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/unused/surfaceFitModel.cpp | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 src/unused/surfaceFitModel.cpp (limited to 'src/unused/surfaceFitModel.cpp') diff --git a/src/unused/surfaceFitModel.cpp b/src/unused/surfaceFitModel.cpp new file mode 100644 index 0000000..d48da49 --- /dev/null +++ b/src/unused/surfaceFitModel.cpp @@ -0,0 +1,40 @@ +#include "../include/surfaceFitModel.hpp" + +SurfaceFitModel::SurfaceFitModel() { + + p = MatrixXd::Zero(X_DEGREE + 1, Y_DEGREE + 1); + + p(0, 0) = -781536.384794701; + p(1, 0) = 8623.59011973048; + p(0, 1) = 643.65918253; + p(2, 0) = -34.3646691281487; + p(1, 1) = -5.46066535343611; + p(0, 2) = -0.177121900557321; + p(3, 0) = 0.0573287698655951; + p(2, 1) = 0.0150031142038895; + p(1, 2) = 0.00101871763126609; + p(0, 3) = 1.63862900553892e-05; + p(4, 0) = -3.21785828407871e-05; + p(3, 1) = -1.3161091180883e-05; + p(2, 2) = -1.42505256569339e-06; + p(1, 3) = -4.76209793830867e-08; +} + + +double SurfaceFitModel::getFit(double x, double y) { + + return p(0, 0) + p(1, 0) * x + p(0, 1) * y + p(2, 0) * pow(x, 2) + + p(1, 1) * x * y + p(0, 2) * pow(y, 2) + p(3, 0) * pow(x, 3) + + p(2, 1) * pow(x, 2) * y + p(1, 2) * x * pow(y, 2) + p(0, 3) * pow(y, 3) + + p(4, 0) * pow(x, 4) + p(3, 1) * pow(x, 3) * y + p(2, 2) * pow(x, 2) * pow(y, 2) + + p(1, 3) * x * pow(y, 3); +} + + + + + + + + + -- cgit v1.2.3