From 9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 25 Aug 2011 20:43:44 -0700 Subject: altos: Restructure altos build to prepare for multi-arch support Split out sources into separate directories: core: architecture and product independent bits cc1111: cc1111-specific code drivers: architecture independent drivers product: product-specific sources and Makefile fragments util: scripts for building stuff This should have no effect on the built products, but testing is encouraged Signed-off-by: Keith Packard --- src/util/make-kalman | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 src/util/make-kalman (limited to 'src/util/make-kalman') diff --git a/src/util/make-kalman b/src/util/make-kalman new file mode 100644 index 00000000..f78f30a9 --- /dev/null +++ b/src/util/make-kalman @@ -0,0 +1,19 @@ +#!/bin/sh + +cd $1 >&/dev/null + +SIGMA_BOTH="-M 2 -H 6 -A 2" +SIGMA_BARO="-M 2 -H 6 -A 2" +SIGMA_ACCEL="-M 2 -H 4 -A 4" + +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH +nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH + +nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL +nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL +nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL + +nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO +nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO +nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO -- cgit v1.2.3 From 74d5dea5d5ef91db823018b631613d15c6da085d Mon Sep 17 00:00:00 2001 From: Bdale Garbee Date: Wed, 21 Sep 2011 16:42:52 -0600 Subject: fix bashism that prevents building with /bin/sh->/bin/dash --- src/Makefile | 2 +- src/util/make-kalman | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'src/util/make-kalman') diff --git a/src/Makefile b/src/Makefile index 91d3f035..5da7c855 100644 --- a/src/Makefile +++ b/src/Makefile @@ -48,7 +48,7 @@ altitude.h: make-altitude nickle $< > $@ ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c - sh $< kalman > $@ + bash $< kalman > $@ clean-local: rm -f altitude.h ao_kalman.h diff --git a/src/util/make-kalman b/src/util/make-kalman index f78f30a9..b4e5d919 100644 --- a/src/util/make-kalman +++ b/src/util/make-kalman @@ -1,4 +1,4 @@ -#!/bin/sh +#!/bin/bash cd $1 >&/dev/null -- cgit v1.2.3 From 7bc007ed45af8fe9ef5daeb7844f183cd9a49035 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 21 Sep 2011 18:13:55 -0700 Subject: altos: Fix make-kalman to run under dash Dash can't deal with >&, so use the old-school > file 2>&1 Signed-off-by: Keith Packard --- src/util/make-kalman | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/util/make-kalman') diff --git a/src/util/make-kalman b/src/util/make-kalman index b4e5d919..397d6020 100644 --- a/src/util/make-kalman +++ b/src/util/make-kalman @@ -1,6 +1,6 @@ #!/bin/bash -cd $1 >&/dev/null +cd $1 2> /dev/null 1>&2 SIGMA_BOTH="-M 2 -H 6 -A 2" SIGMA_BARO="-M 2 -H 6 -A 2" -- cgit v1.2.3 From ca036c5616c3e745c0b878ed90618d4ff710c0e5 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 8 Oct 2011 22:19:52 -0600 Subject: altos: Improve TM v1.0 apogee estimate v1.0 boards have noisy accelerometer data caused by interactions between RF transmission and the accelerometer measurements; this noise generates a negative bias in the accelerometer readings. The net effect is that the estimated speed is lower than the actual speed, causing early an apogee estimate. By increasing the sigma value for accelerometer data, the kalman filter 'trusts' the acceleration data less, putting more weight on the barometer data. This causes the estimated time of apogee to be closer to the correct value. This reduces the response to changes in acceleration. This new value is applied solely to TeleMetrum v1.0 boards. v1.1 boards correct for this error, and hence can use the correct sigma value for the accelerometer. Signed-off-by: Keith Packard --- src/cc1111/ao_pins.h | 1 + src/test/Makefile | 12 ++++++++++-- src/util/make-kalman | 22 ++++++++++++++++++++++ 3 files changed, 33 insertions(+), 2 deletions(-) (limited to 'src/util/make-kalman') diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index 723f1500..d2fbb209 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -36,6 +36,7 @@ #define IGNITE_ON_P0 0 #define PACKET_HAS_MASTER 0 #define PACKET_HAS_SLAVE 1 + #define NOISY_ACCEL 1 #define HAS_COMPANION 1 #define COMPANION_CS_ON_P1 1 diff --git a/src/test/Makefile b/src/test/Makefile index 333850e4..4e403da6 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,6 +1,8 @@ -vpath % ..:../core:../drivers +vpath % ..:../core:../drivers:../util -PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test +PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test + +KALMAN=make-kalman CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g @@ -14,6 +16,9 @@ install: ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ $< +ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h + cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $< + ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c @@ -28,3 +33,6 @@ ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_ho ao_convert_test: ao_convert_test.c ao_convert.c altitude.h cc $(CFLAGS) -o $@ $< + +ao_kalman.h: $(KALMAN) + (cd .. && make ao_kalman.h) \ No newline at end of file diff --git a/src/util/make-kalman b/src/util/make-kalman index 397d6020..fd33bab0 100644 --- a/src/util/make-kalman +++ b/src/util/make-kalman @@ -5,11 +5,32 @@ cd $1 2> /dev/null 1>&2 SIGMA_BOTH="-M 2 -H 6 -A 2" SIGMA_BARO="-M 2 -H 6 -A 2" SIGMA_ACCEL="-M 2 -H 4 -A 4" +SIGMA_BOTH_NOISY_ACCEL="-M 2 -H 6 -A 3" + +echo '#if NOISY_ACCEL' +echo +echo '/* TeleMetrum v1.0 boards have noisy accelerometer values' +echo ' * increase the sigma value for accel data to compensate.' +echo ' * This improves the accuracy of apogee detection.' +echo ' */' +echo + +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH_NOISY_ACCEL +nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH_NOISY_ACCEL + +echo '#endif' +echo +echo '#ifndef AO_BOTH_K00_100' +echo nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH +echo '#endif' +echo + nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL @@ -17,3 +38,4 @@ nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO + -- cgit v1.2.3