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| Rev | Author | Line No. | Line |
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| 838 | MikeW | 1 | /* |
| 2 | Copyright 2008, by Michael Walter |
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| 3 | |||
| 4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
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| 5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
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| 6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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| 7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
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| 8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 9 | |||
| 10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
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| 11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
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| 12 | unless it is stated otherwise. |
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| 13 | */ |
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| 14 | |||
| 15 | /***************************************************************************** |
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| 16 | INCLUDES |
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| 17 | **************************************************************************** */ |
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| 18 | #include "mat.h" |
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| 19 | |||
| 20 | /***************************************************************************** |
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| 21 | (SYMBOLIC) CONSTANTS |
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| 22 | *****************************************************************************/ |
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| 23 | |||
| 24 | |||
| 25 | /* *************************************************************************** */ |
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| 26 | /* Uses the Compass to Estimate Theta, Phi, Psi */ |
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| 27 | //#define USE_Extended_MM3_Measurement_Model |
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| 28 | /* *************************************************************************** */ |
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| 29 | |||
| 30 | /* kalman filter model extensions change number of state variables */ |
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| 31 | #define KAFI_DIM_X (3) /* number of rows of state vector */ |
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| 32 | |||
| 33 | #ifdef USE_Extended_MM3_Measurement_Model |
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| 34 | #define KAFI_DIM_Y (6) /* number of rows of measurement vector (ACC_X, ACC_Y, ACC_Z, HX, HY, HZ)*/ |
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| 35 | #else |
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| 36 | #define KAFI_DIM_Y (4) /* number of rows of measurement vector (ACC_X, ACC_Y, ACC_Z, CompassHeading)*/ |
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| 37 | #endif |
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| 38 | |||
| 39 | #define KAFI_DIM_U (3) /* number of rows of control vector */ |
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| 40 | |||
| 41 | #ifdef USE_Extended_MM3_Measurement_Model |
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| 42 | #define fCycleTime 16.0F; |
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| 43 | #else |
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| 44 | #define fCycleTime 10.5F; |
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| 45 | #endif |
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| 46 | |||
| 47 | /*typedef*/ enum |
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| 48 | { |
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| 49 | _p = 0, |
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| 50 | _q, |
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| 51 | _r, |
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| 52 | c_control_variables /* number of control variables */ |
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| 53 | } /*trControlVariables_e*/; |
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| 54 | |||
| 55 | |||
| 56 | #ifdef USE_Extended_MM3_Measurement_Model |
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| 57 | /*typedef*/ enum |
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| 58 | { |
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| 59 | _ax = 0, |
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| 60 | _ay, |
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| 61 | _az, |
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| 62 | _mx, |
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| 63 | _my, |
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| 64 | _mz, |
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| 65 | c_observation_variables /* number of observation variables */ |
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| 66 | } /*trObservationVariables_e*/; |
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| 67 | #else |
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| 68 | /*typedef*/ enum |
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| 69 | { |
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| 70 | _ax = 0, |
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| 71 | _ay, |
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| 72 | _az, |
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| 73 | _compass, |
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| 74 | c_observation_variables /* number of observation variables */ |
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| 75 | } /*trObservationVariables_e*/; |
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| 76 | #endif |
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| 77 | |||
| 78 | |||
| 79 | /*typedef*/ enum |
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| 80 | { |
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| 81 | _Phi = 0, |
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| 82 | _Theta, |
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| 83 | _Psi, |
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| 84 | //_du, |
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| 85 | //_dv, |
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| 86 | //_dw, |
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| 87 | c_state_variables /* number of state variables */ |
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| 88 | } /*trStateVariables_e*/; |
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| 89 | |||
| 90 | |||
| 91 | typedef struct |
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| 92 | { |
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| 93 | f32_t Phi; |
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| 94 | f32_t Theta; |
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| 95 | f32_t Psi; |
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| 96 | i32_t iPhi10; |
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| 97 | i32_t iTheta10; |
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| 98 | i32_t iPsi10; |
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| 99 | f32_t dPhi; |
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| 100 | f32_t dTheta; |
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| 101 | f32_t dPsi; |
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| 102 | f32_t du; |
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| 103 | f32_t dv; |
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| 104 | f32_t dw; |
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| 105 | f32_t X; |
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| 106 | f32_t Y; |
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| 107 | f32_t Z; |
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| 108 | } status_t; |
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| 109 | |||
| 110 | status_t status; |
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| 111 | |||
| 112 | |||
| 113 | void trUpdatePhi(void); |
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| 114 | void trUpdateBU(void); |
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| 115 | void trMeasure(void); |
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| 116 | void trInnovate(void); |
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| 117 | |||
| 118 | void trResetKalmanFilter(void); |
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| 119 | void AttitudeEstimation(void); |
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| 120 | |||
| 121 | int KAFIInit(kafi_t *pkafi); |
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| 122 | void Kafi_Init(void); |
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| 123 | void trEstimateVelocity(void); |
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| 124 | void trLimitAngles(void); |
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| 125 | void trControl(void); |
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| 126 | |||
| 127 |