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Code Issues Releases Activity

Make simulation produce data asynchronously for testing and add random accel

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bias
This commit is contained in:
James Cotton 2012-04-15 11:51:42 -05:00
parent 08fd08deb8
commit 85852df00b
1 changed files with 21 additions and 9 deletions
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28
flight/Modules/Sensors/simulated/sensors.c
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@ -85,6 +85,8 @@ static void simulateConstant();
static void simulateModelAgnostic(); static void simulateModelAgnostic();
static void simulateModelQuadcopter(); static void simulateModelQuadcopter();
static float accel_bias[3];
static float rand_gauss(); static float rand_gauss();
enum sensor_sim_type {CONSTANT, MODEL_AGNOSTIC, MODEL_QUADCOPTER} sensor_sim_type; enum sensor_sim_type {CONSTANT, MODEL_AGNOSTIC, MODEL_QUADCOPTER} sensor_sim_type;
@ -95,6 +97,11 @@ enum sensor_sim_type {CONSTANT, MODEL_AGNOSTIC, MODEL_QUADCOPTER} sensor_sim_typ
*/ */
int32_t SensorsInitialize(void) int32_t SensorsInitialize(void)
{ {
accel_bias[0] = rand_gauss() / 10;
accel_bias[1] = rand_gauss() / 10;
accel_bias[2] = rand_gauss() / 10;
AccelsInitialize(); AccelsInitialize();
AttitudeSimulatedInitialize(); AttitudeSimulatedInitialize();
BaroAltitudeInitialize(); BaroAltitudeInitialize();
@ -413,9 +420,9 @@ static void simulateModelQuadcopter()
// Transform the accels back in to body frame // Transform the accels back in to body frame
AccelsData accelsData; // Skip get as we set all the fields AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2]; accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2] + accel_bias[0];
accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2]; accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2] + accel_bias[1];
accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2]; accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2] + accel_bias[2];
accelsData.temperature = 30; accelsData.temperature = 30;
AccelsSet(&accelsData); AccelsSet(&accelsData);
@ -439,6 +446,11 @@ static void simulateModelQuadcopter()
HomeLocationData homeLocation; HomeLocationData homeLocation;
HomeLocationGet(&homeLocation); HomeLocationGet(&homeLocation);
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
// Update GPS periodically // Update GPS periodically
static uint32_t last_gps_time = 0; static uint32_t last_gps_time = 0;
if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) { if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) {
@ -453,11 +465,6 @@ static void simulateModelQuadcopter()
gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0; gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0;
gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0; gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0;
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
GPSPositionData gpsPosition; GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition); GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6); gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6);
@ -469,13 +476,18 @@ static void simulateModelQuadcopter()
gpsPosition.PDOP = 1; gpsPosition.PDOP = 1;
GPSPositionSet(&gpsPosition); GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw(); last_gps_time = PIOS_DELAY_GetRaw();
}
// Update GPS Velocity measurements
static uint32_t last_gps_vel_time = 1000; // Delay by a millisecond
if(PIOS_DELAY_DiffuS(last_gps_vel_time) / 1.0e6 > GPS_PERIOD) {
GPSVelocityData gpsVelocity; GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity); GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0]; gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1]; gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2]; gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity); GPSVelocitySet(&gpsVelocity);
last_gps_vel_time = PIOS_DELAY_GetRaw();
} }
// Update mag periodically // Update mag periodically