Shuto Naruse / Eurobot_2012_shared

Eurobot_shared pubulished from Eurobot Primary

Kalman/Kalman.cpp@0:434fd09723be, 2012-08-07 (annotated)

Committer:
narshu
Date:
Tue Aug 07 10:25:53 2012 +0000
Revision:
0:434fd09723be
[mbed] converted /Eurobot_2012_Primary/Eurobot_shared

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:434fd09723be 1 //***************************************************************************************
narshu 0:434fd09723be 2 //Kalman Filter implementation
narshu 0:434fd09723be 3 //***************************************************************************************
narshu 0:434fd09723be 4 #include "Kalman.h"
narshu 0:434fd09723be 5 #include "rtos.h"
narshu 0:434fd09723be 6 #include "RFSRF05.h"
narshu 0:434fd09723be 7 #include "math.h"
narshu 0:434fd09723be 8 #include "globals.h"
narshu 0:434fd09723be 9 #include "motors.h"
narshu 0:434fd09723be 10 #include "system.h"
narshu 0:434fd09723be 11 #include "geometryfuncs.h"
narshu 0:434fd09723be 12
narshu 0:434fd09723be 13 #include <tvmet/Matrix.h>
narshu 0:434fd09723be 14 #include <tvmet/Vector.h>
narshu 0:434fd09723be 15 using namespace tvmet;
narshu 0:434fd09723be 16
narshu 0:434fd09723be 17 Kalman::Kalman(Motors &motorsin,
narshu 0:434fd09723be 18 UI &uiin,
narshu 0:434fd09723be 19 PinName Sonar_Trig,
narshu 0:434fd09723be 20 PinName Sonar_Echo0,
narshu 0:434fd09723be 21 PinName Sonar_Echo1,
narshu 0:434fd09723be 22 PinName Sonar_Echo2,
narshu 0:434fd09723be 23 PinName Sonar_Echo3,
narshu 0:434fd09723be 24 PinName Sonar_Echo4,
narshu 0:434fd09723be 25 PinName Sonar_Echo5,
narshu 0:434fd09723be 26 PinName Sonar_SDI,
narshu 0:434fd09723be 27 PinName Sonar_SDO,
narshu 0:434fd09723be 28 PinName Sonar_SCK,
narshu 0:434fd09723be 29 PinName Sonar_NCS,
narshu 0:434fd09723be 30 PinName Sonar_NIRQ) :
narshu 0:434fd09723be 31 ir(*this),
narshu 0:434fd09723be 32 sonararray(Sonar_Trig,
narshu 0:434fd09723be 33 Sonar_Echo0,
narshu 0:434fd09723be 34 Sonar_Echo1,
narshu 0:434fd09723be 35 Sonar_Echo2,
narshu 0:434fd09723be 36 Sonar_Echo3,
narshu 0:434fd09723be 37 Sonar_Echo4,
narshu 0:434fd09723be 38 Sonar_Echo5,
narshu 0:434fd09723be 39 Sonar_SDI,
narshu 0:434fd09723be 40 Sonar_SDO,
narshu 0:434fd09723be 41 Sonar_SCK,
narshu 0:434fd09723be 42 Sonar_NCS,
narshu 0:434fd09723be 43 Sonar_NIRQ),
narshu 0:434fd09723be 44 motors(motorsin),
narshu 0:434fd09723be 45 ui(uiin),
narshu 0:434fd09723be 46 predictthread(predictloopwrapper, this, osPriorityNormal, 512),
narshu 0:434fd09723be 47 predictticker( SIGTICKARGS(predictthread, 0x1) ),
narshu 0:434fd09723be 48 // sonarthread(sonarloopwrapper, this, osPriorityNormal, 256),
narshu 0:434fd09723be 49 // sonarticker( SIGTICKARGS(sonarthread, 0x1) ),
narshu 0:434fd09723be 50 updatethread(updateloopwrapper, this, osPriorityNormal, 512) {
narshu 0:434fd09723be 51
narshu 0:434fd09723be 52 //Initilising offsets
narshu 0:434fd09723be 53 InitLock.lock();
narshu 0:434fd09723be 54 IR_Offset = 0;
narshu 0:434fd09723be 55 Sonar_Offset = 0;
narshu 0:434fd09723be 56 InitLock.unlock();
narshu 0:434fd09723be 57
narshu 0:434fd09723be 58
narshu 0:434fd09723be 59 //Initilising matrices
narshu 0:434fd09723be 60
narshu 0:434fd09723be 61 // X = x, y, theta;
narshu 0:434fd09723be 62 if (Colour)
narshu 0:434fd09723be 63 X = 0.5, 0, 0;
narshu 0:434fd09723be 64 else
narshu 0:434fd09723be 65 X = 2.5, 0, PI;
narshu 0:434fd09723be 66
narshu 0:434fd09723be 67 P = 1, 0, 0,
narshu 0:434fd09723be 68 0, 1, 0,
narshu 0:434fd09723be 69 0, 0, 0.04;
narshu 0:434fd09723be 70
narshu 0:434fd09723be 71 //measurment variance R is provided by each sensor when calling runupdate
narshu 0:434fd09723be 72
narshu 0:434fd09723be 73 //attach callback
narshu 0:434fd09723be 74 sonararray.callbackobj = (DummyCT*)this;
narshu 0:434fd09723be 75 sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate;
narshu 0:434fd09723be 76
narshu 0:434fd09723be 77
narshu 0:434fd09723be 78 predictticker.start(20);
narshu 0:434fd09723be 79 // sonarticker.start(50);
narshu 0:434fd09723be 80
narshu 0:434fd09723be 81 }
narshu 0:434fd09723be 82
narshu 0:434fd09723be 83
narshu 0:434fd09723be 84 //Note: this init function assumes that the robot faces east, theta=0, in the +x direction
narshu 0:434fd09723be 85 void Kalman::KalmanInit() {
narshu 0:434fd09723be 86 motors.stop();
narshu 0:434fd09723be 87 float SonarMeasuresx1000[3];
narshu 0:434fd09723be 88 float IRMeasuresloc[3];
narshu 0:434fd09723be 89 int beacon_cnt = 0;
narshu 0:434fd09723be 90
narshu 0:434fd09723be 91
narshu 0:434fd09723be 92 // doesn't work since they break the ISR
narshu 0:434fd09723be 93 /*
narshu 0:434fd09723be 94 #ifdef ROBOT_PRIMARY
narshu 0:434fd09723be 95 LPC_UART3->FCR = LPC_UART3->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR
narshu 0:434fd09723be 96 #else
narshu 0:434fd09723be 97 LPC_UART1->FCR = LPC_UART1->FCR | 0x06; // Flush the serial FIFO buffer / OR with FCR
narshu 0:434fd09723be 98 #endif
narshu 0:434fd09723be 99 */
narshu 0:434fd09723be 100 // zeros the measurements
narshu 0:434fd09723be 101 for (int i = 0; i < 3; i++) {
narshu 0:434fd09723be 102 SonarMeasures[i] = 0;
narshu 0:434fd09723be 103 IRMeasures[i] = 0;
narshu 0:434fd09723be 104 }
narshu 0:434fd09723be 105
narshu 0:434fd09723be 106 InitLock.lock();
narshu 0:434fd09723be 107 //zeros offsets
narshu 0:434fd09723be 108 IR_Offset = 0;
narshu 0:434fd09723be 109 Sonar_Offset = 0;
narshu 0:434fd09723be 110 InitLock.unlock();
narshu 0:434fd09723be 111
narshu 0:434fd09723be 112 // attaches ir interrup
narshu 0:434fd09723be 113 ir.attachisr();
narshu 0:434fd09723be 114
narshu 0:434fd09723be 115 //wating untill the IR has reved up and picked up some valid data
narshu 0:434fd09723be 116 //Thread::wait(1000);
narshu 0:434fd09723be 117 wait(2);
narshu 0:434fd09723be 118
narshu 0:434fd09723be 119 //temporaraly disable IR updates
narshu 0:434fd09723be 120 ir.detachisr();
narshu 0:434fd09723be 121
narshu 0:434fd09723be 122 //lock the state throughout the computation, as we will override the state at the end
narshu 0:434fd09723be 123 InitLock.lock();
narshu 0:434fd09723be 124 statelock.lock();
narshu 0:434fd09723be 125
narshu 0:434fd09723be 126
narshu 0:434fd09723be 127
narshu 0:434fd09723be 128 SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f;
narshu 0:434fd09723be 129 SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f;
narshu 0:434fd09723be 130 SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f;
narshu 0:434fd09723be 131 IRMeasuresloc[0] = IRMeasures[0];
narshu 0:434fd09723be 132 IRMeasuresloc[1] = IRMeasures[1];
narshu 0:434fd09723be 133 IRMeasuresloc[2] = IRMeasures[2];
narshu 0:434fd09723be 134 //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 0:434fd09723be 135
narshu 0:434fd09723be 136 float d = beaconpos[2].y - beaconpos[1].y;
narshu 0:434fd09723be 137 float i = beaconpos[0].y - beaconpos[1].y;
narshu 0:434fd09723be 138 float j = beaconpos[0].x - beaconpos[1].x;
narshu 0:434fd09723be 139 float origin_x = beaconpos[1].x;
narshu 0:434fd09723be 140 float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d);
narshu 0:434fd09723be 141 float x_coor = origin_x + (SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j;
narshu 0:434fd09723be 142
narshu 0:434fd09723be 143 //debug for trilateration
narshu 0:434fd09723be 144 printf("Cal at x: %0.4f, y: %0.4f \r\n",x_coor,y_coor );
narshu 0:434fd09723be 145
narshu 0:434fd09723be 146 float Dist_Exp[3];
narshu 0:434fd09723be 147 for (int i = 0; i < 3; i++) {
narshu 0:434fd09723be 148 //Compute sonar offset
narshu 0:434fd09723be 149 Dist_Exp[i] = hypot(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor);
narshu 0:434fd09723be 150 Sonar_Offset += (SonarMeasuresx1000[i]-Dist_Exp[i])/3000.0f;
narshu 0:434fd09723be 151
narshu 0:434fd09723be 152 //Compute IR offset
narshu 0:434fd09723be 153 float angle_est = atan2(beaconpos[i].y - y_coor,beaconpos[i].x - x_coor);
narshu 0:434fd09723be 154 if (!Colour)
narshu 0:434fd09723be 155 angle_est -= PI;
narshu 0:434fd09723be 156 //printf("Angle %d : %f \n\r",i,angle_est*180/PI );
narshu 0:434fd09723be 157 // take average offset angle from valid readings
narshu 0:434fd09723be 158 if (IRMeasuresloc[i] != 0) {
narshu 0:434fd09723be 159 beacon_cnt ++;
narshu 0:434fd09723be 160 // changed to current angle - estimated angle
narshu 0:434fd09723be 161 float angle_temp = IRMeasuresloc[i] - angle_est;
narshu 0:434fd09723be 162 angle_temp -= (floor(angle_temp/(2*PI)))*2*PI;
narshu 0:434fd09723be 163 IR_Offset += angle_temp;
narshu 0:434fd09723be 164 }
narshu 0:434fd09723be 165 }
narshu 0:434fd09723be 166 IR_Offset /= float(beacon_cnt);
narshu 0:434fd09723be 167
narshu 0:434fd09723be 168 //debug
narshu 0:434fd09723be 169 printf("Offsets IR: %0.4f, Sonar: %0.4f \r\n",IR_Offset*180/PI,Sonar_Offset*1000 );
narshu 0:434fd09723be 170
narshu 0:434fd09723be 171 //statelock already locked
narshu 0:434fd09723be 172 X(0) = x_coor/1000.0f;
narshu 0:434fd09723be 173 X(1) = y_coor/1000.0f;
narshu 0:434fd09723be 174
narshu 0:434fd09723be 175 if (Colour)
narshu 0:434fd09723be 176 X(2) = 0;
narshu 0:434fd09723be 177 else
narshu 0:434fd09723be 178 X(2) = PI;
narshu 0:434fd09723be 179
narshu 0:434fd09723be 180 // unlocks mutexes
narshu 0:434fd09723be 181 InitLock.unlock();
narshu 0:434fd09723be 182 statelock.unlock();
narshu 0:434fd09723be 183
narshu 0:434fd09723be 184
narshu 0:434fd09723be 185 //reattach the IR processing
narshu 0:434fd09723be 186 ir.attachisr();
narshu 0:434fd09723be 187 }
narshu 0:434fd09723be 188
narshu 0:434fd09723be 189
narshu 0:434fd09723be 190 void Kalman::predictloop() {
narshu 0:434fd09723be 191
narshu 0:434fd09723be 192 OLED4 = !ui.regid(0, 3);
narshu 0:434fd09723be 193 OLED4 = !ui.regid(1, 4);
narshu 0:434fd09723be 194
narshu 0:434fd09723be 195 float lastleft = 0;
narshu 0:434fd09723be 196 float lastright = 0;
narshu 0:434fd09723be 197
narshu 0:434fd09723be 198 while (1) {
narshu 0:434fd09723be 199 Thread::signal_wait(0x1);
narshu 0:434fd09723be 200 OLED1 = !OLED1;
narshu 0:434fd09723be 201
narshu 0:434fd09723be 202 int leftenc = motors.getEncoder1();
narshu 0:434fd09723be 203 int rightenc = motors.getEncoder2();
narshu 0:434fd09723be 204
narshu 0:434fd09723be 205 float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f;
narshu 0:434fd09723be 206 float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f;
narshu 0:434fd09723be 207
narshu 0:434fd09723be 208 lastleft = leftenc;
narshu 0:434fd09723be 209 lastright = rightenc;
narshu 0:434fd09723be 210
narshu 0:434fd09723be 211
narshu 0:434fd09723be 212 //The below calculation are in body frame (where +x is forward)
narshu 0:434fd09723be 213 float dxp, dyp,d,r;
narshu 0:434fd09723be 214 float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f);
narshu 0:434fd09723be 215 if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error
narshu 0:434fd09723be 216 d = (dright + dleft)/2.0f;
narshu 0:434fd09723be 217 dxp = d*cos(thetap/2.0f);
narshu 0:434fd09723be 218 dyp = d*sin(thetap/2.0f);
narshu 0:434fd09723be 219
narshu 0:434fd09723be 220 } else { //calculate circle arc
narshu 0:434fd09723be 221 //float r = (right + left) / (4.0f * PI * thetap);
narshu 0:434fd09723be 222 r = (dright + dleft) / (2.0f*thetap);
narshu 0:434fd09723be 223 dxp = abs(r)*sin(thetap);
narshu 0:434fd09723be 224 dyp = r - r*cos(thetap);
narshu 0:434fd09723be 225 }
narshu 0:434fd09723be 226
narshu 0:434fd09723be 227 statelock.lock();
narshu 0:434fd09723be 228
narshu 0:434fd09723be 229 float tempX2 = X(2);
narshu 0:434fd09723be 230 //rotating to cartesian frame and updating state
narshu 0:434fd09723be 231 X(0) += dxp * cos(X(2)) - dyp * sin(X(2));
narshu 0:434fd09723be 232 X(1) += dxp * sin(X(2)) + dyp * cos(X(2));
narshu 0:434fd09723be 233 X(2) = rectifyAng(X(2) + thetap);
narshu 0:434fd09723be 234
narshu 0:434fd09723be 235 //Linearising F around X
narshu 0:434fd09723be 236 float avgX2 = (X(2) + tempX2)/2.0f;
narshu 0:434fd09723be 237 Matrix<float, 3, 3> F;
narshu 0:434fd09723be 238 F = 1, 0, (dxp * -sin(avgX2) - dyp * cos(avgX2)),
narshu 0:434fd09723be 239 0, 1, (dxp * cos(avgX2) - dyp * sin(avgX2)),
narshu 0:434fd09723be 240 0, 0, 1;
narshu 0:434fd09723be 241
narshu 0:434fd09723be 242 //Generating forward and rotational variance
narshu 0:434fd09723be 243 float varfwd = fwdvarperunit * abs(dright + dleft) / 2.0f;
narshu 0:434fd09723be 244 float varang = varperang * abs(thetap);
narshu 0:434fd09723be 245 float varxydt = xyvarpertime * PREDICTPERIOD/1000.0f;
narshu 0:434fd09723be 246 float varangdt = angvarpertime * PREDICTPERIOD/1000.0f;
narshu 0:434fd09723be 247
narshu 0:434fd09723be 248 //Rotating into cartesian frame
narshu 0:434fd09723be 249 Matrix<float, 2, 2> Qsub,Qsubrot,Qrot;
narshu 0:434fd09723be 250 Qsub = varfwd + varxydt, 0,
narshu 0:434fd09723be 251 0, varxydt;
narshu 0:434fd09723be 252
narshu 0:434fd09723be 253 Qrot = Rotmatrix(X(2));
narshu 0:434fd09723be 254
narshu 0:434fd09723be 255 Qsubrot = Qrot * Qsub * trans(Qrot);
narshu 0:434fd09723be 256
narshu 0:434fd09723be 257 //Generate Q
narshu 0:434fd09723be 258 Matrix<float, 3, 3> Q;//(Qsubrot);
narshu 0:434fd09723be 259 Q = Qsubrot(0,0), Qsubrot(0,1), 0,
narshu 0:434fd09723be 260 Qsubrot(1,0), Qsubrot(1,1), 0,
narshu 0:434fd09723be 261 0, 0, varang + varangdt;
narshu 0:434fd09723be 262
narshu 0:434fd09723be 263 P = F * P * trans(F) + Q;
narshu 0:434fd09723be 264
narshu 0:434fd09723be 265 //Update UI
narshu 0:434fd09723be 266 float statecpy[] = {X(0), X(1), X(2)};
narshu 0:434fd09723be 267 ui.updateval(0, statecpy, 3);
narshu 0:434fd09723be 268
narshu 0:434fd09723be 269 float Pcpy[] = {P(0,0), P(0,1), P(1,0), P(1,1)};
narshu 0:434fd09723be 270 ui.updateval(1, Pcpy, 4);
narshu 0:434fd09723be 271
narshu 0:434fd09723be 272 statelock.unlock();
narshu 0:434fd09723be 273 }
narshu 0:434fd09723be 274 }
narshu 0:434fd09723be 275
narshu 0:434fd09723be 276 //void Kalman::sonarloop() {
narshu 0:434fd09723be 277 // while (1) {
narshu 0:434fd09723be 278 // Thread::signal_wait(0x1);
narshu 0:434fd09723be 279 // sonararray.startRange();
narshu 0:434fd09723be 280 // }
narshu 0:434fd09723be 281 //}
narshu 0:434fd09723be 282
narshu 0:434fd09723be 283
narshu 0:434fd09723be 284 void Kalman::runupdate(measurement_t type, float value, float variance) {
narshu 0:434fd09723be 285 //printf("beacon %d dist %f\r\n", sonarid, dist);
narshu 0:434fd09723be 286 //led2 = !led2;
narshu 0:434fd09723be 287
narshu 0:434fd09723be 288 measurmentdata* measured = (measurmentdata*)measureMQ.alloc();
narshu 0:434fd09723be 289 if (measured) {
narshu 0:434fd09723be 290 measured->mtype = type;
narshu 0:434fd09723be 291 measured->value = value;
narshu 0:434fd09723be 292 measured->variance = variance;
narshu 0:434fd09723be 293
narshu 0:434fd09723be 294 osStatus putret = measureMQ.put(measured);
narshu 0:434fd09723be 295 if (putret)
narshu 0:434fd09723be 296 OLED4 = 1;
narshu 0:434fd09723be 297 // printf("putting in MQ error code %#x\r\n", putret);
narshu 0:434fd09723be 298 } else {
narshu 0:434fd09723be 299 OLED4 = 1;
narshu 0:434fd09723be 300 //printf("MQalloc returned NULL ptr\r\n");
narshu 0:434fd09723be 301 }
narshu 0:434fd09723be 302
narshu 0:434fd09723be 303 }
narshu 0:434fd09723be 304
narshu 0:434fd09723be 305 void Kalman::updateloop() {
narshu 0:434fd09723be 306
narshu 0:434fd09723be 307 //sonar Y chanels
narshu 0:434fd09723be 308 ui.regid(2, 1);
narshu 0:434fd09723be 309 ui.regid(3, 1);
narshu 0:434fd09723be 310 ui.regid(4, 1);
narshu 0:434fd09723be 311
narshu 0:434fd09723be 312 //IR Y chanels
narshu 0:434fd09723be 313 ui.regid(5, 1);
narshu 0:434fd09723be 314 ui.regid(6, 1);
narshu 0:434fd09723be 315 ui.regid(7, 1);
narshu 0:434fd09723be 316
narshu 0:434fd09723be 317 measurement_t type;
narshu 0:434fd09723be 318 float value,variance,rbx,rby,expecdist,Y;
narshu 0:434fd09723be 319 float dhdx,dhdy;
narshu 0:434fd09723be 320 bool aborton2stddev = false;
narshu 0:434fd09723be 321
narshu 0:434fd09723be 322 Matrix<float, 1, 3> H;
narshu 0:434fd09723be 323
narshu 0:434fd09723be 324 float S;
narshu 0:434fd09723be 325 Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() );
narshu 0:434fd09723be 326
narshu 0:434fd09723be 327
narshu 0:434fd09723be 328 while (1) {
narshu 0:434fd09723be 329 OLED2 = !OLED2;
narshu 0:434fd09723be 330
narshu 0:434fd09723be 331 osEvent evt = measureMQ.get();
narshu 0:434fd09723be 332
narshu 0:434fd09723be 333 if (evt.status == osEventMail) {
narshu 0:434fd09723be 334
narshu 0:434fd09723be 335 measurmentdata &measured = *(measurmentdata*)evt.value.p;
narshu 0:434fd09723be 336 type = measured.mtype; //Note, may support more measurment types than sonar in the future!
narshu 0:434fd09723be 337 value = measured.value;
narshu 0:434fd09723be 338 variance = measured.variance;
narshu 0:434fd09723be 339
narshu 0:434fd09723be 340 // don't forget to free the memory
narshu 0:434fd09723be 341 measureMQ.free(&measured);
narshu 0:434fd09723be 342
narshu 0:434fd09723be 343 if (type <= maxmeasure) {
narshu 0:434fd09723be 344
narshu 0:434fd09723be 345 if (type <= SONAR3) {
narshu 0:434fd09723be 346
narshu 0:434fd09723be 347 InitLock.lock();
narshu 0:434fd09723be 348 float dist = value / 1000.0f - Sonar_Offset; //converting to m from mm,subtract the offset
narshu 0:434fd09723be 349 InitLock.unlock();
narshu 0:434fd09723be 350
narshu 0:434fd09723be 351 int sonarid = type;
narshu 0:434fd09723be 352 aborton2stddev = true;
narshu 0:434fd09723be 353
narshu 0:434fd09723be 354 statelock.lock();
narshu 0:434fd09723be 355 //update the current sonar readings
narshu 0:434fd09723be 356 SonarMeasures[sonarid] = dist;
narshu 0:434fd09723be 357
narshu 0:434fd09723be 358 rbx = X(0) - beaconpos[sonarid].x/1000.0f;
narshu 0:434fd09723be 359 rby = X(1) - beaconpos[sonarid].y/1000.0f;
narshu 0:434fd09723be 360
narshu 0:434fd09723be 361 expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby);
narshu 0:434fd09723be 362 Y = dist - expecdist;
narshu 0:434fd09723be 363
narshu 0:434fd09723be 364 //send to ui
narshu 0:434fd09723be 365 ui.updateval(sonarid+2, Y);
narshu 0:434fd09723be 366
narshu 0:434fd09723be 367 dhdx = rbx / expecdist;
narshu 0:434fd09723be 368 dhdy = rby / expecdist;
narshu 0:434fd09723be 369
narshu 0:434fd09723be 370 H = dhdx, dhdy, 0;
narshu 0:434fd09723be 371
narshu 0:434fd09723be 372 } else if (type <= IR3) {
narshu 0:434fd09723be 373
narshu 0:434fd09723be 374 aborton2stddev = false;
narshu 0:434fd09723be 375 int IRidx = type-3;
narshu 0:434fd09723be 376
narshu 0:434fd09723be 377 // subtract the IR offset
narshu 0:434fd09723be 378 InitLock.lock();
narshu 0:434fd09723be 379 value -= IR_Offset;
narshu 0:434fd09723be 380 InitLock.unlock();
narshu 0:434fd09723be 381
narshu 0:434fd09723be 382 statelock.lock();
narshu 0:434fd09723be 383 IRMeasures[IRidx] = value;
narshu 0:434fd09723be 384
narshu 0:434fd09723be 385 rbx = X(0) - beaconpos[IRidx].x/1000.0f;
narshu 0:434fd09723be 386 rby = X(1) - beaconpos[IRidx].y/1000.0f;
narshu 0:434fd09723be 387
narshu 0:434fd09723be 388 float expecang = atan2(-rby, -rbx) - X(2);
narshu 0:434fd09723be 389 Y = rectifyAng(value - expecang);
narshu 0:434fd09723be 390
narshu 0:434fd09723be 391 //send to ui
narshu 0:434fd09723be 392 ui.updateval(IRidx + 5, Y);
narshu 0:434fd09723be 393
narshu 0:434fd09723be 394 float dstsq = rbx*rbx + rby*rby;
narshu 0:434fd09723be 395 H = -rby/dstsq, rbx/dstsq, -1;
narshu 0:434fd09723be 396 }
narshu 0:434fd09723be 397
narshu 0:434fd09723be 398 Matrix<float, 3, 1> PH (P * trans(H));
narshu 0:434fd09723be 399 S = (H * PH)(0,0) + variance;
narshu 0:434fd09723be 400
narshu 0:434fd09723be 401 if (aborton2stddev && Y*Y > 4 * S) {
narshu 0:434fd09723be 402 statelock.unlock();
narshu 0:434fd09723be 403 continue;
narshu 0:434fd09723be 404 }
narshu 0:434fd09723be 405
narshu 0:434fd09723be 406 Matrix<float, 3, 1> K (PH * (1/S));
narshu 0:434fd09723be 407
narshu 0:434fd09723be 408 //Updating state
narshu 0:434fd09723be 409 X += col(K, 0) * Y;
narshu 0:434fd09723be 410 X(2) = rectifyAng(X(2));
narshu 0:434fd09723be 411
narshu 0:434fd09723be 412 P = (I3 - K * H) * P;
narshu 0:434fd09723be 413
narshu 0:434fd09723be 414 statelock.unlock();
narshu 0:434fd09723be 415
narshu 0:434fd09723be 416 }
narshu 0:434fd09723be 417
narshu 0:434fd09723be 418 } else {
narshu 0:434fd09723be 419 OLED4 = 1;
narshu 0:434fd09723be 420 //printf("ERROR: in updateloop, code %#x", evt);
narshu 0:434fd09723be 421 }
narshu 0:434fd09723be 422
narshu 0:434fd09723be 423 }
narshu 0:434fd09723be 424
narshu 0:434fd09723be 425 }
narshu 0:434fd09723be 426
narshu 0:434fd09723be 427 // reset kalman states
narshu 0:434fd09723be 428 void Kalman::KalmanReset() {
narshu 0:434fd09723be 429 float SonarMeasuresx1000[3];
narshu 0:434fd09723be 430 statelock.lock();
narshu 0:434fd09723be 431 SonarMeasuresx1000[0] = SonarMeasures[0]*1000.0f;
narshu 0:434fd09723be 432 SonarMeasuresx1000[1] = SonarMeasures[1]*1000.0f;
narshu 0:434fd09723be 433 SonarMeasuresx1000[2] = SonarMeasures[2]*1000.0f;
narshu 0:434fd09723be 434 //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 0:434fd09723be 435
narshu 0:434fd09723be 436 float d = beaconpos[2].y - beaconpos[1].y;
narshu 0:434fd09723be 437 float i = beaconpos[0].y - beaconpos[1].y;
narshu 0:434fd09723be 438 float j = beaconpos[0].x - beaconpos[1].x;
narshu 0:434fd09723be 439 float origin_x = beaconpos[1].x;
narshu 0:434fd09723be 440 float y_coor = (SonarMeasuresx1000[1]*SonarMeasuresx1000[1]- SonarMeasuresx1000[2]*SonarMeasuresx1000[2] + d*d) / (2*d);
narshu 0:434fd09723be 441 float x_coor = origin_x +(SonarMeasuresx1000[1]*SonarMeasuresx1000[1] - SonarMeasuresx1000[0]*SonarMeasuresx1000[0] + i*i + j*j)/(2*j) - i*y_coor/j;
narshu 0:434fd09723be 442
narshu 0:434fd09723be 443 //statelock already locked
narshu 0:434fd09723be 444 X(0) = x_coor/1000.0f;
narshu 0:434fd09723be 445 X(1) = y_coor/1000.0f;
narshu 0:434fd09723be 446
narshu 0:434fd09723be 447
narshu 0:434fd09723be 448
narshu 0:434fd09723be 449 /* if (Colour){
narshu 0:434fd09723be 450 X(0) = 0.2;
narshu 0:434fd09723be 451 X(1) = 0.2;
narshu 0:434fd09723be 452 //X(2) = 0;
narshu 0:434fd09723be 453 }
narshu 0:434fd09723be 454 else {
narshu 0:434fd09723be 455 X(0) = 2.8;
narshu 0:434fd09723be 456 X(1) = 0.2;
narshu 0:434fd09723be 457 //X(2) = PI;
narshu 0:434fd09723be 458 }
narshu 0:434fd09723be 459 */
narshu 0:434fd09723be 460 P = 0.05, 0, 0,
narshu 0:434fd09723be 461 0, 0.05, 0,
narshu 0:434fd09723be 462 0, 0, 0.04;
narshu 0:434fd09723be 463
narshu 0:434fd09723be 464 // unlocks mutexes
narshu 0:434fd09723be 465 statelock.unlock();
narshu 0:434fd09723be 466
narshu 0:434fd09723be 467 }