Example #1
0
interval_t *
interval_dup (interval_t * interval)
{

    interval_t *dinterval;
    interval_init (&dinterval, &(interval->start), &(interval->end));

    return dinterval;
}
Example #2
0
/* executed on the actual hardware */
void main_realtime(int argc, char *argv[])
{
   main_init(argc, argv);
   main_realtime_init();
   interval_t interval;
   interval_init(&interval);
   DATA_DEFINITION();
   PERIODIC_THREAD_LOOP_BEGIN
   {
      dt = interval_measure(&interval);
      sensor_status = platform_read_sensors(&marg_data, &gps_data, &ultra_z, &baro_z, &voltage, &current, channels);
      main_step(dt, &marg_data, &gps_data, ultra_z, baro_z, voltage, current, channels, sensor_status, 0);
   }
   PERIODIC_THREAD_LOOP_END
}
Example #3
0
SIMPLE_THREAD_END


int scl_gps_init(void)
{
   ASSERT_ONCE();
   THROW_BEGIN();
   scl_socket = scl_get_socket("gps");
   THROW_IF(scl_socket == NULL, -ENODEV);
   pthread_mutexattr_init(&mutexattr);
   pthread_mutexattr_setprotocol(&mutexattr, PTHREAD_PRIO_INHERIT);
   pthread_mutex_init(&mutex, &mutexattr);
   interval_init(&interval);
   simple_thread_start(&thread, thread_func, "gps_reader", THREAD_PRIORITY, NULL);
   THROW_END();
}
Example #4
0
int main(void)
{
   i2c_bus_t bus;
   int ret = i2c_bus_open(&bus, "/dev/i2c-3");
   if (ret < 0)
   {
      fatal("could not open i2c bus", ret);
      return EXIT_FAILURE;
   }

   /* ITG: */
   itg3200_dev_t itg;
itg_again:
   ret = itg3200_init(&itg, &bus, ITG3200_DLPF_42HZ);
   if (ret < 0)
   {
      fatal("could not inizialize ITG3200", ret);
      if (ret == -EAGAIN)
      {
         goto itg_again;   
      }
      return EXIT_FAILURE;
   }

   /* BMA: */
   bma180_dev_t bma;
   bma180_init(&bma, &bus, BMA180_RANGE_4G, BMA180_BW_10HZ);

   /* HMC: */
   hmc5883_dev_t hmc;
   hmc5883_init(&hmc, &bus);
   
   /* MS: */
   ms5611_dev_t ms;
   ret = ms5611_init(&ms, &bus, MS5611_OSR4096, MS5611_OSR4096);
   if (ret < 0)
   {
      fatal("could not inizialize MS5611", ret);
      return EXIT_FAILURE;
   }
   pthread_t thread;
   pthread_create(&thread, NULL, ms5611_reader, &ms);

   /* initialize AHRS filter: */
   madgwick_ahrs_t madgwick_ahrs;
   madgwick_ahrs_init(&madgwick_ahrs, STANDARD_BETA);

   interval_t interval;
   interval_init(&interval);
   float init = START_BETA;
   udp_socket_t *socket = udp_socket_create("10.0.0.100", 5005, 0, 0);

   /* kalman filter: */
   kalman_t kalman1, kalman2, kalman3;
   kalman_init(&kalman1, 1.0e-6, 1.0e-2, 0, 0);
   kalman_init(&kalman2, 1.0e-6, 1.0e-2, 0, 0);
   kalman_init(&kalman3, 1.0e-6, 1.0e-2, 0, 0);
   vec3_t global_acc; /* x = N, y = E, z = D */
   int init_done = 0;
   int converged = 0;
   sliding_avg_t *avg[3];
   avg[0] = sliding_avg_create(1000, 0.0);
   avg[1] = sliding_avg_create(1000, 0.0);
   avg[2] = sliding_avg_create(1000, -9.81);
   float alt_rel_last = 0.0;
   int udp_cnt = 0;
   while (1)
   {
      int i;
      float dt = interval_measure(&interval);
      init -= BETA_STEP;
      if (init < FINAL_BETA)
      {
         init = FINAL_BETA;
         init_done = 1;
      }
      madgwick_ahrs.beta = init;
      
      /* sensor data acquisition: */
      itg3200_read_gyro(&itg);
      bma180_read_acc(&bma);
      hmc5883_read(&hmc);
      
      /* state estimates and output: */
      euler_t euler;
      madgwick_ahrs_update(&madgwick_ahrs, itg.gyro.x, itg.gyro.y, itg.gyro.z, bma.raw.x, bma.raw.y, bma.raw.z, hmc.raw.x, hmc.raw.y, hmc.raw.z, 11.0, dt);
      
      quat_t q_body_to_world;
      quat_copy(&q_body_to_world, &madgwick_ahrs.quat);
      quat_rot_vec(&global_acc, &bma.raw, &q_body_to_world);
      for (i = 0; i < 3; i++)
      {
         global_acc.vec[i] -= sliding_avg_calc(avg[i], global_acc.vec[i]);
      }
      if (init_done)
      {
         kalman_in_t kalman_in;
         kalman_in.dt = dt;
         kalman_in.pos = 0;
         kalman_out_t kalman_out;

         kalman_in.acc = global_acc.x;
         kalman_run(&kalman_out, &kalman1, &kalman_in);
         kalman_in.acc = global_acc.y;
         kalman_run(&kalman_out, &kalman2, &kalman_in);
         kalman_in.acc = -global_acc.z;
         pthread_mutex_lock(&mutex);
         kalman_in.pos = alt_rel;
         pthread_mutex_unlock(&mutex);
         kalman_run(&kalman_out, &kalman3, &kalman_in);
         if (!converged)
         {
            if (fabs(kalman_out.pos - alt_rel) < 0.1)
            {
               converged = 1;   
               fprintf(stderr, "init done\n");
            }
         }
         if (converged) // && udp_cnt++ > 10)
         {
            if (udp_cnt++ == 10)
            {
               char buffer[1024];
               udp_cnt = 0;
               int len = sprintf(buffer, "%f %f %f %f %f %f %f", madgwick_ahrs.quat.q0, madgwick_ahrs.quat.q1, madgwick_ahrs.quat.q2, madgwick_ahrs.quat.q3,
                                                                 global_acc.x, global_acc.y, global_acc.z);
               udp_socket_send(socket, buffer, len);
            }
            printf("%f %f %f\n", -global_acc.z, alt_rel, kalman_out.pos);
            fflush(stdout);
         }
      }

      
   }
   return 0;
}
Example #5
0
void main_init(int argc, char *argv[])
{
   bool override_hw = false;
   if (argc > 1)
   {
      if (strcmp(argv[1], "calibrate") == 0)
         calibrate = true;
      else
         override_hw = true;
   }

   /* init data structures: */
   memset(&pos_in, 0, sizeof(pos_in_t));
   vec3_init(&pos_in.acc);

   /* init SCL subsystem: */
   syslog(LOG_INFO, "initializing signaling and communication link (SCL)");
   if (scl_init("pilot") != 0)
   {
      syslog(LOG_CRIT, "could not init scl module");
      die();
   }
   
   /* init params subsystem: */
   syslog(LOG_INFO, "initializing opcd interface");
   opcd_params_init("pilot.", 1);
   
   /* initialize logger: */
   syslog(LOG_INFO, "opening logger");
   if (logger_open() != 0)
   {
      syslog(LOG_CRIT, "could not open logger");
      die();
   }
   syslog(LOG_CRIT, "logger opened");
   
   LOG(LL_INFO, "initializing platform");
   if (arcade_quad_init(&platform, override_hw) < 0)
   {
      LOG(LL_ERROR, "could not initialize platform");
      die();
   }
   acc_mag_cal_init();
   cmc_init();
 
   const size_t array_len = sizeof(float) * platform.n_motors;
   setpoints = malloc(array_len);
   ASSERT_NOT_NULL(setpoints);
   memset(setpoints, 0, array_len);
   rpm_square = malloc(array_len);
   ASSERT_NOT_NULL(rpm_square);
   memset(rpm_square, 0, array_len);

   LOG(LL_INFO, "initializing model/controller");
   pos_init();
   ne_speed_ctrl_init(REALTIME_PERIOD);
   att_ctrl_init();
   yaw_ctrl_init();
   u_ctrl_init();
   u_speed_init();
   navi_init();

   LOG(LL_INFO, "initializing command interface");
   cmd_init();

   motors_state_init();
   blackbox_init();

   /* init flight logic: */
   flight_logic_init();

   /* init calibration data: */
   cal_init(&gyro_cal, 3, 1000);

   cal_ahrs_init();
   flight_state_init(50, 150, 4.0);
   
   piid_init(REALTIME_PERIOD);

   interval_init(&gyro_move_interval);
   gps_data_init(&gps_data);

   mag_decl_init();
   cal_init(&rc_cal, 3, 500);

   tsfloat_t acc_fg;
   opcd_param_t params[] =
   {
      {"acc_fg", &acc_fg},
      OPCD_PARAMS_END
   };
   opcd_params_apply("main.", params);
   filter1_lp_init(&lp_filter, tsfloat_get(&acc_fg), 0.06, 3);

   cm_init();
   mon_init();
   LOG(LL_INFO, "entering main loop");
}