR2];
madcowswe 20:70d651156779 84 printf("IR 0: %0.4f, 1: %0.4f, 2: %0.4f \r\n", IRMeasuresloc[0]*180/PI, IRMeasuresloc[1]*180/PI, IRMeasuresloc[2]*180/PI);
madcowswe 16:52250d8d8fce 85
madcowswe 32:ada943ecaceb 86 float IR_Offsets[3] = {0};
madcowswe 32:ada943ecaceb 87 float frombrefoffset = 0;
madcowswe 32:ada943ecaceb 88 int refbeacon = 0;
madcowswe 32:ada943ecaceb 89
madcowswe 32:ada943ecaceb 90 for (int i = 0; i < 3; i++){
madcowswe 32:ada943ecaceb 91 if (sensorseenflags & 1<<(3+i)){
madcowswe 32:ada943ecaceb 92 refbeacon = i;
madcowswe 32:ada943ecaceb 93 break;
madcowswe 32:ada943ecaceb 94 }
madcowswe 32:ada943ecaceb 95 }
madcowswe 32:ada943ecaceb 96
madcowswe 32:ada943ecaceb 97 printf("refbeacon is %d\r\n", refbeacon);
madcowswe 32:ada943ecaceb 98
madcowswe 32:ada943ecaceb 99 int cnt = 0;
madcowswe 16:52250d8d8fce 100 for (int i = 0; i < 3; i++) {
madcowswe 16:52250d8d8fce 101
madcowswe 32:ada943ecaceb 102 if (sensorseenflags & 1<<(3+i)){
madcowswe 32:ada943ecaceb 103 cnt++;
madcowswe 32:ada943ecaceb 104
madcowswe 32:ada943ecaceb 105 //Compute IR offset
madcowswe 32:ada943ecaceb 106 float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor);
madcowswe 32:ada943ecaceb 107
madcowswe 32:ada943ecaceb 108 //printf("Angle %d : %f \n\r",i,angle_est*180/PI );
madcowswe 32:ada943ecaceb 109 IR_Offsets[i] = constrainAngle(IRMeasuresloc[i] - angle_est);
madcowswe 32:ada943ecaceb 110
madcowswe 32:ada943ecaceb 111 frombrefoffset += constrainAngle(IR_Offsets[i] - IR_Offsets[refbeacon]);
madcowswe 32:ada943ecaceb 112 }
madcowswe 16:52250d8d8fce 113 }
madcowswe 20:70d651156779 114
madcowswe 32:ada943ecaceb 115 IRphaseOffset = constrainAngle(IR_Offsets[refbeacon] + frombrefoffset/cnt);
madcowswe 16:52250d8d8fce 116
madcowswe 16:52250d8d8fce 117 //debug
madcowswe 23:6e3218cf75f8 118 printf("Offsets IR: %0.4f\r\n",IRphaseOffset*180/PI);
madcowswe 16:52250d8d8fce 119
madcowswe 16:52250d8d8fce 120 statelock.lock();
madcowswe 27:7cb3a21d9a2e 121 X(0,0) = x_coor-TURRET_FWD_PLACEMENT; //assume facing east
madcowswe 19:4b993a9a156e 122 X(1,0) = y_coor;
madcowswe 19:4b993a9a156e 123 X(2,0) = 0;
madcowswe 22:167dacfe0b14 124
madcowswe 22:167dacfe0b14 125 P = 0.02*0.02, 0, 0,
madcowswe 22:167dacfe0b14 126 0, 0.02*0.02, 0,
madcowswe 22:167dacfe0b14 127 0, 0, 0.04;
madcowswe 16:52250d8d8fce 128 statelock.unlock();
madcowswe 20:70d651156779 129
madcowswe 20:70d651156779 130 Kalman_inited = 1;
madcowswe 16:52250d8d8fce 131 }
madcowswe 16:52250d8d8fce 132
madcowswe 20:70d651156779 133
madcowswe 20:70d651156779 134 State getState(){
madcowswe 20:70d651156779 135 statelock.lock();
madcowswe 20:70d651156779 136 State state = {X(0,0), X(1,0), X(2,0)};
madcowswe 20:70d651156779 137 statelock.unlock();
madcowswe 20:70d651156779 138 return state;
madcowswe 20:70d651156779 139 }
madcowswe 20:70d651156779 140
madcowswe 20:70d651156779 141
madcowswe 22:167dacfe0b14 142 void predictloop(void const*)
madcowswe 16:52250d8d8fce 143 {
madcowswe 16:52250d8d8fce 144
madcowswe 22:167dacfe0b14 145 OLED4 = !Printing::registerID(0, 3);
madcowswe 22:167dacfe0b14 146 OLED4 = !Printing::registerID(1, 4);
madcowswe 16:52250d8d8fce 147
madcowswe 16:52250d8d8fce 148 float lastleft = 0;
madcowswe 16:52250d8d8fce 149 float lastright = 0;
madcowswe 16:52250d8d8fce 150
madcowswe 16:52250d8d8fce 151 while (1) {
madcowswe 16:52250d8d8fce 152 Thread::signal_wait(0x1);
madcowswe 16:52250d8d8fce 153 OLED1 = !OLED1;
madcowswe 16:52250d8d8fce 154
madcowswe 20:70d651156779 155 float leftenc = left_encoder.getTicks() * ENCODER_M_PER_TICK;
madcowswe 20:70d651156779 156 float rightenc = right_encoder.getTicks() * ENCODER_M_PER_TICK;
madcowswe 16:52250d8d8fce 157
madcowswe 20:70d651156779 158 float dleft = leftenc-lastleft;
madcowswe 20:70d651156779 159 float dright = rightenc-lastright;
madcowswe 16:52250d8d8fce 160
madcowswe 16:52250d8d8fce 161 lastleft = leftenc;
madcowswe 16:52250d8d8fce 162 lastright = rightenc;
madcowswe 16:52250d8d8fce 163
madcowswe 16:52250d8d8fce 164
madcowswe 16:52250d8d8fce 165 //The below calculation are in body frame (where +x is forward)
madcowswe 16:52250d8d8fce 166 float dxp, dyp,d,r;
madcowswe 20:70d651156779 167 float thetap = (dright - dleft) / ENCODER_WHEELBASE;
madcowswe 20:70d651156779 168 if (abs(thetap) < 0.01f) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error
madcowswe 16:52250d8d8fce 169 d = (dright + dleft)/2.0f;
madcowswe 16:52250d8d8fce 170 dxp = d*cos(thetap/2.0f);
madcowswe 16:52250d8d8fce 171 dyp = d*sin(thetap/2.0f);
madcowswe 16:52250d8d8fce 172
madcowswe 16:52250d8d8fce 173 } else { //calculate circle arc
madcowswe 16:52250d8d8fce 174 //float r = (right + left) / (4.0f * PI * thetap);
madcowswe 16:52250d8d8fce 175 r = (dright + dleft) / (2.0f*thetap);
madcowswe 20:70d651156779 176 dxp = r*sin(thetap);
madcowswe 16:52250d8d8fce 177 dyp = r - r*cos(thetap);
madcowswe 16:52250d8d8fce 178 }
madcowswe 16:52250d8d8fce 179
madcowswe 16:52250d8d8fce 180 statelock.lock();
madcowswe 16:52250d8d8fce 181
madcowswe 20:70d651156779 182 float tempX2 = X(2,0);
madcowswe 16:52250d8d8fce 183 //rotating to cartesian frame and updating state
madcowswe 20:70d651156779 184 X(0,0) += dxp * cos(X(2,0)) - dyp * sin(X(2,0));
madcowswe 20:70d651156779 185 X(1,0) += dxp * sin(X(2,0)) + dyp * cos(X(2,0));
madcowswe 20:70d651156779 186 X(2,0) = constrainAngle(X(2,0) + thetap);
madcowswe 16:52250d8d8fce 187
madcowswe 16:52250d8d8fce 188 //Linearising F around X
madcowswe 20:70d651156779 189 float avgX2 = (X(2,0) + tempX2)/2.0f;
madcowswe 16:52250d8d8fce 190 Matrix<float, 3, 3> F;
madcowswe 16:52250d8d8fce 191 F = 1, 0, (dxp * -sin(avgX2) - dyp * cos(avgX2)),
madcowswe 16:52250d8d8fce 192 0, 1, (dxp * cos(avgX2) - dyp * sin(avgX2)),
madcowswe 16:52250d8d8fce 193 0, 0, 1;
madcowswe 16:52250d8d8fce 194
madcowswe 16:52250d8d8fce 195 //Generating forward and rotational variance
madcowswe 16:52250d8d8fce 196 float varfwd = fwdvarperunit * abs(dright + dleft) / 2.0f;
madcowswe 16:52250d8d8fce 197 float varang = varperang * abs(thetap);
madcowswe 20:70d651156779 198 float varxydt = xyvarpertime * KALMAN_PREDICT_PERIOD;
madcowswe 20:70d651156779 199 float varangdt = angvarpertime * KALMAN_PREDICT_PERIOD;
madcowswe 16:52250d8d8fce 200
madcowswe 16:52250d8d8fce 201 //Rotating into cartesian frame
madcowswe 16:52250d8d8fce 202 Matrix<float, 2, 2> Qsub,Qsubrot,Qrot;
madcowswe 16:52250d8d8fce 203 Qsub = varfwd + varxydt, 0,
madcowswe 16:52250d8d8fce 204 0, varxydt;
madcowswe 16:52250d8d8fce 205
madcowswe 20:70d651156779 206 Qrot = Rotmatrix(X(2,0));
madcowswe 16:52250d8d8fce 207
madcowswe 16:52250d8d8fce 208 Qsubrot = Qrot * Qsub * trans(Qrot);
madcowswe 16:52250d8d8fce 209
madcowswe 16:52250d8d8fce 210 //Generate Q
madcowswe 16:52250d8d8fce 211 Matrix<float, 3, 3> Q;//(Qsubrot);
madcowswe 16:52250d8d8fce 212 Q = Qsubrot(0,0), Qsubrot(0,1), 0,
madcowswe 16:52250d8d8fce 213 Qsubrot(1,0), Qsubrot(1,1), 0,
madcowswe 16:52250d8d8fce 214 0, 0, varang + varangdt;
madcowswe 16:52250d8d8fce 215
madcowswe 16:52250d8d8fce 216 P = F * P * trans(F) + Q;
madcowswe 16:52250d8d8fce 217
madcowswe 20:70d651156779 218 //printf("x: %f, y: %f, t: %f\r\n", X(0,0), X(1,0), X(2,0));
madcowswe 22:167dacfe0b14 219 //Update Printing
madcowswe 22:167dacfe0b14 220 float statecpy[] = {X(0,0), X(1,0), X(2,0)};
madcowswe 22:167dacfe0b14 221 Printing::updateval(0, statecpy, 3);
madcowswe 16:52250d8d8fce 222
madcowswe 22:167dacfe0b14 223 float Pcpy[] = {P(0,0), P(0,1), P(1,0), P(1,1)};
madcowswe 22:167dacfe0b14 224 Printing::updateval(1, Pcpy, 4);
madcowswe 16:52250d8d8fce 225
madcowswe 16:52250d8d8fce 226 statelock.unlock();
madcowswe 16:52250d8d8fce 227 }
madcowswe 16:52250d8d8fce 228 }
madcowswe 16:52250d8d8fce 229
madcowswe 20:70d651156779 230
madcowswe 20:70d651156779 231 void predict_event_setter(){
madcowswe 20:70d651156779 232 if(predict_thread_ptr)
madcowswe 20:70d651156779 233 predict_thread_ptr->signal_set(0x1);
madcowswe 20:70d651156779 234 else
madcowswe 20:70d651156779 235 OLED4 = 1;
madcowswe 20:70d651156779 236 }
madcowswe 20:70d651156779 237
madcowswe 20:70d651156779 238 void start_predict_ticker(Thread* predict_thread_ptr_in){
madcowswe 20:70d651156779 239 predict_thread_ptr = predict_thread_ptr_in;
madcowswe 20:70d651156779 240 predictticker.attach(predict_event_setter, KALMAN_PREDICT_PERIOD);
madcowswe 20:70d651156779 241 }
madcowswe 20:70d651156779 242
madcowswe 20:70d651156779 243 void runupdate(measurement_t type, float value, float variance)
madcowswe 16:52250d8d8fce 244 {
madcowswe 32:ada943ecaceb 245 sensorseenflags |= 1<<type;
madcowswe 32:ada943ecaceb 246
madcowswe 20:70d651156779 247 if (!Kalman_inited) {
madcowswe 16:52250d8d8fce 248 RawReadings[type] = value;
madcowswe 20:70d651156779 249 } else {
madcowswe 17:6263e90bf3ba 250
madcowswe 20:70d651156779 251 if (type >= IR0 && type <= IR2)
madcowswe 23:6e3218cf75f8 252 RawReadings[type] = value - IRphaseOffset;
madcowswe 20:70d651156779 253 else
madcowswe 20:70d651156779 254 RawReadings[type] = value;
madcowswe 20:70d651156779 255
madcowswe 17:6263e90bf3ba 256
madcowswe 16:52250d8d8fce 257 measurmentdata* measured = (measurmentdata*)measureMQ.alloc();
madcowswe 16:52250d8d8fce 258 if (measured) {
madcowswe 16:52250d8d8fce 259 measured->mtype = type;
madcowswe 32:ada943ecaceb 260 measured->value = RawReadings[type];
madcowswe 16:52250d8d8fce 261 measured->variance = variance;
madcowswe 16:52250d8d8fce 262
madcowswe 16:52250d8d8fce 263 osStatus putret = measureMQ.put(measured);
madcowswe 20:70d651156779 264 //if (putret)
madcowswe 20:70d651156779 265 //OLED4 = 1;
madcowswe 16:52250d8d8fce 266 // printf("putting in MQ error code %#x\r\n", putret);
madcowswe 16:52250d8d8fce 267 } else {
madcowswe 20:70d651156779 268 //OLED4 = 1;
madcowswe 16:52250d8d8fce 269 //printf("MQalloc returned NULL ptr\r\n");
madcowswe 16:52250d8d8fce 270 }
madcowswe 20:70d651156779 271
madcowswe 16:52250d8d8fce 272 }
madcowswe 20:70d651156779 273
madcowswe 16:52250d8d8fce 274
madcowswe 16:52250d8d8fce 275 }
madcowswe 27:7cb3a21d9a2e 276
madcowswe 22:167dacfe0b14 277 void Kalman::updateloop(void const*)
madcowswe 16:52250d8d8fce 278 {
madcowswe 16:52250d8d8fce 279
madcowswe 16:52250d8d8fce 280 //sonar Y chanels
madcowswe 27:7cb3a21d9a2e 281 OLED4 = !Printing::registerID(2, 1);
madcowswe 27:7cb3a21d9a2e 282 OLED4 = !Printing::registerID(3, 1);
madcowswe 27:7cb3a21d9a2e 283 OLED4 = !Printing::registerID(4, 1);
madcowswe 16:52250d8d8fce 284
madcowswe 16:52250d8d8fce 285 //IR Y chanels
madcowswe 27:7cb3a21d9a2e 286 OLED4 = !Printing::registerID(5, 1);
madcowswe 27:7cb3a21d9a2e 287 OLED4 = !Printing::registerID(6, 1);
madcowswe 27:7cb3a21d9a2e 288 OLED4 = !Printing::registerID(7, 1);
madcowswe 16:52250d8d8fce 289
madcowswe 16:52250d8d8fce 290 bool aborton2stddev = false;
madcowswe 16:52250d8d8fce 291
madcowswe 16:52250d8d8fce 292 Matrix<float, 1, 3> H;
madcowswe 16:52250d8d8fce 293
madcowswe 27:7cb3a21d9a2e 294 float Y,S;
madcowswe 27:7cb3a21d9a2e 295 const Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() );
madcowswe 16:52250d8d8fce 296
madcowswe 16:52250d8d8fce 297
madcowswe 16:52250d8d8fce 298 while (1) {
madcowswe 16:52250d8d8fce 299 OLED2 = !OLED2;
madcowswe 16:52250d8d8fce 300
madcowswe 16:52250d8d8fce 301 osEvent evt = measureMQ.get();
madcowswe 16:52250d8d8fce 302
madcowswe 16:52250d8d8fce 303 if (evt.status == osEventMail) {
madcowswe 16:52250d8d8fce 304
madcowswe 16:52250d8d8fce 305 measurmentdata &measured = *(measurmentdata*)evt.value.p;
madcowswe 27:7cb3a21d9a2e 306 measurement_t type = measured.mtype; //Note, may support more measurment types than sonar in the future!
madcowswe 27:7cb3a21d9a2e 307 float value = measured.value;
madcowswe 27:7cb3a21d9a2e 308 float variance = measured.variance;
madcowswe 16:52250d8d8fce 309
madcowswe 16:52250d8d8fce 310 // don't forget to free the memory
madcowswe 16:52250d8d8fce 311 measureMQ.free(&measured);
madcowswe 16:52250d8d8fce 312
madcowswe 16:52250d8d8fce 313 if (type <= maxmeasure) {
madcowswe 16:52250d8d8fce 314
madcowswe 27:7cb3a21d9a2e 315 if (type <= SONAR2) {
madcowswe 16:52250d8d8fce 316
madcowswe 27:7cb3a21d9a2e 317 float dist = value;
madcowswe 16:52250d8d8fce 318 int sonarid = type;
madcowswe 16:52250d8d8fce 319 aborton2stddev = true;
madcowswe 16:52250d8d8fce 320
madcowswe 16:52250d8d8fce 321 statelock.lock();
madcowswe 27:7cb3a21d9a2e 322
madcowswe 27:7cb3a21d9a2e 323 float fp_ct = TURRET_FWD_PLACEMENT*cos(X(2,0));
madcowswe 27:7cb3a21d9a2e 324 float fp_st = TURRET_FWD_PLACEMENT*sin(X(2,0));
madcowswe 27:7cb3a21d9a2e 325
madcowswe 27:7cb3a21d9a2e 326 float rbx = X(0,0) + fp_ct - beaconpos[sonarid].x;
madcowswe 27:7cb3a21d9a2e 327 float rby = X(1,0) + fp_st - beaconpos[sonarid].y;
madcowswe 27:7cb3a21d9a2e 328
madcowswe 27:7cb3a21d9a2e 329 float expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby);
madcowswe 16:52250d8d8fce 330 Y = dist - expecdist;
madcowswe 16:52250d8d8fce 331
madcowswe 16:52250d8d8fce 332 //send to ui
madcowswe 27:7cb3a21d9a2e 333 Printing::updateval(sonarid+2, Y);
madcowswe 16:52250d8d8fce 334
madcowswe 27:7cb3a21d9a2e 335 float r_expecdist = 1.0f/expecdist;
madcowswe 16:52250d8d8fce 336
madcowswe 27:7cb3a21d9a2e 337 float dhdx = rbx * r_expecdist;
madcowswe 27:7cb3a21d9a2e 338 float dhdy = rby * r_expecdist;
madcowswe 28:664e81033846 339 float dhdt = fp_ct*dhdy - fp_st*dhdx;
madcowswe 16:52250d8d8fce 340
madcowswe 27:7cb3a21d9a2e 341 H = dhdx, dhdy, dhdt;
madcowswe 16:52250d8d8fce 342
madcowswe 27:7cb3a21d9a2e 343 } else if (type <= IR2) {
madcowswe 27:7cb3a21d9a2e 344
madcowswe 27:7cb3a21d9a2e 345 aborton2stddev = true;
madcowswe 16:52250d8d8fce 346 int IRidx = type-3;
madcowswe 16:52250d8d8fce 347
madcowswe 27:7cb3a21d9a2e 348 statelock.lock();
madcowswe 27:7cb3a21d9a2e 349
madcowswe 27:7cb3a21d9a2e 350 float fp_ct = TURRET_FWD_PLACEMENT*cos(X(2,0));
madcowswe 27:7cb3a21d9a2e 351 float fp_st = TURRET_FWD_PLACEMENT*sin(X(2,0));
madcowswe 16:52250d8d8fce 352
madcowswe 27:7cb3a21d9a2e 353 float brx = beaconpos[IRidx].x - (X(0,0) + fp_ct);
madcowswe 27:7cb3a21d9a2e 354 float bry = beaconpos[IRidx].y - (X(1,0) + fp_st);
madcowswe 16:52250d8d8fce 355
madcowswe 27:7cb3a21d9a2e 356 float expecang = atan2(bry, brx) - X(2,0); //constrainAngle can be called late
madcowswe 27:7cb3a21d9a2e 357 Y = constrainAngle(value - expecang);
madcowswe 16:52250d8d8fce 358
madcowswe 16:52250d8d8fce 359 //send to ui
madcowswe 27:7cb3a21d9a2e 360 Printing::updateval(IRidx + 5, Y);
madcowswe 16:52250d8d8fce 361
madcowswe 27:7cb3a21d9a2e 362 float r_dstsq = 1.0f/(brx*brx + bry*bry);
madcowswe 27:7cb3a21d9a2e 363 float dhdx = -bry*r_dstsq;
madcowswe 27:7cb3a21d9a2e 364 float dhdy = brx*r_dstsq;
madcowswe 27:7cb3a21d9a2e 365 float dhdt = fp_ct*dhdy - fp_st*dhdx - 1.0f;
madcowswe 27:7cb3a21d9a2e 366 H = dhdx, dhdy, dhdt;
madcowswe 16:52250d8d8fce 367 }
madcowswe 16:52250d8d8fce 368
madcowswe 16:52250d8d8fce 369 Matrix<float, 3, 1> PH (P * trans(H));
madcowswe 32:ada943ecaceb 370 S = (H * PH)(0,0) + variance*10; //TODO: temp hack
madcowswe 16:52250d8d8fce 371
madcowswe 16:52250d8d8fce 372 if (aborton2stddev && Y*Y > 4 * S) {
madcowswe 16:52250d8d8fce 373 statelock.unlock();
madcowswe 16:52250d8d8fce 374 continue;
madcowswe 16:52250d8d8fce 375 }
madcowswe 16:52250d8d8fce 376
madcowswe 16:52250d8d8fce 377 Matrix<float, 3, 1> K (PH * (1/S));
madcowswe 16:52250d8d8fce 378
madcowswe 16:52250d8d8fce 379 //Updating state
madcowswe 27:7cb3a21d9a2e 380 X += K * Y;
madcowswe 27:7cb3a21d9a2e 381 X(2,0) = constrainAngle(X(2,0));
madcowswe 16:52250d8d8fce 382
madcowswe 16:52250d8d8fce 383 P = (I3 - K * H) * P;
madcowswe 16:52250d8d8fce 384
madcowswe 16:52250d8d8fce 385 statelock.unlock();
madcowswe 16:52250d8d8fce 386
madcowswe 16:52250d8d8fce 387 }
madcowswe 16:52250d8d8fce 388
madcowswe 16:52250d8d8fce 389 } else {
madcowswe 16:52250d8d8fce 390 OLED4 = 1;
madcowswe 16:52250d8d8fce 391 //printf("ERROR: in updateloop, code %#x", evt);
madcowswe 16:52250d8d8fce 392 }
madcowswe 16:52250d8d8fce 393
madcowswe 16:52250d8d8fce 394 }
madcowswe 16:52250d8d8fce 395
madcowswe 16:52250d8d8fce 396 }
madcowswe 16:52250d8d8fce 397
madcowswe 19:4b993a9a156e 398
madcowswe 16:52250d8d8fce 399 } //Kalman Namespace