[paparazzi-commits] [5980] removed debug output from libeknav, added time-measurement to test3

[Martin Dieblich]

Revision: 5980
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5980
Author:   mdieblich
Date:     2010-09-28 08:09:46 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
removed debug output from libeknav, added time-measurement to test3

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
    paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_p.cpp
    paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp
    paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp
    paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_2.cpp
    paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.cpp

Modified: paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml     2010-09-27 
22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml     2010-09-28 
08:09:46 UTC (rev 5980)
@@ -3,7 +3,7 @@
 
   <makefile>
 
-    HOST=auto1
+    HOST=auto3
 
     PAPARAZZI_INC = -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) \
                     -I$(PAPARAZZI_SRC)/sw/airborne      \
@@ -45,6 +45,19 @@
     test3.srcs     += fms/fms_periodic.c
     test3.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp 
-DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
     test3.srcs     += fms/fms_spi_link.c
+    
+    # test 4: Flags like test3
+    test4.ARCHDIR = omap
+    test4.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
+    test4.CXXFLAGS += $(PAPARAZZI_INC)
+    test4.cpp_srcs  = fms/libeknav/test_libeknav_4.cpp
+    test4.CXXFLAGS += $(LIBEKNAV_CFLAGS)
+    test4.cpp_srcs += $(LIBEKNAV_SRCS)
+    test4.LDFLAGS  += -levent -lm
+    test4.CFLAGS   += -DFMS_PERIODIC_FREQ=512
+    test4.srcs     += fms/fms_periodic.c
+    test4.CXXFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp 
-DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
+    test4.srcs     += fms/fms_spi_link.c
 
     # test network based telemetry on overo (using udp_transport2/messages2)
     overo_test_telemetry2.ARCHDIR  = omap

Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_p.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_p.cpp 
2010-09-27 22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_p.cpp 
2010-09-28 08:09:46 UTC (rev 5980)
@@ -36,7 +36,6 @@
 basic_ins_qkf::obs_gps_p_report(const Vector3d& pos, const Vector3d& p_error)
 {
        Matrix<double, 3, 1> residual = pos - avg_state.position;       
-       std::cout << "diff_p(" <<residual(0) << ", " << residual(1) << ", " << 
residual(2) <<")\n";
 
 
 #ifdef RANK_ONE_UPDATES
@@ -58,7 +57,6 @@
        cov.part<Eigen::SelfAdjoint>() -= kalman_gain * cov.block<3, 12>(6, 0);
 #endif
        Quaterniond rotor = avg_state.apply_kalman_vec_update(update);
-       std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << 
"\t" << update.segment<6>(6).transpose() << ")\n";
        counter_rotate_cov(rotor);
        assert(is_real());
 }

Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp       
2010-09-27 22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_gps_pvt.cpp       
2010-09-28 08:09:46 UTC (rev 5980)
@@ -36,7 +36,7 @@
 basic_ins_qkf::obs_gps_v_report(const Vector3d& vel, const Vector3d& v_error)
 {
        Vector3d residual = vel - avg_state.velocity;
-       std::cout << "diff_v(" <<residual(0) << ", " << residual(1) << ", " << 
residual(2) <<")\n";
+       //std::cout << "diff_v(" <<residual(0) << ", " << residual(1) << ", " 
<< residual(2) <<")\n";
 
 #ifdef RANK_ONE_UPDATES
        Matrix<double, 12, 1> update = Matrix<double, 12, 1>::Zero();
@@ -54,10 +54,10 @@
        cov.part<Eigen::SelfAdjoint>() -= cov.block<12, 3>(0, 9) * 
kalman_gain_t; // .transpose() * cov.block<3, 12>(9, 0);
        Matrix<double, 12, 1> update = kalman_gain_t.transpose() * residual;
 #endif
-       std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << 
"\t" << update.segment<6>(6).transpose() << ")\n";
+       //std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI 
<< "\t" << update.segment<6>(6).transpose() << ")\n";
 
        //update.segment<6>(0) = Matrix<double, 6, 1>::Zero(); // only for 
debugging
-       std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI << 
"\t" << update.segment<6>(6).transpose() << ")\n";
+       //std::cout << "update(" << update.segment<6>(0).transpose()*180/M_PI 
<< "\t" << update.segment<6>(6).transpose() << ")\n";
        Quaterniond rotor = avg_state.apply_kalman_vec_update(update);
        counter_rotate_cov(rotor);
        assert(is_real());

Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp        
2010-09-27 22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_observe_vector.cpp        
2010-09-28 08:09:46 UTC (rev 5980)
@@ -142,7 +142,6 @@
 
        Vector3d obs_ref = avg_state.orientation.conjugate()*obs;
        Vector3d v_residual = log<double>(Quaterniond().setFromTwoVectors(ref, 
obs_ref));
-       std::cout << "v_residual(" <<v_residual(0)*180/M_PI << ", " << 
v_residual(1)*180/M_PI << ", " << v_residual(2)*180/M_PI <<")\n";
 
        Matrix<double, 3, 2> h_trans;
        h_trans.col(0) = ref.cross(

Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_2.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_2.cpp       
2010-09-27 22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_2.cpp       
2010-09-28 08:09:46 UTC (rev 5980)
@@ -20,7 +20,7 @@
   /* initial state */
   Vector3d pos_0_ecef(1017.67e3, -5079.282e3, 3709.041e3);
   Vector3d speed_0_ecef(0., 0., 0.);
-    Quaterniond orientation(1., 0., 0., 0.);
+  Quaterniond orientation(1., 0., 0., 0.);
   Vector3d bias_0(0., 0., 0.);
 
   /* initial covariance */

Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp       
2010-09-27 22:57:03 UTC (rev 5979)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_3.cpp       
2010-09-28 08:09:46 UTC (rev 5980)
@@ -38,23 +38,22 @@
 static void main_dialog_with_io_proc(void);
 static void main_run_ins(void);
 
-int64_t counter = 0;
 
-
 /* time measurement */
 struct timespec start;
+
+float absTime(struct timespec T){
+       return (float)(T.tv_sec + T.tv_nsec*1e-9);
+}
+
 struct timespec time_diff(struct timespec end, struct timespec start){
-       struct timespec dT = end;
-       dT.tv_sec -= start.tv_sec;
-       dT.tv_nsec -= start.tv_nsec;
-       
-       dT.tv_nsec += (dT.tv_nsec<0)?1e9:0;
+       float difference = absTime(end)-absTime(start);
+       struct timespec dT;
+       dT.tv_sec = (int)difference;
+       dT.tv_nsec = (difference-dT.tv_sec)*1000000000;
        return dT;
 }
  
-int64_t absTime(struct timespec T){
-       return (int64_t)((T.tv_sec)*1000000000 + T.tv_nsec);
-}
 #define TIMER CLOCK_MONOTONIC 
 
 
@@ -226,11 +225,7 @@
   clock_gettime(TIMER, &now);
   struct raw_log_entry e;
   
-  static float blaa = 0;
-  
-  counter++;
-  
-  e.time = counter; //absTime(time_diff(now, start));
+  e.time = absTime(time_diff(now, start));
   RATES_COPY(e.gyro, imu.gyro);
   VECT3_COPY(e.accel, imu.accel);
   VECT3_COPY(e.mag, imu.mag);

Added: paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.cpp               
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.cpp       
2010-09-28 08:09:46 UTC (rev 5980)
@@ -0,0 +1,237 @@
+
+#include <iostream>
+#include <iomanip>
+
+#include <Eigen/Core>
+
+#include "ins_qkf.hpp"
+#include <stdint.h>
+
+
+#include <event.h>
+extern "C" {
+#include <unistd.h>
+#include <time.h>
+#include "std.h"
+#include "fms/fms_debug.h"
+#include "fms/fms_periodic.h"
+#include "fms/fms_spi_link.h"
+#include "fms/fms_autopilot_msg.h"
+#include "booz/booz_imu.h"
+#include "fms/libeknav/raw_log.h"
+  /* our sensors            */
+  struct BoozImuFloat imu;
+  /* raw log */
+  static int raw_log_fd;
+}
+
+static void main_trick_libevent(void);
+static void on_foo_event(int fd, short event __attribute__((unused)), void 
*arg);
+static struct event foo_event;
+
+#include "math/pprz_algebra_float.h"
+static void main_rawlog_init(const char* filename);
+static void main_rawlog_dump(void);
+
+static void main_init(void);
+static void main_periodic(int my_sig_num);
+static void main_dialog_with_io_proc(void);
+static void main_run_ins(void);
+
+
+/* time measurement */
+struct timespec start;
+
+float absTime(struct timespec T){
+       return (float)(T.tv_sec + T.tv_nsec*1e-9);
+}
+
+struct timespec time_diff(struct timespec end, struct timespec start){
+       float difference = absTime(end)-absTime(start);
+       struct timespec dT;
+       dT.tv_sec = (int)difference;
+       dT.tv_nsec = (difference-dT.tv_sec)*1000000000;
+       return dT;
+}
+ 
+#define TIMER CLOCK_MONOTONIC 
+
+
+
+/* initial state */
+Vector3d pos_0_ecef(1017.67e3, -5079.282e3, 3709.041e3);
+Vector3d speed_0_ecef(0., 0., 0.);
+//  Vector3d orientation(0., 0., 0.);
+Vector3d bias_0(0., 0., 0.);
+
+/* initial covariance */
+const double pos_cov_0 =  1e2*1e2;
+const double speed_cov_0 =  3.*3.;
+//  const double orientation_cov_0 =  RadOfDeg(5.)*RadOfDeg(5.);
+const double bias_cov_0 =  0.447;
+
+/* system noise      */
+const Vector3d gyro_white_noise = Vector3d::Ones()*0.1*0.1;
+const Vector3d gyro_stability_noise = Vector3d::Ones()*0.00001;
+const Vector3d accel_white_noise = Vector3d::Ones()* 0.04*0.04;
+
+static basic_ins_qkf ins = basic_ins_qkf(pos_0_ecef, pos_cov_0, bias_cov_0, 
speed_cov_0,
+                                        gyro_white_noise, 
gyro_stability_noise, accel_white_noise);
+
+
+// import most common Eigen types 
+USING_PART_OF_NAMESPACE_EIGEN
+
+int main(int, char *[]) {
+
+  std::cout << "test libeknav 3" << std::endl;
+  clock_gettime(TIMER, &start);
+  main_init();
+  /* add dev/null as event source so that libevent doesn't die */
+  main_trick_libevent();
+  
+  
+  TRACE(TRACE_DEBUG, "%s", "Entering mainloop\n");
+  
+  /* Enter our mainloop */
+  event_dispatch();
+  
+  TRACE(TRACE_DEBUG, "%s", "leaving mainloop... goodbye!\n");
+  
+  return 0;
+
+}
+
+
+static void main_init(void) {
+
+  TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
+
+  /* Initalize our SPI link to IO processor */
+  if (spi_link_init()) {
+    TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
+    return;
+  }
+  
+  /* Initalize the event library */
+  event_init();
+  
+  /* Initalize our \xF4 so accurate periodic timer */
+  if (fms_periodic_init(main_periodic)) {
+    TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
+    return; 
+  }
+   
+  main_rawlog_init("/tmp/log_test3.bin");
+
+}
+
+
+static void main_periodic(int my_sig_num __attribute__ ((unused))) {
+
+  main_dialog_with_io_proc();
+  //  main_run_ins();
+  main_rawlog_dump();
+
+}
+
+
+static void main_dialog_with_io_proc() {
+
+  struct AutopilotMessageCRCFrame msg_in;
+  struct AutopilotMessageCRCFrame msg_out;
+  uint8_t crc_valid; 
+  
+  //  for (uint8_t i=0; i<6; i++) 
msg_out.payload.msg_down.pwm_outputs_usecs[i] = otp.servos_outputs_usecs[i];
+  
+  spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in, 
&crc_valid);
+  
+  struct AutopilotMessagePTUp *in = &msg_in.payload.msg_up; 
+  RATES_FLOAT_OF_BFP(imu.gyro, in->gyro);
+  ACCELS_FLOAT_OF_BFP(imu.accel, in->accel); 
+  MAGS_FLOAT_OF_BFP(imu.mag, in->mag); 
+
+  {
+    static uint32_t foo=0;
+    foo++;
+    if (!(foo%100))
+      printf("%f %f %f\n",imu.gyro.p,imu.gyro.q,imu.gyro.r); 
+    
+  }
+
+}
+
+static void main_run_ins() {
+
+  static uint32_t cnt;
+  cnt++;
+
+  const double dt = 1./512.;
+  Vector3d gyro(0., 0., 0.);
+  Vector3d accelerometer(0., 0., 9.81);
+  ins.predict(gyro, accelerometer, dt);
+  
+  if (cnt % 10 == 0) { /* update mag at 50Hz */
+    Vector3d magnetometer = Vector3d::UnitZ();
+    const double   mag_noise = std::pow(5 / 180.0 * M_PI, 2);
+    ins.obs_vector(magnetometer, magnetometer, mag_noise);
+  }
+  if (cnt % 128 == 0) /* update gps at 4 Hz */ {
+    const Vector3d gps_pos_noise = Vector3d::Ones()  *10*10;
+    const Vector3d gps_speed_noise = Vector3d::Ones()*0.1*0.1;
+    ins.obs_gps_pv_report(pos_0_ecef, speed_0_ecef, gps_pos_noise, 
gps_speed_noise);
+  }
+  
+}
+
+
+
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+static void main_trick_libevent(void) {
+
+  int fd = open("/dev/ttyS0", O_RDONLY);
+  if (fd == -1) {
+    TRACE(TRACE_ERROR, "%s", "failed to open /dev/null \n");
+    return;
+  }
+  event_set(&foo_event, fd, EV_READ | EV_PERSIST, on_foo_event, NULL);
+  event_add(&foo_event, NULL);
+
+}
+
+static void on_foo_event(int fd __attribute__((unused)), short event 
__attribute__((unused)), void *arg __attribute__((unused))) {
+
+} 
+
+
+
+
+
+static void main_rawlog_init(const char* filename) {
+  
+  raw_log_fd = open(filename, O_WRONLY|O_CREAT, 00644);
+  if (raw_log_fd == -1) {
+    TRACE(TRACE_ERROR, "failed to open rawlog outfile (%s)\n", filename);
+    return;
+  }
+}
+
+static void main_rawlog_dump(void) {
+  struct timespec now;
+  clock_gettime(TIMER, &now);
+  struct raw_log_entry e;
+  
+  e.time = absTime(time_diff(now, start));
+  RATES_COPY(e.gyro, imu.gyro);
+  VECT3_COPY(e.accel, imu.accel);
+  VECT3_COPY(e.mag, imu.mag);
+  write(raw_log_fd, &e, sizeof(e));
+
+}
+
+
+