void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
char * function_name;
float accel_data[3];
float gyro_data[3];
float mag_data[3];
float pos_data[3];
float vel_data[3];
float baro_data;
float dT;
//All code and internal function calls go in here!
if(!mxIsChar(prhs[0])) {
mexErrMsgTxt("First parameter must be name of a function\n");
return;
}
if(mlStringCompare(prhs[0], "INSGPSInit")) {
INSGPSInit();
} else if(mlStringCompare(prhs[0], "INSStatePrediction")) {
if(nrhs != 4) {
mexErrMsgTxt("Incorrect number of inputs for state prediction\n");
return;
}
if(!mlGetFloatArray(prhs[1], gyro_data, 3) ||
!mlGetFloatArray(prhs[2], accel_data, 3) ||
!mlGetFloatArray(prhs[3], &dT, 1))
return;
INSStatePrediction(gyro_data, accel_data, dT);
INSCovariancePrediction(dT);
} else if(mlStringCompare(prhs[0], "INSFullCorrection")) {
if(nrhs != 5) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], mag_data, 3) ||
!mlGetFloatArray(prhs[2], pos_data, 3) ||
!mlGetFloatArray(prhs[3], vel_data ,3) ||
!mlGetFloatArray(prhs[4], &baro_data, 1)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
FullCorrection(mag_data, pos_data, vel_data, baro_data);
} else if(mlStringCompare(prhs[0], "INSMagCorrection")) {
if(nrhs != 2) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], mag_data, 3)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
MagCorrection(mag_data);
} else if(mlStringCompare(prhs[0], "INSBaroCorrection")) {
if(nrhs != 2) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], &baro_data, 1)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
BaroCorrection(baro_data);
} else if(mlStringCompare(prhs[0], "INSMagVelBaroCorrection")) {
if(nrhs != 4) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], mag_data, 3) ||
!mlGetFloatArray(prhs[2], vel_data ,3) ||
!mlGetFloatArray(prhs[3], &baro_data, 1)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
MagVelBaroCorrection(mag_data, vel_data, baro_data);
} else if(mlStringCompare(prhs[0], "INSGpsCorrection")) {
if(nrhs != 3) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], pos_data, 3) ||
!mlGetFloatArray(prhs[2], vel_data ,3)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
GpsCorrection(pos_data, vel_data);
} else if(mlStringCompare(prhs[0], "INSVelBaroCorrection")) {
if(nrhs != 3) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], vel_data, 3) ||
!mlGetFloatArray(prhs[2], &baro_data, 1)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
VelBaroCorrection(vel_data, baro_data);
} else if (mlStringCompare(prhs[0], "INSSetPosVelVar")) {
float pos_var;
float vel_var;
if((nrhs != 3) || !mlGetFloatArray(prhs[1], &pos_var, 1) ||
!mlGetFloatArray(prhs[2], &vel_var, 1)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
INSSetPosVelVar(pos_var, vel_var);
} else if (mlStringCompare(prhs[0], "INSSetGyroBias")) {
float gyro_bias[3];
if((nrhs != 2) || !mlGetFloatArray(prhs[1], gyro_bias, 3)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
INSSetGyroBias(gyro_bias);
} else if (mlStringCompare(prhs[0], "INSSetAccelVar")) {
float accel_var[3];
if((nrhs != 2) || !mlGetFloatArray(prhs[1], accel_var, 3)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
INSSetAccelVar(accel_var);
} else if (mlStringCompare(prhs[0], "INSSetGyroVar")) {
float gyro_var[3];
if((nrhs != 2) || !mlGetFloatArray(prhs[1], gyro_var, 3)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
INSSetGyroVar(gyro_var);
} else if (mlStringCompare(prhs[0], "INSSetMagNorth")) {
float mag_north[3];
float Bmag;
if((nrhs != 2) || !mlGetFloatArray(prhs[1], mag_north, 3)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
Bmag = sqrt(mag_north[0] * mag_north[0] + mag_north[1] * mag_north[1] +
mag_north[2] * mag_north[2]);
mag_north[0] = mag_north[0] / Bmag;
mag_north[1] = mag_north[1] / Bmag;
mag_north[2] = mag_north[2] / Bmag;
INSSetMagNorth(mag_north);
} else if (mlStringCompare(prhs[0], "INSSetMagVar")) {
float mag_var[3];
if((nrhs != 2) || !mlGetFloatArray(prhs[1], mag_var, 3)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
INSSetMagVar(mag_var);
} else if (mlStringCompare(prhs[0], "INSSetState")) {
int i;
float new_state[NUMX];
if((nrhs != 2) || !mlGetFloatArray(prhs[1], new_state, NUMX)) {
mexErrMsgTxt("Error with input parameters\n");
return;
}
for(i = 0; i < NUMX; i++)
X[i] = new_state[i];
} else {
mexErrMsgTxt("Unknown function");
}
if(nlhs > 0) {
// return current state vector
double * data_out;
int i;
plhs[0] = mxCreateDoubleMatrix(1,13,0);
data_out = mxGetData(plhs[0]);
for(i = 0; i < NUMX; i++)
data_out[i] = X[i];
}
if(nlhs > 1) {
//return covariance estimate
double * data_copy = mxCalloc(NUMX*NUMX, sizeof(double));
int i, j, k;
plhs[1] = mxCreateDoubleMatrix(13,13,0);
for(i = 0; i < NUMX; i++)
for(j = 0; j < NUMX; j++)
{
data_copy[j + i * NUMX] = P[j][i];
}
mxSetData(plhs[1], data_copy);
}
if(nlhs > 2) {
//return covariance estimate
double * data_copy = mxCalloc(NUMX*NUMV, sizeof(double));
int i, j, k;
plhs[2] = mxCreateDoubleMatrix(NUMX,NUMV,0);
for(i = 0; i < NUMX; i++)
for(j = 0; j < NUMV; j++)
{
data_copy[j + i * NUMX] = K[i][j];
}
mxSetData(plhs[2], data_copy);
}
return;
}
int main()
{
float gyro[3], accel[3], mag[3];
float vel[3] = { 0, 0, 0 };
/* Normaly we get/set UAVObjects but this one only needs to be set.
We will never expect to get this from another module*/
AttitudeActualData attitude_actual;
AHRSSettingsData ahrs_settings;
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Delay system */
PIOS_DELAY_Init();
/* Communication system */
PIOS_COM_Init();
/* ADC system */
AHRS_ADC_Config( adc_oversampling );
/* Setup the Accelerometer FS (Full-Scale) GPIO */
PIOS_GPIO_Enable( 0 );
SET_ACCEL_2G;
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
/* Magnetic sensor system */
PIOS_I2C_Init();
PIOS_HMC5843_Init();
// Get 3 ID bytes
strcpy(( char * )mag_data.id, "ZZZ" );
PIOS_HMC5843_ReadID( mag_data.id );
#endif
/* SPI link to master */
// PIOS_SPI_Init();
AhrsInitComms();
AHRSCalibrationConnectCallback( calibration_callback );
GPSPositionConnectCallback( gps_callback );
ahrs_state = AHRS_IDLE;
while( !AhrsLinkReady() ) {
AhrsPoll();
while( ahrs_state != AHRS_DATA_READY ) ;
ahrs_state = AHRS_PROCESSING;
downsample_data();
ahrs_state = AHRS_IDLE;
if(( total_conversion_blocks % 50 ) == 0 )
PIOS_LED_Toggle( LED1 );
}
AHRSSettingsGet(&ahrs_settings);
/* Use simple averaging filter for now */
for( int i = 0; i < adc_oversampling; i++ )
fir_coeffs[i] = 1;
fir_coeffs[adc_oversampling] = adc_oversampling;
if( ahrs_settings.Algorithm == AHRSSETTINGS_ALGORITHM_INSGPS) {
// compute a data point and initialize INS
downsample_data();
converge_insgps();
}
#ifdef DUMP_RAW
int previous_conversion;
while( 1 ) {
AhrsPoll();
int result;
uint8_t framing[16] = {
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14,
15
};
while( ahrs_state != AHRS_DATA_READY ) ;
ahrs_state = AHRS_PROCESSING;
if( total_conversion_blocks != previous_conversion + 1 )
PIOS_LED_On( LED1 ); // not keeping up
else
PIOS_LED_Off( LED1 );
previous_conversion = total_conversion_blocks;
downsample_data();
ahrs_state = AHRS_IDLE;;
// Dump raw buffer
result = PIOS_COM_SendBuffer( PIOS_COM_AUX, &framing[0], 16 ); // framing header
result += PIOS_COM_SendBuffer( PIOS_COM_AUX, ( uint8_t * ) & total_conversion_blocks, sizeof( total_conversion_blocks ) ); // dump block number
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX,
( uint8_t * ) & valid_data_buffer[0],
ADC_OVERSAMPLE *
ADC_CONTINUOUS_CHANNELS *
sizeof( valid_data_buffer[0] ) );
if( result == 0 )
PIOS_LED_Off( LED1 );
else {
PIOS_LED_On( LED1 );
}
}
#endif
timer_start();
/******************* Main EKF loop ****************************/
while( 1 ) {
AhrsPoll();
AHRSCalibrationData calibration;
AHRSCalibrationGet( &calibration );
BaroAltitudeData baro_altitude;
BaroAltitudeGet( &baro_altitude );
GPSPositionData gps_position;
GPSPositionGet( &gps_position );
AHRSSettingsGet(&ahrs_settings);
// Alive signal
if(( total_conversion_blocks % 100 ) == 0 )
PIOS_LED_Toggle( LED1 );
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
// Get magnetic readings
if( PIOS_HMC5843_NewDataAvailable() ) {
PIOS_HMC5843_ReadMag( mag_data.raw.axis );
mag_data.updated = 1;
}
attitude_raw.magnetometers[0] = mag_data.raw.axis[0];
attitude_raw.magnetometers[2] = mag_data.raw.axis[1];
attitude_raw.magnetometers[2] = mag_data.raw.axis[2];
#endif
// Delay for valid data
counter_val = timer_count();
running_counts = counter_val - last_counter_idle_end;
last_counter_idle_start = counter_val;
while( ahrs_state != AHRS_DATA_READY ) ;
counter_val = timer_count();
idle_counts = counter_val - last_counter_idle_start;
last_counter_idle_end = counter_val;
ahrs_state = AHRS_PROCESSING;
downsample_data();
/***************** SEND BACK SOME RAW DATA ************************/
// Hacky - grab one sample from buffer to populate this. Need to send back
// all raw data if it's happening
accel_data.raw.x = valid_data_buffer[0];
accel_data.raw.y = valid_data_buffer[2];
accel_data.raw.z = valid_data_buffer[4];
gyro_data.raw.x = valid_data_buffer[1];
gyro_data.raw.y = valid_data_buffer[3];
gyro_data.raw.z = valid_data_buffer[5];
gyro_data.temp.xy = valid_data_buffer[6];
gyro_data.temp.z = valid_data_buffer[7];
if( ahrs_settings.Algorithm == AHRSSETTINGS_ALGORITHM_INSGPS) {
/******************** INS ALGORITHM **************************/
// format data for INS algo
gyro[0] = gyro_data.filtered.x;
gyro[1] = gyro_data.filtered.y;
gyro[2] = gyro_data.filtered.z;
accel[0] = accel_data.filtered.x,
accel[1] = accel_data.filtered.y,
accel[2] = accel_data.filtered.z,
// Note: The magnetometer driver returns registers X,Y,Z from the chip which are
// (left, backward, up). Remapping to (forward, right, down).
mag[0] = -( mag_data.raw.axis[1] - calibration.mag_bias[1] );
mag[1] = -( mag_data.raw.axis[0] - calibration.mag_bias[0] );
mag[2] = -( mag_data.raw.axis[2] - calibration.mag_bias[2] );
INSStatePrediction( gyro, accel,
1 / ( float )EKF_RATE );
INSCovariancePrediction( 1 / ( float )EKF_RATE );
if( gps_updated && gps_position.Status == GPSPOSITION_STATUS_FIX3D ) {
// Compute velocity from Heading and groundspeed
vel[0] =
gps_position.Groundspeed *
cos( gps_position.Heading * M_PI / 180 );
vel[1] =
gps_position.Groundspeed *
sin( gps_position.Heading * M_PI / 180 );
// Completely unprincipled way to make the position variance
// increase as data quality decreases but keep it bounded
// Variance becomes 40 m^2 and 40 (m/s)^2 when no gps
INSSetPosVelVar( 0.004 );
HomeLocationData home;
HomeLocationGet( &home );
float ned[3];
double lla[3] = {( double ) gps_position.Latitude / 1e7, ( double ) gps_position.Longitude / 1e7, ( double )( gps_position.GeoidSeparation + gps_position.Altitude )};
// convert from cm back to meters
double ecef[3] = {( double )( home.ECEF[0] / 100 ), ( double )( home.ECEF[1] / 100 ), ( double )( home.ECEF[2] / 100 )};
LLA2Base( lla, ecef, ( float( * )[3] ) home.RNE, ned );
if( gps_updated ) { //FIXME: Is this correct?
//TOOD: add check for altitude updates
FullCorrection( mag, ned,
vel,
baro_altitude.Altitude );
gps_updated = false;
} else {
GpsBaroCorrection( ned,
vel,
baro_altitude.Altitude );
}
gps_updated = false;
mag_data.updated = 0;
} else if( gps_position.Status == GPSPOSITION_STATUS_FIX3D
&& mag_data.updated == 1 ) {
MagCorrection( mag ); // only trust mags if outdoors
mag_data.updated = 0;
} else {
// Indoors, update with zero position and velocity and high covariance
INSSetPosVelVar( 0.1 );
vel[0] = 0;
vel[1] = 0;
vel[2] = 0;
VelBaroCorrection( vel,
baro_altitude.Altitude );
// MagVelBaroCorrection(mag,vel,altitude_data.altitude); // only trust mags if outdoors
}
attitude_actual.q1 = Nav.q[0];
attitude_actual.q2 = Nav.q[1];
attitude_actual.q3 = Nav.q[2];
attitude_actual.q4 = Nav.q[3];
} else if( ahrs_settings.Algorithm == AHRSSETTINGS_ALGORITHM_SIMPLE ) {
float q[4];
float rpy[3];
/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
/* Very simple computation of the heading and attitude from accel. */
rpy[2] =
atan2(( mag_data.raw.axis[0] ),
( -1 * mag_data.raw.axis[1] ) ) * 180 /
M_PI;
rpy[1] =
atan2( accel_data.filtered.x,
accel_data.filtered.z ) * 180 / M_PI;
rpy[0] =
atan2( accel_data.filtered.y,
accel_data.filtered.z ) * 180 / M_PI;
RPY2Quaternion( rpy, q );
attitude_actual.q1 = q[0];
attitude_actual.q2 = q[1];
attitude_actual.q3 = q[2];
attitude_actual.q4 = q[3];
}
ahrs_state = AHRS_IDLE;
#ifdef DUMP_FRIENDLY
PIOS_COM_SendFormattedStringNonBlocking( PIOS_COM_AUX, "b: %d\r\n",
total_conversion_blocks );
PIOS_COM_SendFormattedStringNonBlocking( PIOS_COM_AUX, "a: %d %d %d\r\n",
( int16_t )( accel_data.filtered.x * 1000 ),
( int16_t )( accel_data.filtered.y * 1000 ),
( int16_t )( accel_data.filtered.z * 1000 ) );
PIOS_COM_SendFormattedStringNonBlocking( PIOS_COM_AUX, "g: %d %d %d\r\n",
( int16_t )( gyro_data.filtered.x * 1000 ),
( int16_t )( gyro_data.filtered.y * 1000 ),
( int16_t )( gyro_data.filtered.z * 1000 ) );
PIOS_COM_SendFormattedStringNonBlocking( PIOS_COM_AUX, "m: %d %d %d\r\n",
mag_data.raw.axis[0],
mag_data.raw.axis[1],
mag_data.raw.axis[2] );
PIOS_COM_SendFormattedStringNonBlocking( PIOS_COM_AUX,
"q: %d %d %d %d\r\n",
( int16_t )( Nav.q[0] * 1000 ),
( int16_t )( Nav.q[1] * 1000 ),
( int16_t )( Nav.q[2] * 1000 ),
( int16_t )( Nav.q[3] * 1000 ) );
#endif
#ifdef DUMP_EKF
uint8_t framing[16] = {
15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1,
0
};
extern float F[NUMX][NUMX], G[NUMX][NUMW], H[NUMV][NUMX]; // linearized system matrices
extern float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
extern float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
extern float K[NUMX][NUMV]; // feedback gain matrix
// Dump raw buffer
int8_t result;
result = PIOS_COM_SendBuffer( PIOS_COM_AUX, &framing[0], 16 ); // framing header
result += PIOS_COM_SendBuffer( PIOS_COM_AUX, ( uint8_t * ) & total_conversion_blocks, sizeof( total_conversion_blocks ) ); // dump block number
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX,
( uint8_t * ) & mag_data,
sizeof( mag_data ) );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX,
( uint8_t * ) & gps_data,
sizeof( gps_data ) );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX,
( uint8_t * ) & accel_data,
sizeof( accel_data ) );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX,
( uint8_t * ) & gyro_data,
sizeof( gyro_data ) );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX, ( uint8_t * ) & Q,
sizeof( float ) * NUMX * NUMX );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX, ( uint8_t * ) & K,
sizeof( float ) * NUMX * NUMV );
result +=
PIOS_COM_SendBuffer( PIOS_COM_AUX, ( uint8_t * ) & X,
sizeof( float ) * NUMX * NUMX );
if( result == 0 )
PIOS_LED_Off( LED1 );
else {
PIOS_LED_On( LED1 );
}
#endif
AttitudeActualSet( &attitude_actual );
/*FIXME: This is dangerous. There is no locking for UAVObjects
so it could stomp all over the airspeed/climb rate etc.
This used to be done in the OP module which was bad.
Having ~4ms latency for the round trip makes it worse here.
*/
PositionActualData pos;
PositionActualGet( &pos );
for( int ct = 0; ct < 3; ct++ ) {
pos.NED[ct] = Nav.Pos[ct];
pos.Vel[ct] = Nav.Vel[ct];
}
PositionActualSet( &pos );
static bool was_calibration = false;
AhrsStatusData status;
AhrsStatusGet( &status );
if( was_calibration != status.CalibrationSet ) {
was_calibration = status.CalibrationSet;
if( status.CalibrationSet ) {
calibrate_sensors();
AhrsStatusGet( &status );
status.CalibrationSet = true;
}
}
status.CPULoad = (( float )running_counts /
( float )( idle_counts + running_counts ) ) * 100;
status.IdleTimePerCyle = idle_counts / ( TIMER_RATE / 10000 );
status.RunningTimePerCyle = running_counts / ( TIMER_RATE / 10000 );
status.DroppedUpdates = ekf_too_slow;
AhrsStatusSet( &status );
}
return 0;
}