Raspberry Pi Pico (#12)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

* Conversion to Raspberry Pi Pico Build System; Removed Beaglebone
specific code; Simple blinking example in ADS source file; builds for
Pico W

* Rearranged build so dependent upon cmake file already existing in pico-sdk; current executable prints current altitude, velocity, and time taken to read and calculate said values; ~320 us to do so

* Altimeter interrupt callback for Pad to Boost State; dummy templates for other callbacks with comments describing potential implementation details

* Altimeter interrupts relatively finished; need to test with vacuum chamber to verify behavior

* Established interrupt pins as pullup and active-low; adjusted callback functions to properly use function pointers; still need to verify interrupt system with vacuum chamber

* Removed weird artifact in .gitignore, adjust CMakeLists to auto pull pico sdk, added Dockerfile

* added Docker dev container file

* modified CMakeLists to auto pull sdk if not already downloaded, add build.sh script, fixed Dockerfile

* added bno055 support

* changed bno055 lin accel struct to use float instead of double

* added bno055 support not tested, but compiles, fixed CMakLists to before I messed with it

* added absolute quaternion output from bno055

* Added Euler and aboslute linear accelration

* Flash implementation for data logging; each log entry is 32 bytes long

* added base pwm functions and started on apogee detection

* State machine verified functional with logging capabilities; currently on same core

* Ooops missed double define, renamed LOOP_HZ to LOOP_PERIOD; State machine functional after merge still

* Simple test program to see servo PWM range; logging with semaphores for safe multithreading

* Kalman filters generously provided from various sources for temporary replacement; minimum deployment 30 percent; state machine functionality restored; multithreading logging verified; altimeter broke and replaced

* Stop logging on END state; provide deployment function with AGL instead of ASL altitude

* Various minimal changes; Flash size from 1MB to 8MB; M1939 to M2500T burn time; pin assignments for new PCB; External Status LED to Internal Status LED

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>
Co-authored-by: Gregory Wainer <[email protected]>

1 files changed, 65 insertions, 0 deletions

diff --git a/src/AltEst/filters.h b/src/AltEst/filters.h
new file mode 100644
index 0000000..2e316a3
--- /dev/null
+++ b/src/AltEst/filters.h
@@ -0,0 +1,65 @@
+/*
+   filters.h: Filter class declarations
+ */
+
+#pragma once
+
+//#include <cmath>
+#include <math.h>
+#include <stdint.h>
+
+#include "algebra.h"
+
+class KalmanFilter {
+  private:
+    float currentState[3] = {0, 0, 1};
+    float currErrorCovariance[3][3] = {{100, 0, 0},{0, 100, 0},{0, 0, 100}};
+    float H[3][3] = {{9.81, 0, 0}, {0, 9.81, 0}, {0, 0, 9.81}};
+    float previousAccelSensor[3] = {0, 0, 0};
+    float ca;
+    float sigmaGyro;
+    float sigmaAccel;
+
+    void getPredictionCovariance(float covariance[3][3], float previousState[3], float deltat);
+
+    void getMeasurementCovariance(float covariance[3][3]);
+
+    void predictState(float predictedState[3], float gyro[3], float deltat);
+
+    void predictErrorCovariance(float covariance[3][3], float gyro[3], float deltat);
+
+    void updateGain(float gain[3][3], float errorCovariance[3][3]);
+
+    void updateState(float updatedState[3], float predictedState[3], float gain[3][3], float accel[3]);
+
+    void updateErrorCovariance(float covariance[3][3], float errorCovariance[3][3], float gain[3][3]);
+
+  public:
+
+    KalmanFilter(float ca, float sigmaGyro, float sigmaAccel);
+
+    float estimate(float gyro[3], float accel[3], float deltat);
+
+}; // Class KalmanFilter
+
+class ComplementaryFilter {
+
+  private:
+
+    // filter gain
+    float gain[2];
+    // Zero-velocity update
+    float accelThreshold;
+    static const uint8_t ZUPT_SIZE = 12;
+    uint8_t ZUPTIdx;
+    float   ZUPT[ZUPT_SIZE];
+
+    float ApplyZUPT(float accel, float vel);
+
+  public:
+
+    ComplementaryFilter(float sigmaAccel, float sigmaBaro, float accelThreshold);
+
+    void estimate(float * velocity, float * altitude, float baroAltitude,
+                  float pastAltitude, float pastVelocity, float accel, float deltat);
+}; // Class ComplementaryFilter