public static IObservable <Quaternion> ToRotation(this IObservable <AngularVelocity3> source)
{
return(source
.TimeInterval()
.Select(angularVelocityTimed =>
{
AngularVelocity3 angularVelocity = angularVelocityTimed.Value;
double dt = angularVelocityTimed.Interval.TotalSeconds;
Vector3 w = angularVelocity.Normalize();
double theta = AngleConvert.ToRadians(angularVelocity.Magnitude) * dt;
return Quaternion.FromAxisAngle(w, -theta);
}));
}
public void Run()
{
var speedController = new SpeedController(Pca9685PwmController.Default);
var aircraft = new Quadcopter(speedController);
WindowsPilot.Create(
aircraft,
L3gd20hGyroscope.Default,
Lsm303dAccelerometer.Default,
Lsm303dMagnetometer.Default,
FlightController.FromGamepad(LogitechF710Gamepad.Default),
thrustMax: 0.8d,
angularPositionPitchMax: AngleConvert.ToRadians(15d),
angularPositionRollMax: AngleConvert.ToRadians(15d),
angularVelocityYawMax: AngleConvert.ToRadians(90 /*dps*/));
}
public static WindowsPilot Create(
IAircraft aircraft,
IGyroscope3 gyroscope,
IAccelerometer3 accelerometer,
IMagnetometer3 magnetometer,
IFlightController controller,
double thrustMax,
double angularPositionPitchMax,
double angularPositionRollMax,
double angularVelocityYawMax)
{
var angularVelocityNoisy = new Subject <AngularVelocity3>();
var accelerationNoisy = new Subject <GForce3>();
var magnetismNoisy = new Subject <MagneticFluxDensity3>();
IObservable <AngularVelocity3> angularVelocityOptimal =
angularVelocityNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.0000025d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / gyroscope.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d)
.Multiply(1.08d /*calibration*/);
IObservable <GForce3> accelerationOptimal =
accelerationNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.025d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / accelerometer.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d);
IObservable <MagneticFluxDensity3> magnetismOptimal =
magnetismNoisy
.Filter(
estimatedMeasurementNoiseCovariance: 0.05d,
estimatedProcessNoiseCovariance: 0d,
controlWeight: 0.5d * OutputFrequency / magnetometer.Frequency,
initialEstimate: 0d,
initialErrorCovariance: 1d);
var magnetismMinCalibration = new MagneticFluxDensity3(
x: -0.273980716005263d,
y: -0.245318477916743d,
z: -0.237557110710227d);
var magnetismMaxCalibration = new MagneticFluxDensity3(
x: 0.148042531751317d,
y: 0.177504483195312d,
z: 0.155796981828076d);
var ahrs = new Ahrs(angularVelocityOptimal, accelerationOptimal, magnetismOptimal, magnetismMinCalibration, magnetismMaxCalibration);
var angularVelocityInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / gyroscope.Frequency));
var accelerationInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / accelerometer.Frequency));
var magnetismInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / magnetometer.Frequency));
var yawTimer = new Subject <object>();
var yawInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / YawFrequency));
var outputTimer = new Subject <object>();
var outputInterval = TimeSpan.FromTicks(Convert.ToInt64(TimeSpan.TicksPerSecond / OutputFrequency));
SyncLoop.ProduceAsync(
angularVelocityInterval, a => gyroscope.Read(), angularVelocityNoisy,
accelerationInterval, a => accelerometer.Read(), accelerationNoisy,
magnetismInterval, a => magnetometer.Read(), magnetismNoisy,
yawInterval, a => null, yawTimer,
outputInterval, a => null, outputTimer,
WorkItemPriority.High).AsTask();
IObservable <double> thrust =
controller.Thrust.Select(value => value * thrustMax);
IObservable <double> angularPositionPitchSetpoint =
controller.Pitch.Select(value => value * angularPositionPitchMax);
IObservable <double> angularPositionRollSetpoint =
controller.Roll.Select(value => value * angularPositionRollMax);
IObservable <double> angularPositionYawSetpoint =
Extensions.ObservableExtensions
.CombineLatest(
controller.Yaw,
yawTimer.TimeInterval(),
(yaw, timer, yawChanged, timerChanged) =>
new { Yaw = yaw, YawChanged = yawChanged, TimerElapsed = timerChanged, TimerInterval = timer.Interval })
.Scan(
default(double),
(accu, t) =>
{
double yaw = accu;
if (t.TimerElapsed)
{
double dt = t.TimerInterval.TotalSeconds;
yaw += t.Yaw * angularVelocityYawMax * dt;
if (yaw > AngleConvert.ToRadians(180d))
{
yaw -= AngleConvert.ToRadians(360d);
}
else if (yaw <= AngleConvert.ToRadians(-180d))
{
yaw += AngleConvert.ToRadians(360d);
}
}
return(yaw);
});
IObservable <EulerAngles> angularPositionSetpoint =
Observable.CombineLatest(
angularPositionPitchSetpoint,
angularPositionRollSetpoint,
angularPositionYawSetpoint,
(pitch, roll, yaw) =>
new EulerAngles(pitch, roll, yaw));
var pilot = new WindowsPilot(
aircraft,
thrust,
angularPositionSetpoint,
ahrs.AngularVelocityCalibrated,
ahrs.AngularPosition);
outputTimer.Subscribe(state => pilot.WriteOutput());
return(pilot);
}
