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Code Issues Releases Activity

some cleanups

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This commit is contained in:
Corvus Corax 2013-05-23 21:21:14 +02:00
parent 53ba3f4b74
commit 40864b2d3b
5 changed files with 8 additions and 27 deletions
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2
flight/modules/StateEstimation/filtercf.c
View File

@ -84,6 +84,8 @@ static void globalInit(void)
{
if (!initialized) {
initialized = 1;
FlightStatusInitialize();
HomeLocationInitialize();
FlightStatusConnectCallback(&flightStatusUpdatedCb);
flightStatusUpdatedCb(NULL);
}

2
flight/modules/StateEstimation/filterekf.c
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@ -37,7 +37,6 @@
#include <attitudestate.h>
#include <homelocation.h>
#include <insgps.h>
#include <CoordinateConversions.h>
@ -81,6 +80,7 @@ static void globalInit(void)
initialized = 1;
EKFConfigurationInitialize();
EKFStateVarianceInitialize();
HomeLocationInitialize();
}
}

1
flight/modules/StateEstimation/filtermag.c
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@ -62,6 +62,7 @@ int32_t filterMagInitialize(stateFilter *handle)
handle->init = &init;
handle->filter = &filter;
handle->localdata = pvPortMalloc(sizeof(struct data));
HomeLocationInitialize();
return STACK_REQUIRED;
}

27
flight/modules/StateEstimation/stateestimation.c
View File

@ -48,7 +48,6 @@
#include <velocitystate.h>
#include "revosettings.h"
#include "homelocation.h"
#include "flightstatus.h"
#include "CoordinateConversions.h"
@ -72,8 +71,6 @@ typedef const struct filterPipelineStruct {
static DelayedCallbackInfo *stateEstimationCallback;
static volatile RevoSettingsData revoSettings;
static volatile HomeLocationData homeLocation;
static float LLA2NEDM[3];
static volatile sensorUpdates updatedSensors;
static int32_t fusionAlgorithm = -1;
static filterPipeline *filterChain = NULL;
@ -197,7 +194,6 @@ static inline int32_t maxint32_t(int32_t a, int32_t b)
int32_t StateEstimationInitialize(void)
{
RevoSettingsInitialize();
HomeLocationInitialize();
GyroSensorInitialize();
MagSensorInitialize();
@ -214,7 +210,6 @@ int32_t StateEstimationInitialize(void)
VelocityStateInitialize();
RevoSettingsConnectCallback(&settingsUpdatedCb);
HomeLocationConnectCallback(&settingsUpdatedCb);
GyroSensorConnectCallback(&sensorUpdatedCb);
AccelSensorConnectCallback(&sensorUpdatedCb);
@ -344,7 +339,7 @@ static void StateEstimationCb(void)
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
sensorname##Get(&s); \
if (ISREAL(s.a1) && ISREAL(s.a2) && ISREAL(s.a3)) { \
if (IS_REAL(s.a1) && IS_REAL(s.a2) && IS_REAL(s.a3)) { \
states.shortname[0] = s.a1; \
states.shortname[1] = s.a2; \
states.shortname[2] = s.a3; \
@ -362,7 +357,7 @@ static void StateEstimationCb(void)
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
sensorname##Get(&s); \
if (ISREAL(s.a1) && EXTRACHECK) { \
if (IS_REAL(s.a1) && EXTRACHECK) { \
states.shortname[0] = s.a1; \
} \
else { \
@ -477,26 +472,10 @@ static void StateEstimationCb(void)
/**
* Callback for eventdispatcher when HomeLocation or RevoSettings has been updated
* Callback for eventdispatcher when RevoSettings has been updated
*/
static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
HomeLocationGet((HomeLocationData *)&homeLocation);
if (ISREAL(homeLocation.Latitude) && ISREAL(homeLocation.Longitude) && ISREAL(homeLocation.Altitude) && ISREAL(homeLocation.Be[0]) && ISREAL(homeLocation.Be[1]) && ISREAL(homeLocation.Be[2])) {
// Compute matrix to convert deltaLLA to NED
float lat, alt;
lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
alt = homeLocation.Altitude;
LLA2NEDM[0] = alt + 6.378137E6f;
LLA2NEDM[1] = cosf(lat) * (alt + 6.378137E6f);
LLA2NEDM[2] = -1.0f;
// TODO: convert positionState to new reference frame and gracefully update EKF state!
// needed for long range flights where the reference coordinate is adjusted in flight
}
RevoSettingsGet((RevoSettingsData *)&revoSettings);
}

3
flight/pios/inc/pios_math.h
View File

@ -53,10 +53,9 @@
#define MAX(a, b) ((a) > (b) ? (a) : (b))
#define MIN(a, b) ((a) < (b) ? (a) : (b))
#define ISREAL(f) (!isnan(f) && !isinf(f))
#define IS_REAL(f) (!isnan(f) && !isinf(f))
// Bitfield access
#define IS_SET(field, mask) (((field) & (mask)) == (mask))
#define SET_MASK(field, mask) (field) |= (mask)
#define UNSET_MASK(field, mask) (field) &= ~(mask)