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/SimpleKalmanFilter.cpp | 48 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 src/SimpleKalmanFilter.cpp (limited to 'src/SimpleKalmanFilter.cpp') diff --git a/src/SimpleKalmanFilter.cpp b/src/SimpleKalmanFilter.cpp new file mode 100644 index 0000000..88ba5d4 --- /dev/null +++ b/src/SimpleKalmanFilter.cpp @@ -0,0 +1,48 @@ +/* + * SimpleKalmanFilter - a Kalman Filter implementation for single variable models. + * Created by Denys Sene, January, 1, 2017. + * Released under MIT License - see LICENSE file for details. + */ + +#include "SimpleKalmanFilter.h" +#include + +SimpleKalmanFilter::SimpleKalmanFilter(float mea_e, float est_e, float q) +{ + _err_measure=mea_e; + _err_estimate=est_e; + _q = q; +} + +float SimpleKalmanFilter::updateEstimate(float mea) +{ + _kalman_gain = _err_estimate/(_err_estimate + _err_measure); + _current_estimate = _last_estimate + _kalman_gain * (mea - _last_estimate); + _err_estimate = (1.0f - _kalman_gain)*_err_estimate + fabsf(_last_estimate-_current_estimate)*_q; + _last_estimate=_current_estimate; + + return _current_estimate; +} + +void SimpleKalmanFilter::setMeasurementError(float mea_e) +{ + _err_measure=mea_e; +} + +void SimpleKalmanFilter::setEstimateError(float est_e) +{ + _err_estimate=est_e; +} + +void SimpleKalmanFilter::setProcessNoise(float q) +{ + _q=q; +} + +float SimpleKalmanFilter::getKalmanGain() { + return _kalman_gain; +} + +float SimpleKalmanFilter::getEstimateError() { + return _err_estimate; +} -- cgit v1.2.3