public static Vector_Cross_Product ( float vectorOut, float v1, float v2 ) : void | ||
vectorOut | float | |
v1 | float | |
v2 | float | |
리턴 | void |
/**************************************************/ public void Drift_correction() { //Compensation the Roll, Pitch and Yaw drift. float mag_heading_x; float mag_heading_y; float[] Scaled_Omega_P = new float[3]; float[] Scaled_Omega_I = new float[3]; float Accel_magnitude; float Accel_weight; float Integrator_magnitude; float tempfloat; //*****Roll and Pitch*************** // Calculate the magnitude of the accelerometer vector Accel_magnitude = (float)exMath.Sqrt(Accel_Vector[0] * Accel_Vector[0] + Accel_Vector[1] * Accel_Vector[1] + Accel_Vector[2] * Accel_Vector[2]); Accel_magnitude = Accel_magnitude / GlobalVal.gravity; // Scale to gravity. // Dynamic weighting of accelerometer info (reliability filter) // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) Accel_weight = 1 - 2 * (float)exMath.Abs(1 - Accel_magnitude); // if (Accel_weight > 1) { Accel_weight = 1; } if (Accel_weight < 0) { Accel_weight = 0; } //#if PERFORMANCE_REPORTING == 1 // tempfloat = ((Accel_weight - 0.5) * 256.0f); //amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction // imu_health += tempfloat; // imu_health = constrain(imu_health,129,65405); //#endif Vector.Vector_Cross_Product(errorRollPitch, Accel_Vector, DCM_Matrix[2]); //adjust the ground of reference Vector.Vector_Scale(Omega_P, errorRollPitch, Kp_ROLLPITCH * Accel_weight); Vector.Vector_Scale(Scaled_Omega_I, errorRollPitch, Ki_ROLLPITCH * Accel_weight); Vector.Vector_Add(Omega_I, Omega_I, Scaled_Omega_I); //*****YAW*************** //#if USE_MAGNETOMETER==1 double[] mag = adc.getMag(); //http://code.google.com/p/sf9domahrs/ float CMx = (float)(mag[0] * exMath.Cos(this.pitch) + mag[1] * exMath.Sin(this.roll) * exMath.Sin(this.pitch) + mag[2] * exMath.Cos(this.roll) * exMath.Sin(this.pitch)); float CMy = (float)(mag[1] * exMath.Cos(this.roll) - mag[2] * exMath.Sin(this.roll)); MAG_Heading = (float)exMath.Atan(CMy / CMx); // // We make the gyro YAW drift correction based on compass magnetic heading //errorCourse=(DCM_Matrix[0][0]*AP_Compass.Heading_Y) - (DCM_Matrix[1][0]*AP_Compass.Heading_X); //Calculating YAW error //Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position. //Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW); //Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional. //Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW); //Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I //#else // Use GPS Ground course to correct yaw gyro drift //if(GPS.ground_speed>=SPEEDFILT*100) // Ground speed from GPS is in m/s //{ //COGX = exMath.Cos(ToRad(GPS.ground_course/100.0)); //COGY = exMath.Sin(ToRad(GPS.ground_course/100.0)); COGX = (float)exMath.Cos((float)MAG_Heading); COGY = (float)exMath.Sin((float)MAG_Heading); errorCourse = (DCM_Matrix[0][0] * COGY) - (DCM_Matrix[1][0] * COGX); //Calculating YAW error Vector.Vector_Scale(errorYaw, DCM_Matrix[2], errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position. Vector.Vector_Scale(Scaled_Omega_P, errorYaw, Kp_YAW); Vector.Vector_Add(Omega_P, Omega_P, Scaled_Omega_P);//Adding Proportional. Vector.Vector_Scale(Scaled_Omega_I, errorYaw, Ki_YAW); Vector.Vector_Add(Omega_I, Omega_I, Scaled_Omega_I);//adding integrator to the Omega_I //} //#endif //// Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros Integrator_magnitude = (float)exMath.Sqrt(Vector.Vector_Dot_Product(Omega_I, Omega_I)); if (Integrator_magnitude > exMath.ToRad(300)) { Vector.Vector_Scale(Omega_I, Omega_I, 0.5f * exMath.ToRad(300) / Integrator_magnitude); //#if PRINT_DEBUG != 0 // Serial.print("!!!INT:1,MAG:"); // Serial.print (ToDeg(Integrator_magnitude)); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } }
/**************************************************/ public void Normalize() { float error = 0; float[][] temporary = new float[3][]; temporary[0] = new float[3]; // { 0, 0, 0 }; temporary[1] = new float[3]; //{ 0, 0, 0 }; temporary[2] = new float[3]; //{ 0, 0, 0 }; //for (int i = 0; i < 3; i++) //{ // for (int j = 0; j < 3; j++) // { // temporary[i][j] = new float(); // temporary[i][j] = 0.1f; // } //} ////temporary[0][1] = 3.2f; float renorm = 0; bool problem = false; error = -1 * Vector.Vector_Dot_Product(DCM_Matrix[0], DCM_Matrix[1]) * .5f; //eq.19 Vector.Vector_Scale(temporary[0], DCM_Matrix[1], error); //eq.19 Vector.Vector_Scale(temporary[1], DCM_Matrix[0], error); //eq.19 Vector.Vector_Add(temporary[0], temporary[0], DCM_Matrix[0]); //eq.19 Vector.Vector_Add(temporary[1], temporary[1], DCM_Matrix[1]); //eq.19 Vector.Vector_Cross_Product(temporary[2], temporary[0], temporary[1]); // c= a x b //eq.20 renorm = Vector.Vector_Dot_Product(temporary[0], temporary[0]); if (renorm < 1.5625f && renorm > 0.64f) { renorm = .5f * (3 - renorm); //eq.21 } else if (renorm < 100.0f && renorm > 0.01f) { renorm = 1.0f / (float)exMath.Sqrt(renorm); //#if PERFORMANCE_REPORTING == 1 // renorm_sqrt_count++; //#endif //#if PRINT_DEBUG != 0 // Serial.print("???SQT:1,RNM:"); // Serial.print (renorm); // Serial.print (",ERR:"); // Serial.print (error); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } else { problem = true; //#if PERFORMANCE_REPORTING == 1 // renorm_blowup_count++; //#endif // #if PRINT_DEBUG != 0 // Serial.print("???PRB:1,RNM:"); // Serial.print (renorm); // Serial.print (",ERR:"); // Serial.print (error); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } Vector.Vector_Scale(DCM_Matrix[0], temporary[0], renorm); renorm = Vector.Vector_Dot_Product(temporary[1], temporary[1]); if (renorm < 1.5625f && renorm > 0.64f) { renorm = .5f * (3 - renorm); //eq.21 } else if (renorm < 100.0f && renorm > 0.01f) { renorm = 1.0f / (float)exMath.Sqrt(renorm); //#if PERFORMANCE_REPORTING == 1 // renorm_sqrt_count++; //#endif //#if PRINT_DEBUG != 0 // Serial.print("???SQT:2,RNM:"); // Serial.print (renorm); // Serial.print (",ERR:"); // Serial.print (error); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } else { problem = true; //#if PERFORMANCE_REPORTING == 1 // renorm_blowup_count++; //#endif //#if PRINT_DEBUG != 0 // Serial.print("???PRB:2,RNM:"); // Serial.print (renorm); // Serial.print (",ERR:"); // Serial.print (error); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } Vector.Vector_Scale(DCM_Matrix[1], temporary[1], renorm); renorm = Vector.Vector_Dot_Product(temporary[2], temporary[2]); if (renorm < 1.5625f && renorm > 0.64f) { renorm = .5f * (3 - renorm); //eq.21 } else if (renorm < 100.0f && renorm > 0.01f) { renorm = 1.0f / (float)exMath.Sqrt(renorm); //#if PERFORMANCE_REPORTING == 1 // renorm_sqrt_count++; //#endif //#if PRINT_DEBUG != 0 // Serial.print("???SQT:3,RNM:"); // Serial.print (renorm); // Serial.print (",ERR:"); // Serial.print (error); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } else { problem = true; //#if PERFORMANCE_REPORTING == 1 // renorm_blowup_count++; //#endif //#if PRINT_DEBUG != 0 // Serial.print("???PRB:3,RNM:"); // Serial.print (renorm); // Serial.print (",TOW:"); // Serial.print (GPS.time); // Serial.println("***"); //#endif } Vector.Vector_Scale(DCM_Matrix[2], temporary[2], renorm); if (problem) { // Our solution is blowing up and we will force back to initial condition. Hope we are not upside down! DCM_Matrix[0][0] = 1.0f; DCM_Matrix[0][1] = 0.0f; DCM_Matrix[0][2] = 0.0f; DCM_Matrix[1][0] = 0.0f; DCM_Matrix[1][1] = 1.0f; DCM_Matrix[1][2] = 0.0f; DCM_Matrix[2][0] = 0.0f; DCM_Matrix[2][1] = 0.0f; DCM_Matrix[2][2] = 1.0f; problem = false; } }