mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-15 03:53:43 +08:00
dragonpilot beta3
date: 2023-12-23T21:19:29 commit: 38612b14f1a8aa49d1c6ef61bd67f5a095abb3f9
This commit is contained in:
dragonpilot
@@ -15,10 +15,10 @@ from typing import List, NoReturn, Optional
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from cereal import log
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import cereal.messaging as messaging
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.params import Params, put_nonblocking
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from openpilot.common.params import Params
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from openpilot.common.realtime import set_realtime_priority
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from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
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from openpilot.system.swaglog import cloudlog
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from openpilot.common.swaglog import cloudlog
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MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
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MAX_VEL_ANGLE_STD = np.radians(0.25)
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@@ -64,8 +64,8 @@ class Calibrator:
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self.not_car = False
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# Read saved calibration
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params = Params()
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calibration_params = params.get("CalibrationParams")
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self.params = Params()
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calibration_params = self.params.get("CalibrationParams")
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rpy_init = RPY_INIT
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wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
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height = HEIGHT_INIT
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@@ -164,7 +164,7 @@ class Calibrator:
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write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
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if self.param_put and write_this_cycle:
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put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
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self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
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def handle_v_ego(self, v_ego: float) -> None:
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self.v_ego = v_ego
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@@ -227,12 +227,13 @@ class Calibrator:
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return new_rpy
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def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
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def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder:
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smooth_rpy = self.get_smooth_rpy()
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msg = messaging.new_message('liveCalibration')
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liveCalibration = msg.liveCalibration
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msg.valid = valid
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liveCalibration = msg.liveCalibration
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liveCalibration.validBlocks = self.valid_blocks
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liveCalibration.calStatus = self.cal_status
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liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
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@@ -250,19 +251,16 @@ class Calibrator:
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return msg
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def send_data(self, pm: messaging.PubMaster) -> None:
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pm.send('liveCalibration', self.get_msg())
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def send_data(self, pm: messaging.PubMaster, valid: bool) -> None:
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pm.send('liveCalibration', self.get_msg(valid))
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def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
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def main() -> NoReturn:
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gc.disable()
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set_realtime_priority(1)
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if sm is None:
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sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
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if pm is None:
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pm = messaging.PubMaster(['liveCalibration'])
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pm = messaging.PubMaster(['liveCalibration'])
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sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
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calibrator = Calibrator(param_put=True)
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@@ -286,11 +284,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
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# 4Hz driven by cameraOdometry
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if sm.frame % 5 == 0:
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calibrator.send_data(pm)
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def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn:
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calibrationd_thread(sm, pm)
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calibrator.send_data(pm, sm.all_checks())
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if __name__ == "__main__":
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@@ -1,6 +1,8 @@
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import numpy as np
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from typing import List, Optional, Tuple, Any
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from cereal import log
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class NPQueue:
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def __init__(self, maxlen: int, rowsize: int) -> None:
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@@ -48,3 +50,15 @@ class PointBuckets:
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def load_points(self, points: List[List[float]]) -> None:
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for point in points:
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self.add_point(*point)
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class ParameterEstimator:
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""" Base class for parameter estimators """
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def reset(self) -> None:
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raise NotImplementedError
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def handle_log(self, t: int, which: str, msg: log.Event) -> None:
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raise NotImplementedError
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def get_msg(self, valid: bool, with_points: bool) -> log.Event:
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raise NotImplementedError
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Binary file not shown.
@@ -7,7 +7,7 @@ import numpy as np
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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from openpilot.selfdrive.locationd.models.constants import ObservationKind
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from openpilot.system.swaglog import cloudlog
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from openpilot.common.swaglog import cloudlog
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from rednose.helpers.kalmanfilter import KalmanFilter
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_5337520902682181745) {
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out_5337520902682181745[0] = delta_x[0] + nom_x[0];
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out_5337520902682181745[1] = delta_x[1] + nom_x[1];
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out_5337520902682181745[2] = delta_x[2] + nom_x[2];
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out_5337520902682181745[3] = delta_x[3] + nom_x[3];
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out_5337520902682181745[4] = delta_x[4] + nom_x[4];
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out_5337520902682181745[5] = delta_x[5] + nom_x[5];
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out_5337520902682181745[6] = delta_x[6] + nom_x[6];
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out_5337520902682181745[7] = delta_x[7] + nom_x[7];
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out_5337520902682181745[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_7890812005855138291) {
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out_7890812005855138291[0] = delta_x[0] + nom_x[0];
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out_7890812005855138291[1] = delta_x[1] + nom_x[1];
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out_7890812005855138291[2] = delta_x[2] + nom_x[2];
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out_7890812005855138291[3] = delta_x[3] + nom_x[3];
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out_7890812005855138291[4] = delta_x[4] + nom_x[4];
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out_7890812005855138291[5] = delta_x[5] + nom_x[5];
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out_7890812005855138291[6] = delta_x[6] + nom_x[6];
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out_7890812005855138291[7] = delta_x[7] + nom_x[7];
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out_7890812005855138291[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_8828680484256532384) {
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out_8828680484256532384[0] = -nom_x[0] + true_x[0];
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out_8828680484256532384[1] = -nom_x[1] + true_x[1];
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out_8828680484256532384[2] = -nom_x[2] + true_x[2];
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out_8828680484256532384[3] = -nom_x[3] + true_x[3];
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out_8828680484256532384[4] = -nom_x[4] + true_x[4];
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out_8828680484256532384[5] = -nom_x[5] + true_x[5];
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out_8828680484256532384[6] = -nom_x[6] + true_x[6];
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out_8828680484256532384[7] = -nom_x[7] + true_x[7];
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out_8828680484256532384[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) {
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out_1799861052992404131[0] = -nom_x[0] + true_x[0];
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out_1799861052992404131[1] = -nom_x[1] + true_x[1];
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out_1799861052992404131[2] = -nom_x[2] + true_x[2];
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out_1799861052992404131[3] = -nom_x[3] + true_x[3];
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out_1799861052992404131[4] = -nom_x[4] + true_x[4];
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out_1799861052992404131[5] = -nom_x[5] + true_x[5];
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out_1799861052992404131[6] = -nom_x[6] + true_x[6];
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out_1799861052992404131[7] = -nom_x[7] + true_x[7];
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out_1799861052992404131[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_5754598514978375131) {
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out_5754598514978375131[0] = 1.0;
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out_5754598514978375131[1] = 0;
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out_5754598514978375131[2] = 0;
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out_5754598514978375131[3] = 0;
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out_5754598514978375131[4] = 0;
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out_5754598514978375131[5] = 0;
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out_5754598514978375131[6] = 0;
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out_5754598514978375131[7] = 0;
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out_5754598514978375131[8] = 0;
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out_5754598514978375131[9] = 0;
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out_5754598514978375131[10] = 1.0;
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out_5754598514978375131[11] = 0;
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out_5754598514978375131[12] = 0;
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out_5754598514978375131[13] = 0;
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out_5754598514978375131[14] = 0;
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out_5754598514978375131[15] = 0;
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out_5754598514978375131[16] = 0;
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out_5754598514978375131[17] = 0;
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out_5754598514978375131[18] = 0;
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out_5754598514978375131[19] = 0;
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out_5754598514978375131[20] = 1.0;
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out_5754598514978375131[21] = 0;
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out_5754598514978375131[22] = 0;
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out_5754598514978375131[23] = 0;
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out_5754598514978375131[24] = 0;
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out_5754598514978375131[25] = 0;
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out_5754598514978375131[26] = 0;
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out_5754598514978375131[27] = 0;
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out_5754598514978375131[28] = 0;
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out_5754598514978375131[29] = 0;
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out_5754598514978375131[30] = 1.0;
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out_5754598514978375131[31] = 0;
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out_5754598514978375131[32] = 0;
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out_5754598514978375131[33] = 0;
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out_5754598514978375131[34] = 0;
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out_5754598514978375131[35] = 0;
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out_5754598514978375131[36] = 0;
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out_5754598514978375131[37] = 0;
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out_5754598514978375131[38] = 0;
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out_5754598514978375131[39] = 0;
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out_5754598514978375131[40] = 1.0;
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out_5754598514978375131[41] = 0;
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out_5754598514978375131[42] = 0;
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out_5754598514978375131[43] = 0;
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out_5754598514978375131[44] = 0;
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out_5754598514978375131[45] = 0;
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out_5754598514978375131[46] = 0;
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out_5754598514978375131[47] = 0;
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out_5754598514978375131[48] = 0;
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out_5754598514978375131[49] = 0;
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out_5754598514978375131[50] = 1.0;
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out_5754598514978375131[51] = 0;
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out_5754598514978375131[52] = 0;
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out_5754598514978375131[53] = 0;
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out_5754598514978375131[54] = 0;
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out_5754598514978375131[55] = 0;
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out_5754598514978375131[56] = 0;
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out_5754598514978375131[57] = 0;
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out_5754598514978375131[58] = 0;
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out_5754598514978375131[59] = 0;
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out_5754598514978375131[60] = 1.0;
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out_5754598514978375131[61] = 0;
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out_5754598514978375131[62] = 0;
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out_5754598514978375131[63] = 0;
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out_5754598514978375131[64] = 0;
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out_5754598514978375131[65] = 0;
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out_5754598514978375131[66] = 0;
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out_5754598514978375131[67] = 0;
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out_5754598514978375131[68] = 0;
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out_5754598514978375131[69] = 0;
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out_5754598514978375131[70] = 1.0;
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out_5754598514978375131[71] = 0;
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out_5754598514978375131[72] = 0;
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out_5754598514978375131[73] = 0;
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out_5754598514978375131[74] = 0;
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out_5754598514978375131[75] = 0;
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out_5754598514978375131[76] = 0;
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out_5754598514978375131[77] = 0;
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out_5754598514978375131[78] = 0;
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out_5754598514978375131[79] = 0;
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out_5754598514978375131[80] = 1.0;
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void H_mod_fun(double *state, double *out_3019605320337164716) {
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out_3019605320337164716[0] = 1.0;
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out_3019605320337164716[1] = 0;
|
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out_3019605320337164716[2] = 0;
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out_3019605320337164716[3] = 0;
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out_3019605320337164716[4] = 0;
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out_3019605320337164716[5] = 0;
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out_3019605320337164716[6] = 0;
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out_3019605320337164716[7] = 0;
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out_3019605320337164716[8] = 0;
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out_3019605320337164716[9] = 0;
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out_3019605320337164716[10] = 1.0;
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out_3019605320337164716[11] = 0;
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out_3019605320337164716[12] = 0;
|
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out_3019605320337164716[13] = 0;
|
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out_3019605320337164716[14] = 0;
|
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out_3019605320337164716[15] = 0;
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out_3019605320337164716[16] = 0;
|
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out_3019605320337164716[17] = 0;
|
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out_3019605320337164716[18] = 0;
|
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out_3019605320337164716[19] = 0;
|
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out_3019605320337164716[20] = 1.0;
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out_3019605320337164716[21] = 0;
|
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out_3019605320337164716[22] = 0;
|
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out_3019605320337164716[23] = 0;
|
||||
out_3019605320337164716[24] = 0;
|
||||
out_3019605320337164716[25] = 0;
|
||||
out_3019605320337164716[26] = 0;
|
||||
out_3019605320337164716[27] = 0;
|
||||
out_3019605320337164716[28] = 0;
|
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out_3019605320337164716[29] = 0;
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||||
out_3019605320337164716[30] = 1.0;
|
||||
out_3019605320337164716[31] = 0;
|
||||
out_3019605320337164716[32] = 0;
|
||||
out_3019605320337164716[33] = 0;
|
||||
out_3019605320337164716[34] = 0;
|
||||
out_3019605320337164716[35] = 0;
|
||||
out_3019605320337164716[36] = 0;
|
||||
out_3019605320337164716[37] = 0;
|
||||
out_3019605320337164716[38] = 0;
|
||||
out_3019605320337164716[39] = 0;
|
||||
out_3019605320337164716[40] = 1.0;
|
||||
out_3019605320337164716[41] = 0;
|
||||
out_3019605320337164716[42] = 0;
|
||||
out_3019605320337164716[43] = 0;
|
||||
out_3019605320337164716[44] = 0;
|
||||
out_3019605320337164716[45] = 0;
|
||||
out_3019605320337164716[46] = 0;
|
||||
out_3019605320337164716[47] = 0;
|
||||
out_3019605320337164716[48] = 0;
|
||||
out_3019605320337164716[49] = 0;
|
||||
out_3019605320337164716[50] = 1.0;
|
||||
out_3019605320337164716[51] = 0;
|
||||
out_3019605320337164716[52] = 0;
|
||||
out_3019605320337164716[53] = 0;
|
||||
out_3019605320337164716[54] = 0;
|
||||
out_3019605320337164716[55] = 0;
|
||||
out_3019605320337164716[56] = 0;
|
||||
out_3019605320337164716[57] = 0;
|
||||
out_3019605320337164716[58] = 0;
|
||||
out_3019605320337164716[59] = 0;
|
||||
out_3019605320337164716[60] = 1.0;
|
||||
out_3019605320337164716[61] = 0;
|
||||
out_3019605320337164716[62] = 0;
|
||||
out_3019605320337164716[63] = 0;
|
||||
out_3019605320337164716[64] = 0;
|
||||
out_3019605320337164716[65] = 0;
|
||||
out_3019605320337164716[66] = 0;
|
||||
out_3019605320337164716[67] = 0;
|
||||
out_3019605320337164716[68] = 0;
|
||||
out_3019605320337164716[69] = 0;
|
||||
out_3019605320337164716[70] = 1.0;
|
||||
out_3019605320337164716[71] = 0;
|
||||
out_3019605320337164716[72] = 0;
|
||||
out_3019605320337164716[73] = 0;
|
||||
out_3019605320337164716[74] = 0;
|
||||
out_3019605320337164716[75] = 0;
|
||||
out_3019605320337164716[76] = 0;
|
||||
out_3019605320337164716[77] = 0;
|
||||
out_3019605320337164716[78] = 0;
|
||||
out_3019605320337164716[79] = 0;
|
||||
out_3019605320337164716[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1092486187386673674) {
|
||||
out_1092486187386673674[0] = state[0];
|
||||
out_1092486187386673674[1] = state[1];
|
||||
out_1092486187386673674[2] = state[2];
|
||||
out_1092486187386673674[3] = state[3];
|
||||
out_1092486187386673674[4] = state[4];
|
||||
out_1092486187386673674[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_1092486187386673674[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_1092486187386673674[7] = state[7];
|
||||
out_1092486187386673674[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5784340983378173671) {
|
||||
out_5784340983378173671[0] = state[0];
|
||||
out_5784340983378173671[1] = state[1];
|
||||
out_5784340983378173671[2] = state[2];
|
||||
out_5784340983378173671[3] = state[3];
|
||||
out_5784340983378173671[4] = state[4];
|
||||
out_5784340983378173671[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_5784340983378173671[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_5784340983378173671[7] = state[7];
|
||||
out_5784340983378173671[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_7989567927593446774) {
|
||||
out_7989567927593446774[0] = 1;
|
||||
out_7989567927593446774[1] = 0;
|
||||
out_7989567927593446774[2] = 0;
|
||||
out_7989567927593446774[3] = 0;
|
||||
out_7989567927593446774[4] = 0;
|
||||
out_7989567927593446774[5] = 0;
|
||||
out_7989567927593446774[6] = 0;
|
||||
out_7989567927593446774[7] = 0;
|
||||
out_7989567927593446774[8] = 0;
|
||||
out_7989567927593446774[9] = 0;
|
||||
out_7989567927593446774[10] = 1;
|
||||
out_7989567927593446774[11] = 0;
|
||||
out_7989567927593446774[12] = 0;
|
||||
out_7989567927593446774[13] = 0;
|
||||
out_7989567927593446774[14] = 0;
|
||||
out_7989567927593446774[15] = 0;
|
||||
out_7989567927593446774[16] = 0;
|
||||
out_7989567927593446774[17] = 0;
|
||||
out_7989567927593446774[18] = 0;
|
||||
out_7989567927593446774[19] = 0;
|
||||
out_7989567927593446774[20] = 1;
|
||||
out_7989567927593446774[21] = 0;
|
||||
out_7989567927593446774[22] = 0;
|
||||
out_7989567927593446774[23] = 0;
|
||||
out_7989567927593446774[24] = 0;
|
||||
out_7989567927593446774[25] = 0;
|
||||
out_7989567927593446774[26] = 0;
|
||||
out_7989567927593446774[27] = 0;
|
||||
out_7989567927593446774[28] = 0;
|
||||
out_7989567927593446774[29] = 0;
|
||||
out_7989567927593446774[30] = 1;
|
||||
out_7989567927593446774[31] = 0;
|
||||
out_7989567927593446774[32] = 0;
|
||||
out_7989567927593446774[33] = 0;
|
||||
out_7989567927593446774[34] = 0;
|
||||
out_7989567927593446774[35] = 0;
|
||||
out_7989567927593446774[36] = 0;
|
||||
out_7989567927593446774[37] = 0;
|
||||
out_7989567927593446774[38] = 0;
|
||||
out_7989567927593446774[39] = 0;
|
||||
out_7989567927593446774[40] = 1;
|
||||
out_7989567927593446774[41] = 0;
|
||||
out_7989567927593446774[42] = 0;
|
||||
out_7989567927593446774[43] = 0;
|
||||
out_7989567927593446774[44] = 0;
|
||||
out_7989567927593446774[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_7989567927593446774[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7989567927593446774[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7989567927593446774[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7989567927593446774[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_7989567927593446774[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7989567927593446774[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7989567927593446774[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7989567927593446774[53] = -9.8000000000000007*dt;
|
||||
out_7989567927593446774[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_7989567927593446774[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7989567927593446774[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7989567927593446774[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7989567927593446774[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_7989567927593446774[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7989567927593446774[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_7989567927593446774[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7989567927593446774[62] = 0;
|
||||
out_7989567927593446774[63] = 0;
|
||||
out_7989567927593446774[64] = 0;
|
||||
out_7989567927593446774[65] = 0;
|
||||
out_7989567927593446774[66] = 0;
|
||||
out_7989567927593446774[67] = 0;
|
||||
out_7989567927593446774[68] = 0;
|
||||
out_7989567927593446774[69] = 0;
|
||||
out_7989567927593446774[70] = 1;
|
||||
out_7989567927593446774[71] = 0;
|
||||
out_7989567927593446774[72] = 0;
|
||||
out_7989567927593446774[73] = 0;
|
||||
out_7989567927593446774[74] = 0;
|
||||
out_7989567927593446774[75] = 0;
|
||||
out_7989567927593446774[76] = 0;
|
||||
out_7989567927593446774[77] = 0;
|
||||
out_7989567927593446774[78] = 0;
|
||||
out_7989567927593446774[79] = 0;
|
||||
out_7989567927593446774[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3386400791859586202) {
|
||||
out_3386400791859586202[0] = 1;
|
||||
out_3386400791859586202[1] = 0;
|
||||
out_3386400791859586202[2] = 0;
|
||||
out_3386400791859586202[3] = 0;
|
||||
out_3386400791859586202[4] = 0;
|
||||
out_3386400791859586202[5] = 0;
|
||||
out_3386400791859586202[6] = 0;
|
||||
out_3386400791859586202[7] = 0;
|
||||
out_3386400791859586202[8] = 0;
|
||||
out_3386400791859586202[9] = 0;
|
||||
out_3386400791859586202[10] = 1;
|
||||
out_3386400791859586202[11] = 0;
|
||||
out_3386400791859586202[12] = 0;
|
||||
out_3386400791859586202[13] = 0;
|
||||
out_3386400791859586202[14] = 0;
|
||||
out_3386400791859586202[15] = 0;
|
||||
out_3386400791859586202[16] = 0;
|
||||
out_3386400791859586202[17] = 0;
|
||||
out_3386400791859586202[18] = 0;
|
||||
out_3386400791859586202[19] = 0;
|
||||
out_3386400791859586202[20] = 1;
|
||||
out_3386400791859586202[21] = 0;
|
||||
out_3386400791859586202[22] = 0;
|
||||
out_3386400791859586202[23] = 0;
|
||||
out_3386400791859586202[24] = 0;
|
||||
out_3386400791859586202[25] = 0;
|
||||
out_3386400791859586202[26] = 0;
|
||||
out_3386400791859586202[27] = 0;
|
||||
out_3386400791859586202[28] = 0;
|
||||
out_3386400791859586202[29] = 0;
|
||||
out_3386400791859586202[30] = 1;
|
||||
out_3386400791859586202[31] = 0;
|
||||
out_3386400791859586202[32] = 0;
|
||||
out_3386400791859586202[33] = 0;
|
||||
out_3386400791859586202[34] = 0;
|
||||
out_3386400791859586202[35] = 0;
|
||||
out_3386400791859586202[36] = 0;
|
||||
out_3386400791859586202[37] = 0;
|
||||
out_3386400791859586202[38] = 0;
|
||||
out_3386400791859586202[39] = 0;
|
||||
out_3386400791859586202[40] = 1;
|
||||
out_3386400791859586202[41] = 0;
|
||||
out_3386400791859586202[42] = 0;
|
||||
out_3386400791859586202[43] = 0;
|
||||
out_3386400791859586202[44] = 0;
|
||||
out_3386400791859586202[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_3386400791859586202[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3386400791859586202[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_3386400791859586202[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3386400791859586202[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3386400791859586202[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[53] = -9.8000000000000007*dt;
|
||||
out_3386400791859586202[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_3386400791859586202[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3386400791859586202[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_3386400791859586202[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3386400791859586202[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_3386400791859586202[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[62] = 0;
|
||||
out_3386400791859586202[63] = 0;
|
||||
out_3386400791859586202[64] = 0;
|
||||
out_3386400791859586202[65] = 0;
|
||||
out_3386400791859586202[66] = 0;
|
||||
out_3386400791859586202[67] = 0;
|
||||
out_3386400791859586202[68] = 0;
|
||||
out_3386400791859586202[69] = 0;
|
||||
out_3386400791859586202[70] = 1;
|
||||
out_3386400791859586202[71] = 0;
|
||||
out_3386400791859586202[72] = 0;
|
||||
out_3386400791859586202[73] = 0;
|
||||
out_3386400791859586202[74] = 0;
|
||||
out_3386400791859586202[75] = 0;
|
||||
out_3386400791859586202[76] = 0;
|
||||
out_3386400791859586202[77] = 0;
|
||||
out_3386400791859586202[78] = 0;
|
||||
out_3386400791859586202[79] = 0;
|
||||
out_3386400791859586202[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1411798654681004528) {
|
||||
out_1411798654681004528[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7212104341795181307) {
|
||||
out_7212104341795181307[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7474154507154927049) {
|
||||
out_7474154507154927049[0] = 0;
|
||||
out_7474154507154927049[1] = 0;
|
||||
out_7474154507154927049[2] = 0;
|
||||
out_7474154507154927049[3] = 0;
|
||||
out_7474154507154927049[4] = 0;
|
||||
out_7474154507154927049[5] = 0;
|
||||
out_7474154507154927049[6] = 1;
|
||||
out_7474154507154927049[7] = 0;
|
||||
out_7474154507154927049[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7155521575935903180) {
|
||||
out_7155521575935903180[0] = 0;
|
||||
out_7155521575935903180[1] = 0;
|
||||
out_7155521575935903180[2] = 0;
|
||||
out_7155521575935903180[3] = 0;
|
||||
out_7155521575935903180[4] = 0;
|
||||
out_7155521575935903180[5] = 0;
|
||||
out_7155521575935903180[6] = 1;
|
||||
out_7155521575935903180[7] = 0;
|
||||
out_7155521575935903180[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7765735534137007266) {
|
||||
out_7765735534137007266[0] = state[4];
|
||||
out_7765735534137007266[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8877922091574990347) {
|
||||
out_8877922091574990347[0] = state[4];
|
||||
out_8877922091574990347[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_9161970943024031240) {
|
||||
out_9161970943024031240[0] = 0;
|
||||
out_9161970943024031240[1] = 0;
|
||||
out_9161970943024031240[2] = 0;
|
||||
out_9161970943024031240[3] = 0;
|
||||
out_9161970943024031240[4] = 1;
|
||||
out_9161970943024031240[5] = 0;
|
||||
out_9161970943024031240[6] = 0;
|
||||
out_9161970943024031240[7] = 0;
|
||||
out_9161970943024031240[8] = 0;
|
||||
out_9161970943024031240[9] = 0;
|
||||
out_9161970943024031240[10] = 0;
|
||||
out_9161970943024031240[11] = 0;
|
||||
out_9161970943024031240[12] = 0;
|
||||
out_9161970943024031240[13] = 0;
|
||||
out_9161970943024031240[14] = 1;
|
||||
out_9161970943024031240[15] = 0;
|
||||
out_9161970943024031240[16] = 0;
|
||||
out_9161970943024031240[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4978307152328753207) {
|
||||
out_4978307152328753207[0] = 0;
|
||||
out_4978307152328753207[1] = 0;
|
||||
out_4978307152328753207[2] = 0;
|
||||
out_4978307152328753207[3] = 0;
|
||||
out_4978307152328753207[4] = 1;
|
||||
out_4978307152328753207[5] = 0;
|
||||
out_4978307152328753207[6] = 0;
|
||||
out_4978307152328753207[7] = 0;
|
||||
out_4978307152328753207[8] = 0;
|
||||
out_4978307152328753207[9] = 0;
|
||||
out_4978307152328753207[10] = 0;
|
||||
out_4978307152328753207[11] = 0;
|
||||
out_4978307152328753207[12] = 0;
|
||||
out_4978307152328753207[13] = 0;
|
||||
out_4978307152328753207[14] = 1;
|
||||
out_4978307152328753207[15] = 0;
|
||||
out_4978307152328753207[16] = 0;
|
||||
out_4978307152328753207[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1136604592396498639) {
|
||||
out_1136604592396498639[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5761472949166298140) {
|
||||
out_5761472949166298140[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8454256608047375940) {
|
||||
out_8454256608047375940[0] = 0;
|
||||
out_8454256608047375940[1] = 0;
|
||||
out_8454256608047375940[2] = 0;
|
||||
out_8454256608047375940[3] = 0;
|
||||
out_8454256608047375940[4] = 1;
|
||||
out_8454256608047375940[5] = 0;
|
||||
out_8454256608047375940[6] = 0;
|
||||
out_8454256608047375940[7] = 0;
|
||||
out_8454256608047375940[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6763526167646040238) {
|
||||
out_6763526167646040238[0] = 0;
|
||||
out_6763526167646040238[1] = 0;
|
||||
out_6763526167646040238[2] = 0;
|
||||
out_6763526167646040238[3] = 0;
|
||||
out_6763526167646040238[4] = 1;
|
||||
out_6763526167646040238[5] = 0;
|
||||
out_6763526167646040238[6] = 0;
|
||||
out_6763526167646040238[7] = 0;
|
||||
out_6763526167646040238[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_5262436925017350507) {
|
||||
out_5262436925017350507[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6429446402584206222) {
|
||||
out_6429446402584206222[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_3732651188280870825) {
|
||||
out_3732651188280870825[0] = 0;
|
||||
out_3732651188280870825[1] = 0;
|
||||
out_3732651188280870825[2] = 0;
|
||||
out_3732651188280870825[3] = 0;
|
||||
out_3732651188280870825[4] = 0;
|
||||
out_3732651188280870825[5] = 0;
|
||||
out_3732651188280870825[6] = 0;
|
||||
out_3732651188280870825[7] = 1;
|
||||
out_3732651188280870825[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7549719178899592212) {
|
||||
out_7549719178899592212[0] = 0;
|
||||
out_7549719178899592212[1] = 0;
|
||||
out_7549719178899592212[2] = 0;
|
||||
out_7549719178899592212[3] = 0;
|
||||
out_7549719178899592212[4] = 0;
|
||||
out_7549719178899592212[5] = 0;
|
||||
out_7549719178899592212[6] = 0;
|
||||
out_7549719178899592212[7] = 1;
|
||||
out_7549719178899592212[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2355308507582666963) {
|
||||
out_2355308507582666963[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4399552238525327924) {
|
||||
out_4399552238525327924[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7817724153861750765) {
|
||||
out_7817724153861750765[0] = 0;
|
||||
out_7817724153861750765[1] = 0;
|
||||
out_7817724153861750765[2] = 0;
|
||||
out_7817724153861750765[3] = 1;
|
||||
out_7817724153861750765[4] = 0;
|
||||
out_7817724153861750765[5] = 0;
|
||||
out_7817724153861750765[6] = 0;
|
||||
out_7817724153861750765[7] = 0;
|
||||
out_7817724153861750765[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4588762855845615327) {
|
||||
out_4588762855845615327[0] = 0;
|
||||
out_4588762855845615327[1] = 0;
|
||||
out_4588762855845615327[2] = 0;
|
||||
out_4588762855845615327[3] = 1;
|
||||
out_4588762855845615327[4] = 0;
|
||||
out_4588762855845615327[5] = 0;
|
||||
out_4588762855845615327[6] = 0;
|
||||
out_4588762855845615327[7] = 0;
|
||||
out_4588762855845615327[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4173390643840831324) {
|
||||
out_4173390643840831324[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7683597856882407831) {
|
||||
out_7683597856882407831[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_7944025263732983756) {
|
||||
out_7944025263732983756[0] = 0;
|
||||
out_7944025263732983756[1] = 1;
|
||||
out_7944025263732983756[2] = 0;
|
||||
out_7944025263732983756[3] = 0;
|
||||
out_7944025263732983756[4] = 0;
|
||||
out_7944025263732983756[5] = 0;
|
||||
out_7944025263732983756[6] = 0;
|
||||
out_7944025263732983756[7] = 0;
|
||||
out_7944025263732983756[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7273757511960432422) {
|
||||
out_7273757511960432422[0] = 0;
|
||||
out_7273757511960432422[1] = 1;
|
||||
out_7273757511960432422[2] = 0;
|
||||
out_7273757511960432422[3] = 0;
|
||||
out_7273757511960432422[4] = 0;
|
||||
out_7273757511960432422[5] = 0;
|
||||
out_7273757511960432422[6] = 0;
|
||||
out_7273757511960432422[7] = 0;
|
||||
out_7273757511960432422[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2646364760078178682) {
|
||||
out_2646364760078178682[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_2603210465267737855) {
|
||||
out_2603210465267737855[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5420319792907037286) {
|
||||
out_5420319792907037286[0] = 1;
|
||||
out_5420319792907037286[1] = 0;
|
||||
out_5420319792907037286[2] = 0;
|
||||
out_5420319792907037286[3] = 0;
|
||||
out_5420319792907037286[4] = 0;
|
||||
out_5420319792907037286[5] = 0;
|
||||
out_5420319792907037286[6] = 0;
|
||||
out_5420319792907037286[7] = 0;
|
||||
out_5420319792907037286[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_9209356290183792943) {
|
||||
out_9209356290183792943[0] = 1;
|
||||
out_9209356290183792943[1] = 0;
|
||||
out_9209356290183792943[2] = 0;
|
||||
out_9209356290183792943[3] = 0;
|
||||
out_9209356290183792943[4] = 0;
|
||||
out_9209356290183792943[5] = 0;
|
||||
out_9209356290183792943[6] = 0;
|
||||
out_9209356290183792943[7] = 0;
|
||||
out_9209356290183792943[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7228078822037537356) {
|
||||
out_7228078822037537356[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_4463804505564019373) {
|
||||
out_4463804505564019373[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3106443086047519349) {
|
||||
out_3106443086047519349[0] = 0;
|
||||
out_3106443086047519349[1] = 0;
|
||||
out_3106443086047519349[2] = 0;
|
||||
out_3106443086047519349[3] = 0;
|
||||
out_3106443086047519349[4] = 0;
|
||||
out_3106443086047519349[5] = 0;
|
||||
out_3106443086047519349[6] = 0;
|
||||
out_3106443086047519349[7] = 0;
|
||||
out_3106443086047519349[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6923511076666240736) {
|
||||
out_6923511076666240736[0] = 0;
|
||||
out_6923511076666240736[1] = 0;
|
||||
out_6923511076666240736[2] = 0;
|
||||
out_6923511076666240736[3] = 0;
|
||||
out_6923511076666240736[4] = 0;
|
||||
out_6923511076666240736[5] = 0;
|
||||
out_6923511076666240736[6] = 0;
|
||||
out_6923511076666240736[7] = 0;
|
||||
out_6923511076666240736[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5337520902682181745) {
|
||||
err_fun(nom_x, delta_x, out_5337520902682181745);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7890812005855138291) {
|
||||
err_fun(nom_x, delta_x, out_7890812005855138291);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8828680484256532384) {
|
||||
inv_err_fun(nom_x, true_x, out_8828680484256532384);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) {
|
||||
inv_err_fun(nom_x, true_x, out_1799861052992404131);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5754598514978375131) {
|
||||
H_mod_fun(state, out_5754598514978375131);
|
||||
void car_H_mod_fun(double *state, double *out_3019605320337164716) {
|
||||
H_mod_fun(state, out_3019605320337164716);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1092486187386673674) {
|
||||
f_fun(state, dt, out_1092486187386673674);
|
||||
void car_f_fun(double *state, double dt, double *out_5784340983378173671) {
|
||||
f_fun(state, dt, out_5784340983378173671);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_7989567927593446774) {
|
||||
F_fun(state, dt, out_7989567927593446774);
|
||||
void car_F_fun(double *state, double dt, double *out_3386400791859586202) {
|
||||
F_fun(state, dt, out_3386400791859586202);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1411798654681004528) {
|
||||
h_25(state, unused, out_1411798654681004528);
|
||||
void car_h_25(double *state, double *unused, double *out_7212104341795181307) {
|
||||
h_25(state, unused, out_7212104341795181307);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7474154507154927049) {
|
||||
H_25(state, unused, out_7474154507154927049);
|
||||
void car_H_25(double *state, double *unused, double *out_7155521575935903180) {
|
||||
H_25(state, unused, out_7155521575935903180);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7765735534137007266) {
|
||||
h_24(state, unused, out_7765735534137007266);
|
||||
void car_h_24(double *state, double *unused, double *out_8877922091574990347) {
|
||||
h_24(state, unused, out_8877922091574990347);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_9161970943024031240) {
|
||||
H_24(state, unused, out_9161970943024031240);
|
||||
void car_H_24(double *state, double *unused, double *out_4978307152328753207) {
|
||||
H_24(state, unused, out_4978307152328753207);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1136604592396498639) {
|
||||
h_30(state, unused, out_1136604592396498639);
|
||||
void car_h_30(double *state, double *unused, double *out_5761472949166298140) {
|
||||
h_30(state, unused, out_5761472949166298140);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8454256608047375940) {
|
||||
H_30(state, unused, out_8454256608047375940);
|
||||
void car_H_30(double *state, double *unused, double *out_6763526167646040238) {
|
||||
H_30(state, unused, out_6763526167646040238);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_5262436925017350507) {
|
||||
h_26(state, unused, out_5262436925017350507);
|
||||
void car_h_26(double *state, double *unused, double *out_6429446402584206222) {
|
||||
h_26(state, unused, out_6429446402584206222);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_3732651188280870825) {
|
||||
H_26(state, unused, out_3732651188280870825);
|
||||
void car_H_26(double *state, double *unused, double *out_7549719178899592212) {
|
||||
H_26(state, unused, out_7549719178899592212);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2355308507582666963) {
|
||||
h_27(state, unused, out_2355308507582666963);
|
||||
void car_h_27(double *state, double *unused, double *out_4399552238525327924) {
|
||||
h_27(state, unused, out_4399552238525327924);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7817724153861750765) {
|
||||
H_27(state, unused, out_7817724153861750765);
|
||||
void car_H_27(double *state, double *unused, double *out_4588762855845615327) {
|
||||
H_27(state, unused, out_4588762855845615327);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4173390643840831324) {
|
||||
h_29(state, unused, out_4173390643840831324);
|
||||
void car_h_29(double *state, double *unused, double *out_7683597856882407831) {
|
||||
h_29(state, unused, out_7683597856882407831);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_7944025263732983756) {
|
||||
H_29(state, unused, out_7944025263732983756);
|
||||
void car_H_29(double *state, double *unused, double *out_7273757511960432422) {
|
||||
H_29(state, unused, out_7273757511960432422);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2646364760078178682) {
|
||||
h_28(state, unused, out_2646364760078178682);
|
||||
void car_h_28(double *state, double *unused, double *out_2603210465267737855) {
|
||||
h_28(state, unused, out_2603210465267737855);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5420319792907037286) {
|
||||
H_28(state, unused, out_5420319792907037286);
|
||||
void car_H_28(double *state, double *unused, double *out_9209356290183792943) {
|
||||
H_28(state, unused, out_9209356290183792943);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7228078822037537356) {
|
||||
h_31(state, unused, out_7228078822037537356);
|
||||
void car_h_31(double *state, double *unused, double *out_4463804505564019373) {
|
||||
h_31(state, unused, out_4463804505564019373);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3106443086047519349) {
|
||||
H_31(state, unused, out_3106443086047519349);
|
||||
void car_H_31(double *state, double *unused, double *out_6923511076666240736) {
|
||||
H_31(state, unused, out_6923511076666240736);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
@@ -658,4 +658,4 @@ const EKF car = {
|
||||
},
|
||||
};
|
||||
|
||||
ekf_init(car);
|
||||
ekf_lib_init(car)
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#pragma once
|
||||
#include "rednose/helpers/common_ekf.h"
|
||||
#include "rednose/helpers/ekf.h"
|
||||
extern "C" {
|
||||
void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5337520902682181745);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8828680484256532384);
|
||||
void car_H_mod_fun(double *state, double *out_5754598514978375131);
|
||||
void car_f_fun(double *state, double dt, double *out_1092486187386673674);
|
||||
void car_F_fun(double *state, double dt, double *out_7989567927593446774);
|
||||
void car_h_25(double *state, double *unused, double *out_1411798654681004528);
|
||||
void car_H_25(double *state, double *unused, double *out_7474154507154927049);
|
||||
void car_h_24(double *state, double *unused, double *out_7765735534137007266);
|
||||
void car_H_24(double *state, double *unused, double *out_9161970943024031240);
|
||||
void car_h_30(double *state, double *unused, double *out_1136604592396498639);
|
||||
void car_H_30(double *state, double *unused, double *out_8454256608047375940);
|
||||
void car_h_26(double *state, double *unused, double *out_5262436925017350507);
|
||||
void car_H_26(double *state, double *unused, double *out_3732651188280870825);
|
||||
void car_h_27(double *state, double *unused, double *out_2355308507582666963);
|
||||
void car_H_27(double *state, double *unused, double *out_7817724153861750765);
|
||||
void car_h_29(double *state, double *unused, double *out_4173390643840831324);
|
||||
void car_H_29(double *state, double *unused, double *out_7944025263732983756);
|
||||
void car_h_28(double *state, double *unused, double *out_2646364760078178682);
|
||||
void car_H_28(double *state, double *unused, double *out_5420319792907037286);
|
||||
void car_h_31(double *state, double *unused, double *out_7228078822037537356);
|
||||
void car_H_31(double *state, double *unused, double *out_3106443086047519349);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7890812005855138291);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131);
|
||||
void car_H_mod_fun(double *state, double *out_3019605320337164716);
|
||||
void car_f_fun(double *state, double dt, double *out_5784340983378173671);
|
||||
void car_F_fun(double *state, double dt, double *out_3386400791859586202);
|
||||
void car_h_25(double *state, double *unused, double *out_7212104341795181307);
|
||||
void car_H_25(double *state, double *unused, double *out_7155521575935903180);
|
||||
void car_h_24(double *state, double *unused, double *out_8877922091574990347);
|
||||
void car_H_24(double *state, double *unused, double *out_4978307152328753207);
|
||||
void car_h_30(double *state, double *unused, double *out_5761472949166298140);
|
||||
void car_H_30(double *state, double *unused, double *out_6763526167646040238);
|
||||
void car_h_26(double *state, double *unused, double *out_6429446402584206222);
|
||||
void car_H_26(double *state, double *unused, double *out_7549719178899592212);
|
||||
void car_h_27(double *state, double *unused, double *out_4399552238525327924);
|
||||
void car_H_27(double *state, double *unused, double *out_4588762855845615327);
|
||||
void car_h_29(double *state, double *unused, double *out_7683597856882407831);
|
||||
void car_H_29(double *state, double *unused, double *out_7273757511960432422);
|
||||
void car_h_28(double *state, double *unused, double *out_2603210465267737855);
|
||||
void car_H_28(double *state, double *unused, double *out_9209356290183792943);
|
||||
void car_h_31(double *state, double *unused, double *out_4463804505564019373);
|
||||
void car_H_31(double *state, double *unused, double *out_6923511076666240736);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
@@ -1,589 +0,0 @@
|
||||
#include "gnss.h"
|
||||
|
||||
namespace {
|
||||
#define DIM 11
|
||||
#define EDIM 11
|
||||
#define MEDIM 11
|
||||
typedef void (*Hfun)(double *, double *, double *);
|
||||
const static double MAHA_THRESH_6 = 3.8414588206941227;
|
||||
const static double MAHA_THRESH_20 = 3.8414588206941227;
|
||||
const static double MAHA_THRESH_7 = 3.8414588206941227;
|
||||
const static double MAHA_THRESH_21 = 3.8414588206941227;
|
||||
|
||||
/******************************************************************************
|
||||
* Code generated with SymPy 1.12 *
|
||||
* *
|
||||
* See http://www.sympy.org/ for more information. *
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1298370022994424896) {
|
||||
out_1298370022994424896[0] = delta_x[0] + nom_x[0];
|
||||
out_1298370022994424896[1] = delta_x[1] + nom_x[1];
|
||||
out_1298370022994424896[2] = delta_x[2] + nom_x[2];
|
||||
out_1298370022994424896[3] = delta_x[3] + nom_x[3];
|
||||
out_1298370022994424896[4] = delta_x[4] + nom_x[4];
|
||||
out_1298370022994424896[5] = delta_x[5] + nom_x[5];
|
||||
out_1298370022994424896[6] = delta_x[6] + nom_x[6];
|
||||
out_1298370022994424896[7] = delta_x[7] + nom_x[7];
|
||||
out_1298370022994424896[8] = delta_x[8] + nom_x[8];
|
||||
out_1298370022994424896[9] = delta_x[9] + nom_x[9];
|
||||
out_1298370022994424896[10] = delta_x[10] + nom_x[10];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1216411467074742856) {
|
||||
out_1216411467074742856[0] = -nom_x[0] + true_x[0];
|
||||
out_1216411467074742856[1] = -nom_x[1] + true_x[1];
|
||||
out_1216411467074742856[2] = -nom_x[2] + true_x[2];
|
||||
out_1216411467074742856[3] = -nom_x[3] + true_x[3];
|
||||
out_1216411467074742856[4] = -nom_x[4] + true_x[4];
|
||||
out_1216411467074742856[5] = -nom_x[5] + true_x[5];
|
||||
out_1216411467074742856[6] = -nom_x[6] + true_x[6];
|
||||
out_1216411467074742856[7] = -nom_x[7] + true_x[7];
|
||||
out_1216411467074742856[8] = -nom_x[8] + true_x[8];
|
||||
out_1216411467074742856[9] = -nom_x[9] + true_x[9];
|
||||
out_1216411467074742856[10] = -nom_x[10] + true_x[10];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5581863977132795483) {
|
||||
out_5581863977132795483[0] = 1.0;
|
||||
out_5581863977132795483[1] = 0;
|
||||
out_5581863977132795483[2] = 0;
|
||||
out_5581863977132795483[3] = 0;
|
||||
out_5581863977132795483[4] = 0;
|
||||
out_5581863977132795483[5] = 0;
|
||||
out_5581863977132795483[6] = 0;
|
||||
out_5581863977132795483[7] = 0;
|
||||
out_5581863977132795483[8] = 0;
|
||||
out_5581863977132795483[9] = 0;
|
||||
out_5581863977132795483[10] = 0;
|
||||
out_5581863977132795483[11] = 0;
|
||||
out_5581863977132795483[12] = 1.0;
|
||||
out_5581863977132795483[13] = 0;
|
||||
out_5581863977132795483[14] = 0;
|
||||
out_5581863977132795483[15] = 0;
|
||||
out_5581863977132795483[16] = 0;
|
||||
out_5581863977132795483[17] = 0;
|
||||
out_5581863977132795483[18] = 0;
|
||||
out_5581863977132795483[19] = 0;
|
||||
out_5581863977132795483[20] = 0;
|
||||
out_5581863977132795483[21] = 0;
|
||||
out_5581863977132795483[22] = 0;
|
||||
out_5581863977132795483[23] = 0;
|
||||
out_5581863977132795483[24] = 1.0;
|
||||
out_5581863977132795483[25] = 0;
|
||||
out_5581863977132795483[26] = 0;
|
||||
out_5581863977132795483[27] = 0;
|
||||
out_5581863977132795483[28] = 0;
|
||||
out_5581863977132795483[29] = 0;
|
||||
out_5581863977132795483[30] = 0;
|
||||
out_5581863977132795483[31] = 0;
|
||||
out_5581863977132795483[32] = 0;
|
||||
out_5581863977132795483[33] = 0;
|
||||
out_5581863977132795483[34] = 0;
|
||||
out_5581863977132795483[35] = 0;
|
||||
out_5581863977132795483[36] = 1.0;
|
||||
out_5581863977132795483[37] = 0;
|
||||
out_5581863977132795483[38] = 0;
|
||||
out_5581863977132795483[39] = 0;
|
||||
out_5581863977132795483[40] = 0;
|
||||
out_5581863977132795483[41] = 0;
|
||||
out_5581863977132795483[42] = 0;
|
||||
out_5581863977132795483[43] = 0;
|
||||
out_5581863977132795483[44] = 0;
|
||||
out_5581863977132795483[45] = 0;
|
||||
out_5581863977132795483[46] = 0;
|
||||
out_5581863977132795483[47] = 0;
|
||||
out_5581863977132795483[48] = 1.0;
|
||||
out_5581863977132795483[49] = 0;
|
||||
out_5581863977132795483[50] = 0;
|
||||
out_5581863977132795483[51] = 0;
|
||||
out_5581863977132795483[52] = 0;
|
||||
out_5581863977132795483[53] = 0;
|
||||
out_5581863977132795483[54] = 0;
|
||||
out_5581863977132795483[55] = 0;
|
||||
out_5581863977132795483[56] = 0;
|
||||
out_5581863977132795483[57] = 0;
|
||||
out_5581863977132795483[58] = 0;
|
||||
out_5581863977132795483[59] = 0;
|
||||
out_5581863977132795483[60] = 1.0;
|
||||
out_5581863977132795483[61] = 0;
|
||||
out_5581863977132795483[62] = 0;
|
||||
out_5581863977132795483[63] = 0;
|
||||
out_5581863977132795483[64] = 0;
|
||||
out_5581863977132795483[65] = 0;
|
||||
out_5581863977132795483[66] = 0;
|
||||
out_5581863977132795483[67] = 0;
|
||||
out_5581863977132795483[68] = 0;
|
||||
out_5581863977132795483[69] = 0;
|
||||
out_5581863977132795483[70] = 0;
|
||||
out_5581863977132795483[71] = 0;
|
||||
out_5581863977132795483[72] = 1.0;
|
||||
out_5581863977132795483[73] = 0;
|
||||
out_5581863977132795483[74] = 0;
|
||||
out_5581863977132795483[75] = 0;
|
||||
out_5581863977132795483[76] = 0;
|
||||
out_5581863977132795483[77] = 0;
|
||||
out_5581863977132795483[78] = 0;
|
||||
out_5581863977132795483[79] = 0;
|
||||
out_5581863977132795483[80] = 0;
|
||||
out_5581863977132795483[81] = 0;
|
||||
out_5581863977132795483[82] = 0;
|
||||
out_5581863977132795483[83] = 0;
|
||||
out_5581863977132795483[84] = 1.0;
|
||||
out_5581863977132795483[85] = 0;
|
||||
out_5581863977132795483[86] = 0;
|
||||
out_5581863977132795483[87] = 0;
|
||||
out_5581863977132795483[88] = 0;
|
||||
out_5581863977132795483[89] = 0;
|
||||
out_5581863977132795483[90] = 0;
|
||||
out_5581863977132795483[91] = 0;
|
||||
out_5581863977132795483[92] = 0;
|
||||
out_5581863977132795483[93] = 0;
|
||||
out_5581863977132795483[94] = 0;
|
||||
out_5581863977132795483[95] = 0;
|
||||
out_5581863977132795483[96] = 1.0;
|
||||
out_5581863977132795483[97] = 0;
|
||||
out_5581863977132795483[98] = 0;
|
||||
out_5581863977132795483[99] = 0;
|
||||
out_5581863977132795483[100] = 0;
|
||||
out_5581863977132795483[101] = 0;
|
||||
out_5581863977132795483[102] = 0;
|
||||
out_5581863977132795483[103] = 0;
|
||||
out_5581863977132795483[104] = 0;
|
||||
out_5581863977132795483[105] = 0;
|
||||
out_5581863977132795483[106] = 0;
|
||||
out_5581863977132795483[107] = 0;
|
||||
out_5581863977132795483[108] = 1.0;
|
||||
out_5581863977132795483[109] = 0;
|
||||
out_5581863977132795483[110] = 0;
|
||||
out_5581863977132795483[111] = 0;
|
||||
out_5581863977132795483[112] = 0;
|
||||
out_5581863977132795483[113] = 0;
|
||||
out_5581863977132795483[114] = 0;
|
||||
out_5581863977132795483[115] = 0;
|
||||
out_5581863977132795483[116] = 0;
|
||||
out_5581863977132795483[117] = 0;
|
||||
out_5581863977132795483[118] = 0;
|
||||
out_5581863977132795483[119] = 0;
|
||||
out_5581863977132795483[120] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6423546374911735369) {
|
||||
out_6423546374911735369[0] = dt*state[3] + state[0];
|
||||
out_6423546374911735369[1] = dt*state[4] + state[1];
|
||||
out_6423546374911735369[2] = dt*state[5] + state[2];
|
||||
out_6423546374911735369[3] = state[3];
|
||||
out_6423546374911735369[4] = state[4];
|
||||
out_6423546374911735369[5] = state[5];
|
||||
out_6423546374911735369[6] = dt*state[7] + state[6];
|
||||
out_6423546374911735369[7] = dt*state[8] + state[7];
|
||||
out_6423546374911735369[8] = state[8];
|
||||
out_6423546374911735369[9] = state[9];
|
||||
out_6423546374911735369[10] = state[10];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_7437858096387244450) {
|
||||
out_7437858096387244450[0] = 1;
|
||||
out_7437858096387244450[1] = 0;
|
||||
out_7437858096387244450[2] = 0;
|
||||
out_7437858096387244450[3] = dt;
|
||||
out_7437858096387244450[4] = 0;
|
||||
out_7437858096387244450[5] = 0;
|
||||
out_7437858096387244450[6] = 0;
|
||||
out_7437858096387244450[7] = 0;
|
||||
out_7437858096387244450[8] = 0;
|
||||
out_7437858096387244450[9] = 0;
|
||||
out_7437858096387244450[10] = 0;
|
||||
out_7437858096387244450[11] = 0;
|
||||
out_7437858096387244450[12] = 1;
|
||||
out_7437858096387244450[13] = 0;
|
||||
out_7437858096387244450[14] = 0;
|
||||
out_7437858096387244450[15] = dt;
|
||||
out_7437858096387244450[16] = 0;
|
||||
out_7437858096387244450[17] = 0;
|
||||
out_7437858096387244450[18] = 0;
|
||||
out_7437858096387244450[19] = 0;
|
||||
out_7437858096387244450[20] = 0;
|
||||
out_7437858096387244450[21] = 0;
|
||||
out_7437858096387244450[22] = 0;
|
||||
out_7437858096387244450[23] = 0;
|
||||
out_7437858096387244450[24] = 1;
|
||||
out_7437858096387244450[25] = 0;
|
||||
out_7437858096387244450[26] = 0;
|
||||
out_7437858096387244450[27] = dt;
|
||||
out_7437858096387244450[28] = 0;
|
||||
out_7437858096387244450[29] = 0;
|
||||
out_7437858096387244450[30] = 0;
|
||||
out_7437858096387244450[31] = 0;
|
||||
out_7437858096387244450[32] = 0;
|
||||
out_7437858096387244450[33] = 0;
|
||||
out_7437858096387244450[34] = 0;
|
||||
out_7437858096387244450[35] = 0;
|
||||
out_7437858096387244450[36] = 1;
|
||||
out_7437858096387244450[37] = 0;
|
||||
out_7437858096387244450[38] = 0;
|
||||
out_7437858096387244450[39] = 0;
|
||||
out_7437858096387244450[40] = 0;
|
||||
out_7437858096387244450[41] = 0;
|
||||
out_7437858096387244450[42] = 0;
|
||||
out_7437858096387244450[43] = 0;
|
||||
out_7437858096387244450[44] = 0;
|
||||
out_7437858096387244450[45] = 0;
|
||||
out_7437858096387244450[46] = 0;
|
||||
out_7437858096387244450[47] = 0;
|
||||
out_7437858096387244450[48] = 1;
|
||||
out_7437858096387244450[49] = 0;
|
||||
out_7437858096387244450[50] = 0;
|
||||
out_7437858096387244450[51] = 0;
|
||||
out_7437858096387244450[52] = 0;
|
||||
out_7437858096387244450[53] = 0;
|
||||
out_7437858096387244450[54] = 0;
|
||||
out_7437858096387244450[55] = 0;
|
||||
out_7437858096387244450[56] = 0;
|
||||
out_7437858096387244450[57] = 0;
|
||||
out_7437858096387244450[58] = 0;
|
||||
out_7437858096387244450[59] = 0;
|
||||
out_7437858096387244450[60] = 1;
|
||||
out_7437858096387244450[61] = 0;
|
||||
out_7437858096387244450[62] = 0;
|
||||
out_7437858096387244450[63] = 0;
|
||||
out_7437858096387244450[64] = 0;
|
||||
out_7437858096387244450[65] = 0;
|
||||
out_7437858096387244450[66] = 0;
|
||||
out_7437858096387244450[67] = 0;
|
||||
out_7437858096387244450[68] = 0;
|
||||
out_7437858096387244450[69] = 0;
|
||||
out_7437858096387244450[70] = 0;
|
||||
out_7437858096387244450[71] = 0;
|
||||
out_7437858096387244450[72] = 1;
|
||||
out_7437858096387244450[73] = dt;
|
||||
out_7437858096387244450[74] = 0;
|
||||
out_7437858096387244450[75] = 0;
|
||||
out_7437858096387244450[76] = 0;
|
||||
out_7437858096387244450[77] = 0;
|
||||
out_7437858096387244450[78] = 0;
|
||||
out_7437858096387244450[79] = 0;
|
||||
out_7437858096387244450[80] = 0;
|
||||
out_7437858096387244450[81] = 0;
|
||||
out_7437858096387244450[82] = 0;
|
||||
out_7437858096387244450[83] = 0;
|
||||
out_7437858096387244450[84] = 1;
|
||||
out_7437858096387244450[85] = dt;
|
||||
out_7437858096387244450[86] = 0;
|
||||
out_7437858096387244450[87] = 0;
|
||||
out_7437858096387244450[88] = 0;
|
||||
out_7437858096387244450[89] = 0;
|
||||
out_7437858096387244450[90] = 0;
|
||||
out_7437858096387244450[91] = 0;
|
||||
out_7437858096387244450[92] = 0;
|
||||
out_7437858096387244450[93] = 0;
|
||||
out_7437858096387244450[94] = 0;
|
||||
out_7437858096387244450[95] = 0;
|
||||
out_7437858096387244450[96] = 1;
|
||||
out_7437858096387244450[97] = 0;
|
||||
out_7437858096387244450[98] = 0;
|
||||
out_7437858096387244450[99] = 0;
|
||||
out_7437858096387244450[100] = 0;
|
||||
out_7437858096387244450[101] = 0;
|
||||
out_7437858096387244450[102] = 0;
|
||||
out_7437858096387244450[103] = 0;
|
||||
out_7437858096387244450[104] = 0;
|
||||
out_7437858096387244450[105] = 0;
|
||||
out_7437858096387244450[106] = 0;
|
||||
out_7437858096387244450[107] = 0;
|
||||
out_7437858096387244450[108] = 1;
|
||||
out_7437858096387244450[109] = 0;
|
||||
out_7437858096387244450[110] = 0;
|
||||
out_7437858096387244450[111] = 0;
|
||||
out_7437858096387244450[112] = 0;
|
||||
out_7437858096387244450[113] = 0;
|
||||
out_7437858096387244450[114] = 0;
|
||||
out_7437858096387244450[115] = 0;
|
||||
out_7437858096387244450[116] = 0;
|
||||
out_7437858096387244450[117] = 0;
|
||||
out_7437858096387244450[118] = 0;
|
||||
out_7437858096387244450[119] = 0;
|
||||
out_7437858096387244450[120] = 1;
|
||||
}
|
||||
void h_6(double *state, double *sat_pos, double *out_8168523164697780971) {
|
||||
out_8168523164697780971[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
|
||||
}
|
||||
void H_6(double *state, double *sat_pos, double *out_6215961085732895038) {
|
||||
out_6215961085732895038[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6215961085732895038[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6215961085732895038[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6215961085732895038[3] = 0;
|
||||
out_6215961085732895038[4] = 0;
|
||||
out_6215961085732895038[5] = 0;
|
||||
out_6215961085732895038[6] = 1;
|
||||
out_6215961085732895038[7] = 0;
|
||||
out_6215961085732895038[8] = 0;
|
||||
out_6215961085732895038[9] = 0;
|
||||
out_6215961085732895038[10] = 0;
|
||||
}
|
||||
void h_20(double *state, double *sat_pos, double *out_2583752503617678104) {
|
||||
out_2583752503617678104[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
|
||||
}
|
||||
void H_20(double *state, double *sat_pos, double *out_6777344250897440240) {
|
||||
out_6777344250897440240[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6777344250897440240[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6777344250897440240[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
|
||||
out_6777344250897440240[3] = 0;
|
||||
out_6777344250897440240[4] = 0;
|
||||
out_6777344250897440240[5] = 0;
|
||||
out_6777344250897440240[6] = 1;
|
||||
out_6777344250897440240[7] = 0;
|
||||
out_6777344250897440240[8] = 0;
|
||||
out_6777344250897440240[9] = 1;
|
||||
out_6777344250897440240[10] = sat_pos[3];
|
||||
}
|
||||
void h_7(double *state, double *sat_pos_vel, double *out_7914792312414388917) {
|
||||
out_7914792312414388917[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
|
||||
}
|
||||
void H_7(double *state, double *sat_pos_vel, double *out_1169512049399806794) {
|
||||
out_1169512049399806794[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[6] = 0;
|
||||
out_1169512049399806794[7] = 1;
|
||||
out_1169512049399806794[8] = 0;
|
||||
out_1169512049399806794[9] = 0;
|
||||
out_1169512049399806794[10] = 0;
|
||||
}
|
||||
void h_21(double *state, double *sat_pos_vel, double *out_7914792312414388917) {
|
||||
out_7914792312414388917[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
|
||||
}
|
||||
void H_21(double *state, double *sat_pos_vel, double *out_1169512049399806794) {
|
||||
out_1169512049399806794[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
|
||||
out_1169512049399806794[6] = 0;
|
||||
out_1169512049399806794[7] = 1;
|
||||
out_1169512049399806794[8] = 0;
|
||||
out_1169512049399806794[9] = 0;
|
||||
out_1169512049399806794[10] = 0;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
|
||||
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
|
||||
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
|
||||
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
|
||||
|
||||
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
|
||||
|
||||
double nx[DIM] = {0};
|
||||
double in_F[EDIM*EDIM] = {0};
|
||||
|
||||
// functions from sympy
|
||||
f_fun(in_x, dt, nx);
|
||||
F_fun(in_x, dt, in_F);
|
||||
|
||||
|
||||
EEM F(in_F);
|
||||
EEM P(in_P);
|
||||
EEM Q(in_Q);
|
||||
|
||||
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
|
||||
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
|
||||
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
|
||||
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
|
||||
|
||||
P = P + dt*Q;
|
||||
|
||||
// copy out state
|
||||
memcpy(in_x, nx, DIM * sizeof(double));
|
||||
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
||||
}
|
||||
|
||||
// note: extra_args dim only correct when null space projecting
|
||||
// otherwise 1
|
||||
template <int ZDIM, int EADIM, bool MAHA_TEST>
|
||||
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
|
||||
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
|
||||
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
|
||||
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
|
||||
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
|
||||
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
|
||||
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
|
||||
|
||||
double in_hx[ZDIM] = {0};
|
||||
double in_H[ZDIM * DIM] = {0};
|
||||
double in_H_mod[EDIM * DIM] = {0};
|
||||
double delta_x[EDIM] = {0};
|
||||
double x_new[DIM] = {0};
|
||||
|
||||
|
||||
// state x, P
|
||||
Eigen::Matrix<double, ZDIM, 1> z(in_z);
|
||||
EEM P(in_P);
|
||||
ZZM pre_R(in_R);
|
||||
|
||||
// functions from sympy
|
||||
h_fun(in_x, in_ea, in_hx);
|
||||
H_fun(in_x, in_ea, in_H);
|
||||
ZDM pre_H(in_H);
|
||||
|
||||
// get y (y = z - hx)
|
||||
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
|
||||
X1M y; XXM H; XXM R;
|
||||
if (Hea_fun){
|
||||
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
|
||||
double in_Hea[ZDIM * EADIM] = {0};
|
||||
Hea_fun(in_x, in_ea, in_Hea);
|
||||
ZAM Hea(in_Hea);
|
||||
XXM A = Hea.transpose().fullPivLu().kernel();
|
||||
|
||||
|
||||
y = A.transpose() * pre_y;
|
||||
H = A.transpose() * pre_H;
|
||||
R = A.transpose() * pre_R * A;
|
||||
} else {
|
||||
y = pre_y;
|
||||
H = pre_H;
|
||||
R = pre_R;
|
||||
}
|
||||
// get modified H
|
||||
H_mod_fun(in_x, in_H_mod);
|
||||
DEM H_mod(in_H_mod);
|
||||
XEM H_err = H * H_mod;
|
||||
|
||||
// Do mahalobis distance test
|
||||
if (MAHA_TEST){
|
||||
XXM a = (H_err * P * H_err.transpose() + R).inverse();
|
||||
double maha_dist = y.transpose() * a * y;
|
||||
if (maha_dist > MAHA_THRESHOLD){
|
||||
R = 1.0e16 * R;
|
||||
}
|
||||
}
|
||||
|
||||
// Outlier resilient weighting
|
||||
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
|
||||
|
||||
// kalman gains and I_KH
|
||||
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
|
||||
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
|
||||
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
|
||||
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
|
||||
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
|
||||
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
|
||||
|
||||
// update state by injecting dx
|
||||
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
|
||||
dx = (KT.transpose() * y);
|
||||
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
|
||||
err_fun(in_x, delta_x, x_new);
|
||||
Eigen::Matrix<double, DIM, 1> x(x_new);
|
||||
|
||||
// update cov
|
||||
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
|
||||
|
||||
// copy out state
|
||||
memcpy(in_x, x.data(), DIM * sizeof(double));
|
||||
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
||||
memcpy(in_z, y.data(), y.rows() * sizeof(double));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
extern "C" {
|
||||
|
||||
void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_6, H_6, NULL, in_z, in_R, in_ea, MAHA_THRESH_6);
|
||||
}
|
||||
void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_20, H_20, NULL, in_z, in_R, in_ea, MAHA_THRESH_20);
|
||||
}
|
||||
void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_7, H_7, NULL, in_z, in_R, in_ea, MAHA_THRESH_7);
|
||||
}
|
||||
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21);
|
||||
}
|
||||
void gnss_err_fun(double *nom_x, double *delta_x, double *out_1298370022994424896) {
|
||||
err_fun(nom_x, delta_x, out_1298370022994424896);
|
||||
}
|
||||
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_1216411467074742856) {
|
||||
inv_err_fun(nom_x, true_x, out_1216411467074742856);
|
||||
}
|
||||
void gnss_H_mod_fun(double *state, double *out_5581863977132795483) {
|
||||
H_mod_fun(state, out_5581863977132795483);
|
||||
}
|
||||
void gnss_f_fun(double *state, double dt, double *out_6423546374911735369) {
|
||||
f_fun(state, dt, out_6423546374911735369);
|
||||
}
|
||||
void gnss_F_fun(double *state, double dt, double *out_7437858096387244450) {
|
||||
F_fun(state, dt, out_7437858096387244450);
|
||||
}
|
||||
void gnss_h_6(double *state, double *sat_pos, double *out_8168523164697780971) {
|
||||
h_6(state, sat_pos, out_8168523164697780971);
|
||||
}
|
||||
void gnss_H_6(double *state, double *sat_pos, double *out_6215961085732895038) {
|
||||
H_6(state, sat_pos, out_6215961085732895038);
|
||||
}
|
||||
void gnss_h_20(double *state, double *sat_pos, double *out_2583752503617678104) {
|
||||
h_20(state, sat_pos, out_2583752503617678104);
|
||||
}
|
||||
void gnss_H_20(double *state, double *sat_pos, double *out_6777344250897440240) {
|
||||
H_20(state, sat_pos, out_6777344250897440240);
|
||||
}
|
||||
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7914792312414388917) {
|
||||
h_7(state, sat_pos_vel, out_7914792312414388917);
|
||||
}
|
||||
void gnss_H_7(double *state, double *sat_pos_vel, double *out_1169512049399806794) {
|
||||
H_7(state, sat_pos_vel, out_1169512049399806794);
|
||||
}
|
||||
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7914792312414388917) {
|
||||
h_21(state, sat_pos_vel, out_7914792312414388917);
|
||||
}
|
||||
void gnss_H_21(double *state, double *sat_pos_vel, double *out_1169512049399806794) {
|
||||
H_21(state, sat_pos_vel, out_1169512049399806794);
|
||||
}
|
||||
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
}
|
||||
}
|
||||
|
||||
const EKF gnss = {
|
||||
.name = "gnss",
|
||||
.kinds = { 6, 20, 7, 21 },
|
||||
.feature_kinds = { },
|
||||
.f_fun = gnss_f_fun,
|
||||
.F_fun = gnss_F_fun,
|
||||
.err_fun = gnss_err_fun,
|
||||
.inv_err_fun = gnss_inv_err_fun,
|
||||
.H_mod_fun = gnss_H_mod_fun,
|
||||
.predict = gnss_predict,
|
||||
.hs = {
|
||||
{ 6, gnss_h_6 },
|
||||
{ 20, gnss_h_20 },
|
||||
{ 7, gnss_h_7 },
|
||||
{ 21, gnss_h_21 },
|
||||
},
|
||||
.Hs = {
|
||||
{ 6, gnss_H_6 },
|
||||
{ 20, gnss_H_20 },
|
||||
{ 7, gnss_H_7 },
|
||||
{ 21, gnss_H_21 },
|
||||
},
|
||||
.updates = {
|
||||
{ 6, gnss_update_6 },
|
||||
{ 20, gnss_update_20 },
|
||||
{ 7, gnss_update_7 },
|
||||
{ 21, gnss_update_21 },
|
||||
},
|
||||
.Hes = {
|
||||
},
|
||||
.sets = {
|
||||
},
|
||||
.extra_routines = {
|
||||
},
|
||||
};
|
||||
|
||||
ekf_init(gnss);
|
||||
@@ -1,22 +0,0 @@
|
||||
#pragma once
|
||||
#include "rednose/helpers/common_ekf.h"
|
||||
extern "C" {
|
||||
void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void gnss_err_fun(double *nom_x, double *delta_x, double *out_1298370022994424896);
|
||||
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_1216411467074742856);
|
||||
void gnss_H_mod_fun(double *state, double *out_5581863977132795483);
|
||||
void gnss_f_fun(double *state, double dt, double *out_6423546374911735369);
|
||||
void gnss_F_fun(double *state, double dt, double *out_7437858096387244450);
|
||||
void gnss_h_6(double *state, double *sat_pos, double *out_8168523164697780971);
|
||||
void gnss_H_6(double *state, double *sat_pos, double *out_6215961085732895038);
|
||||
void gnss_h_20(double *state, double *sat_pos, double *out_2583752503617678104);
|
||||
void gnss_H_20(double *state, double *sat_pos, double *out_6777344250897440240);
|
||||
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7914792312414388917);
|
||||
void gnss_H_7(double *state, double *sat_pos_vel, double *out_1169512049399806794);
|
||||
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7914792312414388917);
|
||||
void gnss_H_21(double *state, double *sat_pos_vel, double *out_1169512049399806794);
|
||||
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
BIN
Binary file not shown.
Binary file not shown.
BIN
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -1,5 +1,5 @@
|
||||
#pragma once
|
||||
#include "rednose/helpers/common_ekf.h"
|
||||
#include "rednose/helpers/ekf.h"
|
||||
extern "C" {
|
||||
void live_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_update_9(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
|
||||
void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void live_H(double *in_vec, double *out_133227908697253646);
|
||||
void live_err_fun(double *nom_x, double *delta_x, double *out_7956773024485299364);
|
||||
void live_inv_err_fun(double *nom_x, double *true_x, double *out_2732543202000143924);
|
||||
void live_H_mod_fun(double *state, double *out_3009125082534637337);
|
||||
void live_f_fun(double *state, double dt, double *out_4335391440186581522);
|
||||
void live_F_fun(double *state, double dt, double *out_5664590113989302035);
|
||||
void live_h_4(double *state, double *unused, double *out_3014692161587012603);
|
||||
void live_H_4(double *state, double *unused, double *out_5026841573156437834);
|
||||
void live_h_9(double *state, double *unused, double *out_3562980285330159985);
|
||||
void live_H_9(double *state, double *unused, double *out_6132683565288666312);
|
||||
void live_h_10(double *state, double *unused, double *out_535862169176880815);
|
||||
void live_H_10(double *state, double *unused, double *out_8297258708073091465);
|
||||
void live_h_12(double *state, double *unused, double *out_925715247818340264);
|
||||
void live_H_12(double *state, double *unused, double *out_5647940598204031501);
|
||||
void live_h_35(double *state, double *unused, double *out_9149207542038296554);
|
||||
void live_H_35(double *state, double *unused, double *out_8393503630529045210);
|
||||
void live_h_32(double *state, double *unused, double *out_8538571874421941973);
|
||||
void live_H_32(double *state, double *unused, double *out_5507022207680590714);
|
||||
void live_h_13(double *state, double *unused, double *out_3046368725689310100);
|
||||
void live_H_13(double *state, double *unused, double *out_619902790956587499);
|
||||
void live_h_14(double *state, double *unused, double *out_3562980285330159985);
|
||||
void live_H_14(double *state, double *unused, double *out_6132683565288666312);
|
||||
void live_h_33(double *state, double *unused, double *out_6545880632453829262);
|
||||
void live_H_33(double *state, double *unused, double *out_6902683438541648802);
|
||||
void live_H(double *in_vec, double *out_3457479244464077531);
|
||||
void live_err_fun(double *nom_x, double *delta_x, double *out_650718210523216323);
|
||||
void live_inv_err_fun(double *nom_x, double *true_x, double *out_910473225309207357);
|
||||
void live_H_mod_fun(double *state, double *out_2181166024205561752);
|
||||
void live_f_fun(double *state, double dt, double *out_3533239200643131825);
|
||||
void live_F_fun(double *state, double dt, double *out_5539989427522668852);
|
||||
void live_h_4(double *state, double *unused, double *out_819859370756235625);
|
||||
void live_H_4(double *state, double *unused, double *out_2871740975048229748);
|
||||
void live_h_9(double *state, double *unused, double *out_4802105354618293564);
|
||||
void live_H_9(double *state, double *unused, double *out_2630551328418639103);
|
||||
void live_h_10(double *state, double *unused, double *out_7610955400709654716);
|
||||
void live_H_10(double *state, double *unused, double *out_1974782145108752521);
|
||||
void live_h_12(double *state, double *unused, double *out_1634941094875625440);
|
||||
void live_H_12(double *state, double *unused, double *out_2147715432983732047);
|
||||
void live_h_35(double *state, double *unused, double *out_5460157810480551459);
|
||||
void live_H_35(double *state, double *unused, double *out_4893278465308745756);
|
||||
void live_h_32(double *state, double *unused, double *out_5557633069685588267);
|
||||
void live_H_32(double *state, double *unused, double *out_7752161236193193302);
|
||||
void live_h_13(double *state, double *unused, double *out_2477464069165319992);
|
||||
void live_H_13(double *state, double *unused, double *out_8540249629042519317);
|
||||
void live_h_14(double *state, double *unused, double *out_4802105354618293564);
|
||||
void live_H_14(double *state, double *unused, double *out_2630551328418639103);
|
||||
void live_h_33(double *state, double *unused, double *out_327564127954512118);
|
||||
void live_H_33(double *state, double *unused, double *out_8043835469947603360);
|
||||
void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
import numpy as np
|
||||
from laika.raw_gnss import GNSSMeasurement
|
||||
|
||||
def parse_prr(m):
|
||||
sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
|
||||
m[GNSSMeasurement.SAT_VEL]))
|
||||
R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
|
||||
z_i = m[GNSSMeasurement.PRR]
|
||||
return z_i, R_i, sat_pos_vel_i
|
||||
|
||||
def parse_pr(m):
|
||||
pseudorange = m[GNSSMeasurement.PR]
|
||||
pseudorange_stdev = m[GNSSMeasurement.PR_STD]
|
||||
sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
|
||||
np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
|
||||
z_i = np.atleast_1d(pseudorange)
|
||||
R_i = np.atleast_2d(pseudorange_stdev**2)
|
||||
return z_i, R_i, sat_pos_freq_i
|
||||
|
||||
@@ -1,190 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
from typing import List
|
||||
|
||||
import numpy as np
|
||||
|
||||
from openpilot.selfdrive.locationd.models.constants import ObservationKind
|
||||
from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
|
||||
|
||||
if __name__ == '__main__': # Generating sympy
|
||||
import sympy as sp
|
||||
from rednose.helpers.ekf_sym import gen_code
|
||||
else:
|
||||
from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
|
||||
from rednose.helpers.ekf_sym import EKF_sym
|
||||
|
||||
|
||||
class States():
|
||||
ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters
|
||||
ECEF_VELOCITY = slice(3, 6)
|
||||
CLOCK_BIAS = slice(6, 7) # clock bias in light-meters,
|
||||
CLOCK_DRIFT = slice(7, 8) # clock drift in light-meters/s,
|
||||
CLOCK_ACCELERATION = slice(8, 9) # clock acceleration in light-meters/s**2
|
||||
GLONASS_BIAS = slice(9, 10) # clock drift in light-meters/s,
|
||||
GLONASS_FREQ_SLOPE = slice(10, 11) # GLONASS bias in m expressed as bias + freq_num*freq_slope
|
||||
|
||||
|
||||
class GNSSKalman():
|
||||
name = 'gnss'
|
||||
|
||||
x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830,
|
||||
0, 0, 0,
|
||||
0, 0, 0,
|
||||
0, 0])
|
||||
|
||||
# state covariance
|
||||
P_initial = np.diag([1e16, 1e16, 1e16,
|
||||
10**2, 10**2, 10**2,
|
||||
1e14, (100)**2, (0.2)**2,
|
||||
(10)**2, (1)**2])
|
||||
|
||||
maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
|
||||
|
||||
@staticmethod
|
||||
def generate_code(generated_dir):
|
||||
dim_state = GNSSKalman.x_initial.shape[0]
|
||||
name = GNSSKalman.name
|
||||
maha_test_kinds = GNSSKalman.maha_test_kinds
|
||||
|
||||
# make functions and jacobians with sympy
|
||||
# state variables
|
||||
state_sym = sp.MatrixSymbol('state', dim_state, 1)
|
||||
state = sp.Matrix(state_sym)
|
||||
x, y, z = state[0:3, :]
|
||||
v = state[3:6, :]
|
||||
vx, vy, vz = v
|
||||
cb, cd, ca = state[6:9, :]
|
||||
glonass_bias, glonass_freq_slope = state[9:11, :]
|
||||
|
||||
dt = sp.Symbol('dt')
|
||||
|
||||
state_dot = sp.Matrix(np.zeros((dim_state, 1)))
|
||||
state_dot[:3, :] = v
|
||||
state_dot[6, 0] = cd
|
||||
state_dot[7, 0] = ca
|
||||
|
||||
# Basic descretization, 1st order integrator
|
||||
# Can be pretty bad if dt is big
|
||||
f_sym = state + dt * state_dot
|
||||
|
||||
#
|
||||
# Observation functions
|
||||
#
|
||||
|
||||
# extra args
|
||||
sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
|
||||
sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
|
||||
# sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
|
||||
# orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
|
||||
|
||||
# expand extra args
|
||||
sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
|
||||
sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
|
||||
# los_x, los_y, los_z = sat_los_sym
|
||||
# orb_x, orb_y, orb_z = orb_epos_sym
|
||||
|
||||
h_pseudorange_sym = sp.Matrix([
|
||||
sp.sqrt(
|
||||
(x - sat_x)**2 +
|
||||
(y - sat_y)**2 +
|
||||
(z - sat_z)**2
|
||||
) + cb
|
||||
])
|
||||
|
||||
h_pseudorange_glonass_sym = sp.Matrix([
|
||||
sp.sqrt(
|
||||
(x - sat_x)**2 +
|
||||
(y - sat_y)**2 +
|
||||
(z - sat_z)**2
|
||||
) + cb + glonass_bias + glonass_freq_slope * glonass_freq
|
||||
])
|
||||
|
||||
los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z]))
|
||||
los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2)
|
||||
h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) +
|
||||
los_vector[1] * (sat_vy - vy) +
|
||||
los_vector[2] * (sat_vz - vz) +
|
||||
cd])
|
||||
|
||||
obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym],
|
||||
[h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym],
|
||||
[h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym],
|
||||
[h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]]
|
||||
|
||||
gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
|
||||
|
||||
def __init__(self, generated_dir, cython=False, erratic_clock=False):
|
||||
# process noise
|
||||
clock_error_drift = 100.0 if erratic_clock else 0.1
|
||||
self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
|
||||
3**2, 3**2, 3**2,
|
||||
(clock_error_drift)**2, (0)**2, (0.005)**2,
|
||||
.1**2, (.01)**2])
|
||||
|
||||
self.dim_state = self.x_initial.shape[0]
|
||||
|
||||
# init filter
|
||||
filter_cls = EKF_sym_pyx if cython else EKF_sym
|
||||
self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
|
||||
self.dim_state, maha_test_kinds=self.maha_test_kinds)
|
||||
self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
|
||||
|
||||
@property
|
||||
def x(self):
|
||||
return self.filter.state()
|
||||
|
||||
@property
|
||||
def P(self):
|
||||
return self.filter.covs()
|
||||
|
||||
def predict(self, t):
|
||||
return self.filter.predict(t)
|
||||
|
||||
def rts_smooth(self, estimates):
|
||||
return self.filter.rts_smooth(estimates, norm_quats=False)
|
||||
|
||||
def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
|
||||
if covs_diag is not None:
|
||||
P = np.diag(covs_diag)
|
||||
elif covs is not None:
|
||||
P = covs
|
||||
else:
|
||||
P = self.filter.covs()
|
||||
self.filter.init_state(state, P, filter_time)
|
||||
|
||||
def predict_and_observe(self, t, kind, data):
|
||||
if len(data) > 0:
|
||||
data = np.atleast_2d(data)
|
||||
if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS:
|
||||
r = self.predict_and_update_pseudorange(data, t, kind)
|
||||
elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS:
|
||||
r = self.predict_and_update_pseudorange_rate(data, t, kind)
|
||||
return r
|
||||
|
||||
def predict_and_update_pseudorange(self, meas, t, kind):
|
||||
R = np.zeros((len(meas), 1, 1))
|
||||
sat_pos_freq = np.zeros((len(meas), 4))
|
||||
z = np.zeros((len(meas), 1))
|
||||
for i, m in enumerate(meas):
|
||||
z_i, R_i, sat_pos_freq_i = parse_pr(m)
|
||||
sat_pos_freq[i, :] = sat_pos_freq_i
|
||||
z[i, :] = z_i
|
||||
R[i, :, :] = R_i
|
||||
return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq)
|
||||
|
||||
def predict_and_update_pseudorange_rate(self, meas, t, kind):
|
||||
R = np.zeros((len(meas), 1, 1))
|
||||
z = np.zeros((len(meas), 1))
|
||||
sat_pos_vel = np.zeros((len(meas), 6))
|
||||
for i, m in enumerate(meas):
|
||||
z_i, R_i, sat_pos_vel_i = parse_prr(m)
|
||||
sat_pos_vel[i] = sat_pos_vel_i
|
||||
R[i, :, :] = R_i
|
||||
z[i, :] = z_i
|
||||
return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
generated_dir = sys.argv[2]
|
||||
GNSSKalman.generate_code(generated_dir)
|
||||
@@ -7,12 +7,12 @@ import numpy as np
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
from cereal import log
|
||||
from openpilot.common.params import Params, put_nonblocking
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, DT_MDL
|
||||
from openpilot.common.numpy_fast import clip
|
||||
from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
|
||||
from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
|
||||
from openpilot.system.swaglog import cloudlog
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s
|
||||
@@ -251,7 +251,7 @@ def main():
|
||||
'stiffnessFactor': liveParameters.stiffnessFactor,
|
||||
'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg,
|
||||
}
|
||||
put_nonblocking("LiveParameters", json.dumps(params))
|
||||
params_reader.put_nonblocking("LiveParameters", json.dumps(params))
|
||||
|
||||
pm.send('liveParameters', msg)
|
||||
|
||||
|
||||
@@ -1,18 +1,15 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import sys
|
||||
import signal
|
||||
import numpy as np
|
||||
from collections import deque, defaultdict
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car, log
|
||||
from common.params import Params, put_nonblocking
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, DT_MDL
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.system.swaglog import cloudlog
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
|
||||
|
||||
HISTORY = 5 # secs
|
||||
POINTS_PER_BUCKET = 1500
|
||||
@@ -52,7 +49,7 @@ class TorqueBuckets(PointBuckets):
|
||||
break
|
||||
|
||||
|
||||
class TorqueEstimator:
|
||||
class TorqueEstimator(ParameterEstimator):
|
||||
def __init__(self, CP, decimated=False):
|
||||
self.hist_len = int(HISTORY / DT_MDL)
|
||||
self.lag = CP.steerActuatorDelay + .2 # from controlsd
|
||||
@@ -95,7 +92,7 @@ class TorqueEstimator:
|
||||
|
||||
# try to restore cached params
|
||||
params = Params()
|
||||
params_cache = params.get("LiveTorqueCarParams")
|
||||
params_cache = params.get("CarParamsPrevRoute")
|
||||
torque_cache = params.get("LiveTorqueParameters")
|
||||
if params_cache is not None and torque_cache is not None:
|
||||
try:
|
||||
@@ -116,7 +113,6 @@ class TorqueEstimator:
|
||||
cloudlog.info("restored torque params from cache")
|
||||
except Exception:
|
||||
cloudlog.exception("failed to restore cached torque params")
|
||||
params.remove("LiveTorqueCarParams")
|
||||
params.remove("LiveTorqueParameters")
|
||||
|
||||
self.filtered_params = {}
|
||||
@@ -228,20 +224,6 @@ def main():
|
||||
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
|
||||
estimator = TorqueEstimator(CP)
|
||||
|
||||
def cache_params(sig, frame):
|
||||
signal.signal(sig, signal.SIG_DFL)
|
||||
cloudlog.warning("caching torque params")
|
||||
|
||||
params = Params()
|
||||
params.put("LiveTorqueCarParams", CP.as_builder().to_bytes())
|
||||
|
||||
msg = estimator.get_msg(with_points=True)
|
||||
params.put("LiveTorqueParameters", msg.to_bytes())
|
||||
|
||||
sys.exit(0)
|
||||
if "REPLAY" not in os.environ:
|
||||
signal.signal(signal.SIGINT, cache_params)
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.all_checks():
|
||||
@@ -254,12 +236,10 @@ def main():
|
||||
if sm.frame % 5 == 0:
|
||||
pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
|
||||
|
||||
# dp - auto save every 3 mins: 4 hz * 60 * 3 = 720 (3 mins)
|
||||
if sm.frame % 720 == 0:
|
||||
put_nonblocking("LiveTorqueCarParams", CP.as_builder().to_bytes())
|
||||
msg = estimator.get_msg(with_points=True)
|
||||
put_nonblocking("LiveTorqueParameters", msg.to_bytes())
|
||||
|
||||
# Cache points every 60 seconds while onroad
|
||||
if sm.frame % 240 == 0:
|
||||
msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
|
||||
params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
Reference in New Issue
Block a user