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Code Issues Releases Activity

AHRS/INSGPS: Fix a swapped index Corvus caught

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2042 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-30 18:15:57 +00:00 committed by peabody124
parent 34bd4b7524
commit 800e6cbe2c
3 changed files with 3 additions and 342 deletions
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6
flight/AHRS/insgps.c
View File

@ -1315,17 +1315,17 @@ void SerialUpdate(float H[NUMV][NUMX], float R[NUMV], float Z[NUMV],
HPHR += HP[k] * H[m][k];
for (k = 0; k < NUMX; k++)
K[m][k] = HP[k] / HPHR; // find K = HP/HPHR
K[k][m] = HP[k] / HPHR; // find K = HP/HPHR
for (i = 0; i < NUMX; i++) { // Find P(m)= P(m-1) + K*HP
for (j = i; j < NUMX; j++)
P[i][j] = P[j][i] =
P[i][j] - K[m][i] * HP[j];
P[i][j] - K[i][m] * HP[j];
}
Error = Z[m] - Y[m];
for (i = 0; i < NUMX; i++) // Find X(m)= X(m-1) + K*Error
X[i] = X[i] + K[m][i] * Error;
X[i] = X[i] + K[i][m] * Error;
}
}

234
flight/Libraries/buffer.c
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@ -1,234 +0,0 @@
/**
******************************************************************************
*
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Flight_Libraries Miscellaneous library functions
* @brief Miscellaneous library functions shared between PIOS / OpenPilot / AHRS
* @{
*
* @file buffer.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Simplies buffering data
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
//*****************************************************************************
//
// File Name : 'buffer.c'
// Title : Multipurpose byte buffer structure and methods
// Author : Pascal Stang - Copyright (C) 2001-2002
// Created : 9/23/2001
// Revised : 9/23/2001
// Version : 1.0
// Target MCU : any
// Editor Tabs : 4
//
// This code is distributed under the GNU Public License
// which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************
#include "buffer.h"
/**
* @brief Initialize a cBuffer structure
* @param[in] buffer Points to the buffer structure
* @param[in] start Allocated memory to store data
* @param[in] size Maximum size of buffer
* @return None
*/
void bufferInit(cBuffer * buffer, uint8_t * start, uint32_t size)
{
// set start pointer of the buffer
buffer->dataptr = start;
buffer->size = size;
// initialize index and length
buffer->dataindex = 0;
buffer->datalength = 0;
}
/**
* @brief Return remaining space in buffer
* @param[in] buffer Pointer to buffer structure
* @return Amount of space remaining on buffer
*/
uint32_t bufferRemainingSpace(cBuffer * buffer)
{
return buffer->size - buffer->datalength;
}
/**
* @brief Return amount of data
* @param[in] buffer Pointer to buffer structure
* @return Amount of data queued in buffer
*/
uint32_t bufferBufferedData(cBuffer * buffer)
{
return buffer->datalength;
}
/**
* @brief Pop one element from buffer
* @param[in] buffer Pointer to the buffer structure
* @return None
*/
uint8_t bufferGetFromFront(cBuffer * buffer)
{
unsigned char data = 0;
// check to see if there's data in the buffer
if (buffer->datalength) {
// get the first character from buffer
data = buffer->dataptr[buffer->dataindex];
// move index down and decrement length
buffer->dataindex++;
if (buffer->dataindex >= buffer->size) {
buffer->dataindex %= buffer->size;
}
buffer->datalength--;
}
// return
return data;
}
/**
* @brief Copy number of elements into another buffer
* @param[in] buffer Pointer to the buffer structure
* @param[in] dest Point to destimation, must be allocated enough space for size
* @param[in] size Number of elements to get
* @return
* @arg -1 for success
* @arg 0 error
*/
uint8_t bufferGetChunkFromFront(cBuffer * buffer, uint8_t * dest, uint32_t size)
{
if (size > buffer->datalength)
return -1;
for (uint32_t i = 0; i < size; i++) {
dest[i] = bufferGetFromFront(buffer);
}
return 0;
}
/**
* @brief Shift index to trash data from front of buffer
* @param[in] buffer Pointer to buffer structure
* @param[in] numbytes Number of bytes to drop
* @return None
*/
void bufferDumpFromFront(cBuffer * buffer, uint32_t numbytes)
{
// dump numbytes from the front of the buffer
// are we dumping less than the entire buffer?
if (numbytes < buffer->datalength) {
// move index down by numbytes and decrement length by numbytes
buffer->dataindex += numbytes;
if (buffer->dataindex >= buffer->size) {
buffer->dataindex %= buffer->size;
}
buffer->datalength -= numbytes;
} else {
// flush the whole buffer
buffer->datalength = 0;
}
}
/**
* @brief Get element indexed from the front of buffer
* @param[in] buffer Point to the buffer structure
* @param[in] index Index into the buffer relative to front
* @return None
*/
uint8_t bufferGetAtIndex(cBuffer * buffer, uint32_t index)
{
// return character at index in buffer
return buffer->dataptr[(buffer->dataindex + index) % (buffer->size)];
}
/**
* @brief Queue a character to end of buffer
* @param[in] buffer Point to the buffer structure
* @param[in] data Byte to add
* @return
* @arg -1 for success
* @arg 0 error
*/
uint8_t bufferAddToEnd(cBuffer * buffer, uint8_t data)
{
// make sure the buffer has room
if (buffer->datalength < buffer->size) {
// save data byte at end of buffer
buffer->dataptr[(buffer->dataindex + buffer->datalength) % buffer->size] = data;
// increment the length
buffer->datalength++;
// return success
return -1;
} else
return 0;
}
/**
* @brief Queue a block of character to end of buffer
* @param[in] buffer Point to the buffer structure
* @param[in] data Pointer to data to add
* @param[in] size Number of bytes to add
* @return
* @arg -1 for success
* @arg 0 error
*/
uint8_t bufferAddChunkToEnd(cBuffer * buffer, const uint8_t * data, uint32_t size)
{
// TODO: replace with memcpy and logic, for now keeping it simple
for (uint32_t i = 0; i < size; i++) {
if (bufferAddToEnd(buffer, data[i]) == 0)
return 0;
}
return -1;
}
/**
* @brief Check to see if the buffer has room
* @param[in] buffer Point to the buffer structure
* @return
* @arg True there is room available in buffer
* @arg False buffer is full
*/
unsigned char bufferIsNotFull(cBuffer * buffer)
{
return (buffer->datalength < buffer->size);
}
/**
* @brief Trash all data in buffer
* @param[in] buffer Point to the buffer structure
*/
void bufferFlush(cBuffer * buffer)
{
// flush contents of the buffer
buffer->datalength = 0;
}
/**
* @}
* @}
*/

105
flight/Libraries/inc/buffer.h
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@ -1,105 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file buffer.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief see below
* As with all modules only the initialize function is exposed all other
* interactions with the module take place through the event queue and
* objects.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
//*****************************************************************************
//
// File Name : 'buffer.h'
// Title : Multipurpose byte buffer structure and methods
// Author : Pascal Stang - Copyright (C) 2001-2002
// Created : 9/23/2001
// Revised : 11/16/2002
// Version : 1.1
// Target MCU : any
// Editor Tabs : 4
//
/// \code #include "buffer.h" \endcode
/// \par Overview
/// This byte-buffer structure provides an easy and efficient way to store
/// and process a stream of bytes.  You can create as many buffers as you
/// like (within memory limits), and then use this common set of functions to
/// access each buffer.  The buffers are designed for FIFO operation (first
/// in, first out).  This means that the first byte you put in the buffer
/// will be the first one you get when you read out the buffer.  Supported
/// functions include buffer initialize, get byte from front of buffer, add
/// byte to end of buffer, check if buffer is full, and flush buffer.  The
/// buffer uses a circular design so no copying of data is ever necessary.
/// This buffer is not dynamically allocated, it has a user-defined fixed
/// maximum size.  This buffer is used in many places in the avrlib code.
//
// This code is distributed under the GNU Public License
// which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************
//@{
#ifndef BUFFER_H
#define BUFFER_H
#include "stdint.h"
// structure/typdefs
//! cBuffer structure
typedef struct struct_cBuffer {
unsigned char *dataptr; ///< the physical memory address where the buffer is stored
unsigned short size; ///< the allocated size of the buffer
unsigned short datalength; ///< the length of the data currently in the buffer
unsigned short dataindex; ///< the index into the buffer where the data starts
} cBuffer;
// function prototypes
//! initialize a buffer to start at a given address and have given size
void bufferInit(cBuffer * buffer, uint8_t * start, uint32_t size);
//! check free space in buffer
uint32_t bufferRemainingSpace(cBuffer * buffer);
//! get the first byte from the front of the buffer
uint8_t bufferGetFromFront(cBuffer * buffer);
//! get the number of bytes buffered
uint32_t bufferBufferedData(cBuffer * buffer);
//! copy number of elements into another buffer
uint8_t bufferGetChunkFromFront(cBuffer * buffer, uint8_t * dest, uint32_t size);
//! dump (discard) the first numbytes from the front of the buffer
void bufferDumpFromFront(cBuffer * buffer, uint32_t numbytes);
//! get a byte at the specified index in the buffer (kind of like array access)
// ** note: this does not remove the byte that was read from the buffer
uint8_t bufferGetAtIndex(cBuffer * buffer, uint32_t index);
//! add a byte to the end of the buffer
uint8_t bufferAddToEnd(cBuffer * buffer, uint8_t data);
//! queue a block of character to end of buffer
uint8_t bufferAddChunkToEnd(cBuffer * buffer, const uint8_t * data, uint32_t size);
//! check if the buffer is full/not full (returns non-zero value if not full)
uint8_t bufferIsNotFull(cBuffer * buffer);
//! flush (clear) the contents of the buffer
void bufferFlush(cBuffer * buffer);
#endif
/**
* @}
*/