mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
289 lines
7.6 KiB
C
289 lines
7.6 KiB
C
#include "math.h"
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#include "mex.h"
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#include "insgps.h"
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#include "string.h"
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#include "stdint.h"
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#include "stdbool.h"
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bool mlStringCompare(const mxArray * mlVal, char * cStr);
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bool mlGetFloatArray(const mxArray * mlVal, float * dest, int numel);
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// constants/macros/typdefs
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#define NUMX 13 // number of states, X is the state vector
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#define NUMW 9 // number of plant noise inputs, w is disturbance noise vector
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#define NUMV 10 // number of measurements, v is the measurement noise vector
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#define NUMU 6 // number of deterministic inputs, U is the input vector
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extern float F[NUMX][NUMX], G[NUMX][NUMW], H[NUMV][NUMX]; // linearized system matrices
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extern float Be[3]; // local magnetic unit vector in NED frame
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extern float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
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extern float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
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extern float K[NUMX][NUMV]; // feedback gain matrix
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void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
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{
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char * function_name;
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float accel_data[3];
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float gyro_data[3];
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float mag_data[3];
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float pos_data[3];
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float vel_data[3];
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float baro_data;
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float dT;
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//All code and internal function calls go in here!
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if(!mxIsChar(prhs[0])) {
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mexErrMsgTxt("First parameter must be name of a function\n");
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return;
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}
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if(mlStringCompare(prhs[0], "INSGPSInit")) {
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INSGPSInit();
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} else if(mlStringCompare(prhs[0], "INSStatePrediction")) {
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if(nrhs != 4) {
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mexErrMsgTxt("Incorrect number of inputs for state prediction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], gyro_data, 3) ||
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!mlGetFloatArray(prhs[2], accel_data, 3) ||
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!mlGetFloatArray(prhs[3], &dT, 1))
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return;
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INSStatePrediction(gyro_data, accel_data, dT);
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INSCovariancePrediction(dT);
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} else if(mlStringCompare(prhs[0], "INSFullCorrection")) {
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if(nrhs != 5) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], mag_data, 3) ||
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!mlGetFloatArray(prhs[2], pos_data, 3) ||
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!mlGetFloatArray(prhs[3], vel_data ,3) ||
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!mlGetFloatArray(prhs[4], &baro_data, 1)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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FullCorrection(mag_data, pos_data, vel_data, baro_data);
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} else if(mlStringCompare(prhs[0], "INSMagCorrection")) {
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if(nrhs != 2) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], mag_data, 3)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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MagCorrection(mag_data);
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} else if(mlStringCompare(prhs[0], "INSBaroCorrection")) {
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if(nrhs != 2) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], &baro_data, 1)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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BaroCorrection(baro_data);
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} else if(mlStringCompare(prhs[0], "INSMagVelBaroCorrection")) {
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if(nrhs != 4) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], mag_data, 3) ||
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!mlGetFloatArray(prhs[2], vel_data ,3) ||
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!mlGetFloatArray(prhs[3], &baro_data, 1)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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MagVelBaroCorrection(mag_data, vel_data, baro_data);
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} else if(mlStringCompare(prhs[0], "INSGpsCorrection")) {
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if(nrhs != 3) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], pos_data, 3) ||
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!mlGetFloatArray(prhs[2], vel_data ,3)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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GpsCorrection(pos_data, vel_data);
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} else if(mlStringCompare(prhs[0], "INSVelBaroCorrection")) {
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if(nrhs != 3) {
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mexErrMsgTxt("Incorrect number of inputs for correction\n");
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return;
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}
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if(!mlGetFloatArray(prhs[1], vel_data, 3) ||
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!mlGetFloatArray(prhs[2], &baro_data, 1)) {
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mexErrMsgTxt("Error with the input parameters\n");
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return;
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}
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VelBaroCorrection(vel_data, baro_data);
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} else if (mlStringCompare(prhs[0], "INSSetPosVelVar")) {
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float pos_var;
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], &pos_var, 1)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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INSSetPosVelVar(pos_var);
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} else if (mlStringCompare(prhs[0], "INSSetGyroBias")) {
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float gyro_bias[3];
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], gyro_bias, 3)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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INSSetGyroBias(gyro_bias);
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} else if (mlStringCompare(prhs[0], "INSSetAccelVar")) {
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float accel_var[3];
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], accel_var, 3)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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INSSetAccelVar(accel_var);
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} else if (mlStringCompare(prhs[0], "INSSetGyroVar")) {
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float gyro_var[3];
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], gyro_var, 3)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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INSSetGyroVar(gyro_var);
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} else if (mlStringCompare(prhs[0], "INSSetMagNorth")) {
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float mag_north[3];
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float Bmag;
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], mag_north, 3)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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Bmag = sqrt(mag_north[0] * mag_north[0] + mag_north[1] * mag_north[1] +
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mag_north[2] * mag_north[2]);
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mag_north[0] = mag_north[0] / Bmag;
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mag_north[1] = mag_north[1] / Bmag;
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mag_north[2] = mag_north[2] / Bmag;
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INSSetMagNorth(mag_north);
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} else if (mlStringCompare(prhs[0], "INSSetMagVar")) {
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float mag_var[3];
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], mag_var, 3)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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INSSetMagVar(mag_var);
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} else if (mlStringCompare(prhs[0], "INSSetState")) {
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int i;
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float new_state[NUMX];
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if((nrhs != 2) || !mlGetFloatArray(prhs[1], new_state, NUMX)) {
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mexErrMsgTxt("Error with input parameters\n");
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return;
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}
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for(i = 0; i < NUMX; i++)
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X[i] = new_state[i];
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} else {
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mexErrMsgTxt("Unknown function");
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}
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if(nlhs > 0) {
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// return current state vector
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double * data_out;
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int i;
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plhs[0] = mxCreateDoubleMatrix(1,13,0);
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data_out = mxGetData(plhs[0]);
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for(i = 0; i < NUMX; i++)
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data_out[i] = X[i];
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}
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if(nlhs > 1) {
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//return covariance estimate
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double * data_copy = mxCalloc(NUMX*NUMX, sizeof(double));
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int i, j, k;
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plhs[1] = mxCreateDoubleMatrix(13,13,0);
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for(i = 0; i < NUMX; i++)
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for(j = 0; j < NUMX; j++)
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{
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data_copy[j + i * NUMX] = P[j][i];
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}
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mxSetData(plhs[1], data_copy);
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}
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if(nlhs > 2) {
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//return covariance estimate
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double * data_copy = mxCalloc(NUMX*NUMV, sizeof(double));
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int i, j, k;
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plhs[2] = mxCreateDoubleMatrix(NUMX,NUMV,0);
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for(i = 0; i < NUMX; i++)
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for(j = 0; j < NUMV; j++)
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{
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data_copy[j + i * NUMX] = K[i][j];
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}
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mxSetData(plhs[2], data_copy);
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}
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return;
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}
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bool mlGetFloatArray(const mxArray * mlVal, float * dest, int numel) {
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if(!mxIsNumeric(mlVal) || (!mxIsDouble(mlVal) && !mxIsSingle(mlVal)) || (mxGetNumberOfElements(mlVal) != numel)) {
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mexErrMsgTxt("Data misformatted (either not double or not the right number)");
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return false;
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}
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if(mxIsSingle(mlVal)) {
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memcpy(dest,mxGetData(mlVal),numel*sizeof(*dest));
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} else {
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int i;
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double * data_in = mxGetData(mlVal);
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for(i = 0; i < numel; i++)
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dest[i] = data_in[i];
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}
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return true;
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}
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bool mlStringCompare(const mxArray * mlVal, char * cStr) {
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int i;
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char * mlCStr = 0;
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bool val = false;
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int strLen = mxGetNumberOfElements(mlVal);
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mlCStr = mxCalloc((1+strLen), sizeof(*mlCStr));
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if(!mlCStr)
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return false;
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if(mxGetString(mlVal, mlCStr, strLen+1))
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goto cleanup;
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for(i = 0; i < strLen; i++) {
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if(mlCStr[i] != cStr[i])
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goto cleanup;
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}
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if(cStr[i] == '\0')
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val = true;
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cleanup:
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if(mlCStr) {
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mxFree(mlCStr);
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mlCStr = 0;
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}
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return val;
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}
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