From 93acde052369568beaefb0d99629d8797f5c191f Mon Sep 17 00:00:00 2001 From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com> Date: Thu, 9 May 2024 02:05:35 -0400 Subject: 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 Co-authored-by: Cian Capacci <46614295+BeeGuyDude@users.noreply.github.com> Co-authored-by: Gregory Wainer --- src/AltEst/altitude.cpp | 58 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 58 insertions(+) create mode 100644 src/AltEst/altitude.cpp (limited to 'src/AltEst/altitude.cpp') diff --git a/src/AltEst/altitude.cpp b/src/AltEst/altitude.cpp new file mode 100644 index 0000000..8838b36 --- /dev/null +++ b/src/AltEst/altitude.cpp @@ -0,0 +1,58 @@ +/* + altitude.cpp: Altitude estimation via barometer/accelerometer fusion +*/ + +#include "filters.h" +#include "algebra.h" +#include "altitude.h" + +AltitudeEstimator::AltitudeEstimator(float sigmaAccel, float sigmaGyro, float sigmaBaro, + float ca, float accelThreshold) +:kalman(ca, sigmaGyro, sigmaAccel), complementary(sigmaAccel, sigmaBaro, accelThreshold) +{ + this->sigmaAccel = sigmaAccel; + this->sigmaGyro = sigmaGyro; + this->sigmaBaro = sigmaBaro; + this->ca = ca; + this->accelThreshold = accelThreshold; +} + +void AltitudeEstimator::estimate(float accel[3], float gyro[3], float baroHeight, uint32_t timestamp) +{ + float deltat = (float)(timestamp-previousTime)/1000000.0f; + float verticalAccel = kalman.estimate(pastGyro, + pastAccel, + deltat); + complementary.estimate(& estimatedVelocity, + & estimatedAltitude, + baroHeight, + pastAltitude, + pastVerticalVelocity, + pastVerticalAccel, + deltat); + // update values for next iteration + copyVector(pastGyro, gyro); + copyVector(pastAccel, accel); + pastAltitude = estimatedAltitude; + pastVerticalVelocity = estimatedVelocity; + pastVerticalAccel = verticalAccel; + previousTime = timestamp; +} + +float AltitudeEstimator::getAltitude() +{ + // return the last estimated altitude + return estimatedAltitude; +} + +float AltitudeEstimator::getVerticalVelocity() +{ + // return the last estimated vertical velocity + return estimatedVelocity; +} + +float AltitudeEstimator::getVerticalAcceleration() +{ + // return the last estimated vertical acceleration + return pastVerticalAccel; +} -- cgit v1.2.3