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a/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRest-Win64-DebugGame.pdb +++ b/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRest-Win64-DebugGame.pdb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:19698397c82ce93054debce48725c918b8045f43898ccda19b4333681603796e +oid sha256:3dfc9e1b5e1ed1cfe504b67e30810cbb73b249613af1e66e05818f9259c4980e size 60567552 diff --git a/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.dll b/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.dll index 34e11502..20aac1eb 100644 --- a/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.dll +++ b/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.dll @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2e1a4413da18ba262a6eb13cfd702207a58234cd4e5c72dc64daa1ef58b32789 +oid sha256:627721f3680d5180ad78adc4d885b589255bb8e54b1d97431f6e69060a10ba23 size 237568 diff --git a/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.pdb b/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.pdb index 359c9db4..d6e1e464 100644 --- a/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.pdb +++ b/Plugins/VaRestPlugin/Binaries/Win64/UnrealEditor-VaRestEditor-Win64-DebugGame.pdb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:522acf7b88acc55cfde1af97407f60c1fa9c049869ce7090017958b7d68c396a +oid sha256:018155fa56e18d98f8e2908121ff53991d9d967871490cc925ae0951e3604d71 size 58888192 diff --git a/Source/LuckyWorld/EKFilter.cpp b/Source/LuckyWorld/EKFilter.cpp index 436262cb..9bd90256 100644 --- a/Source/LuckyWorld/EKFilter.cpp +++ b/Source/LuckyWorld/EKFilter.cpp @@ -237,15 +237,13 @@ bool EKFilter::readBaro() return false; } -void EKFilter::GetState(StateElements& state_struct) +void EKFilter::GetState(OutputState& state_struct) { state_struct.quat = State.quat; state_struct.position = State.position; state_struct.velocity = State.velocity; - state_struct.gyro_bias = State.gyro_bias; - state_struct.accel_bias = State.accel_bias; - state_struct.earth_magfield = State.earth_magfield; - state_struct.body_magfield = State.body_magfield; + state_struct.pqr = recentGyro.data_dt / recentGyro.dt; + state_struct.acceleration = recentAccel.data_dt / recentAccel.dt; } bool EKFilter::InitialiseFilter() @@ -318,9 +316,9 @@ void EKFilter::InitialzeVariables() //_magNoise = 0.1f; _gyrNoise = 1.5E-04f; - _accNoise = 3.5E-04f; + //_accNoise = 3.5E-04f; //_gyrNoise = 0.5f; - //_accNoise = 1.0f; + _accNoise = 1.0f; //_gpsVertVelNoise = 0.7; //_gpsHorizVelNoise = 0.5; @@ -328,8 +326,8 @@ void EKFilter::InitialzeVariables() //_gpsVertPosNoise = 3.0; _gpsVertVelNoise = 0.5f; _gpsHorizVelNoise = 0.5f; - _gpsHorizPosNoise = 1.0f; - _gpsVertPosNoise = 1.0f; + _gpsHorizPosNoise = 0.5f; + _gpsVertPosNoise = 0.5f; _baroAltNoise = 2.0f; @@ -417,22 +415,13 @@ void EKFilter::CompFilterUpdate() FVector accel_euler(accel_roll, accel_pitch, nq_yaw); //UE_LOG(LogTemp, Warning, TEXT("Quat accel euler: %f % f %f!"), accel_euler.X, accel_euler.Y, accel_euler.Z); - float dt = 0.5 * (recentGyro.dt + recentAccel.dt); - float tau = 0.1; - float gyro_gain = tau / (tau + dt); - float acc_gain = dt / (tau + dt); - FVector EulerGyroAccel = nq_euler * gyro_gain + accel_euler * acc_gain; - //CFquat.InitializeFromEulerAngles(EulerGyroAccel.X, EulerGyroAccel.Y, EulerGyroAccel.Z); - //UE_LOG(LogTemp, Warning, TEXT("Combined euler: %f % f %f!"), EulerGyroAccel.X, EulerGyroAccel.Y, EulerGyroAccel.Z); + //float dt = 0.5 * (recentGyro.dt + recentAccel.dt); + //float tau = 0.2; + //float gyro_gain = tau / (tau + dt); + //float acc_gain = dt / (tau + dt); + //nq_euler = nq_euler * gyro_gain + accel_euler * acc_gain; - FQuaternion gyro_accel_quat; - gyro_accel_quat.InitializeFromEulerAngles(EulerGyroAccel.X, EulerGyroAccel.Y, EulerGyroAccel.Z); - - float roll = State.quat.GetRoll(); - float pitch = State.quat.GetPitch(); - float yaw = State.quat.GetYaw(); Matrix33 DCM; - //DCM.FromEuler(roll, pitch, yaw); DCM.FromEuler(nq_euler.X, nq_euler.Y, nq_euler.Z); FVector mf_pred = DCM * recentMag.data; @@ -442,6 +431,7 @@ void EKFilter::CompFilterUpdate() FVector d_euler = q_between.Euler() * (PI/180); //UE_LOG(LogTemp, Warning, TEXT("Correcting euler: %f % f %f!"), d_euler.X, d_euler.Y, d_euler.Z); + mf_pred.Normalize(); mf.Normalize(); double theta = 0; @@ -474,8 +464,9 @@ void EKFilter::CompFilterUpdate() FQuaternion mf_quat_dq = FQuaternion::from_axis_angle(axis, theta); FQuaternion mf_quat = CFquat * mf_quat_dq; mf_euler = { mf_quat.GetRoll(), mf_quat.GetPitch(), mf_quat.GetYaw() }; + //UE_LOG(LogTemp, Warning, TEXT(" MF Quat euler: %f % f %f!"), mf_euler.X, mf_euler.Y, mf_euler.Z); } - //UE_LOG(LogTemp, Warning, TEXT(" MF Quat euler: %f % f %f!"), mf_euler.X, mf_euler.Y, mf_euler.Z); + FVector final_euler; if (mf_euler.Size() > 1e-4) { @@ -491,11 +482,12 @@ void EKFilter::CompFilterUpdate() void EKFilter::UpdateState() { - FVector delAngles = recentGyro.data_corrected; - delAngles.X = fabs(delAngles.X) > 1e-3 ? delAngles.X : 0.0; - delAngles.Y = fabs(delAngles.Y) > 1e-3 ? delAngles.Y : 0.0; - delAngles.Z = fabs(delAngles.Z) > 1e-3 ? delAngles.Z : 0.0; + //FVector delAngles = recentGyro.data_corrected; + //delAngles.X = fabs(delAngles.X) > 1e-3 ? delAngles.X : 0.0; + //delAngles.Y = fabs(delAngles.Y) > 1e-3 ? delAngles.Y : 0.0; + //delAngles.Z = fabs(delAngles.Z) > 1e-3 ? delAngles.Z : 0.0; //UE_LOG(LogTemp, Warning, TEXT("Using delta angles: %f % f %f!"), delAngles.X, delAngles.Y, delAngles.Z); + FVector delAngles = (recentGyro.data - State.gyro_bias) * recentGyro.dt; FQuaternion dq = FQuaternion::from_axis_angle(delAngles); FQuaternion nq = State.quat * dq; @@ -1170,7 +1162,7 @@ void EKFilter::FuseMagnetometer() } else { - //UE_LOG(LogTemp, Display, TEXT("Magnetometer fusion KHP[%d][%d], P[%d][%d] : %f, %f"), i, i, i, i, KHP[i][i], P[i][i]); + UE_LOG(LogTemp, Display, TEXT("Magnetometer fusion KHP[%d][%d], P[%d][%d] : %f, %f"), i, i, i, i, KHP[i][i], P[i][i]); healthyFusion = false; } } @@ -1441,6 +1433,11 @@ void EKFilter::VelPosFusion() Kfusion[i] = P[i][stateIndex] * SK; } + //for (uint8_t i = 16; i < NumStates; i++) + //{ + //Kfusion[i] = 0.0; + //} + for (uint8_t i = 0; i < NumStates; i++) { for (uint8_t j = 0; j < NumStates; j++) @@ -1460,7 +1457,7 @@ void EKFilter::VelPosFusion() } else { - //UE_LOG(LogTemp, Display, TEXT("Velocity Position KHP[%d][%d], P[%d][%d] : %f, %f"), i, i, i, i, KHP[i][i], P[i][i]); + UE_LOG(LogTemp, Display, TEXT("Velocity Position KHP[%d][%d], P[%d][%d] : %f, %f"), i, i, i, i, KHP[i][i], P[i][i]); healthyFusion = false; } } diff --git a/Source/LuckyWorld/EKFilter.h b/Source/LuckyWorld/EKFilter.h index 20e980ab..2dc6f4aa 100644 --- a/Source/LuckyWorld/EKFilter.h +++ b/Source/LuckyWorld/EKFilter.h @@ -38,6 +38,15 @@ struct StateElements FVector body_magfield; }; +struct OutputState +{ + FQuaternion quat; + FVector velocity = { 0, 0, 0 }; + FVector position = { 0, 0, 0 }; + FVector pqr; + FVector acceleration; +}; + class LUCKYWORLD_API EKFilter { public: @@ -56,7 +65,7 @@ public: const bool IsInitialised() const { return Initialised; }; bool InitialiseFilter(); void Update(); - void GetState(StateElements& state_struct); + void GetState(OutputState& state_struct); private: StateElements State; Vector22 StateArray; diff --git a/Source/LuckyWorld/MultiRotorDrone.cpp b/Source/LuckyWorld/MultiRotorDrone.cpp index a3cf62c3..081136bc 100644 --- a/Source/LuckyWorld/MultiRotorDrone.cpp +++ b/Source/LuckyWorld/MultiRotorDrone.cpp @@ -83,13 +83,9 @@ void AMultiRotorDrone::SetCurrentState() TargetPosition = State.Position; TargetYaw = State.Orientation.Z; State.initialised = true; - return; } - - FVector accel = (State.Velocity - prev_velocity) / MjStep; - State.Acceleration = accel; - FVector EulerDt = (State.Orientation - prev_euler) / MjStep; - EulerDt2PQR(EulerDt); + State.Acceleration = EstState.acceleration; + PQR = EstState.pqr; } void AMultiRotorDrone::EulerDt2PQR(FVector& EulerDt) diff --git a/Source/LuckyWorld/MultiRotorDrone.h b/Source/LuckyWorld/MultiRotorDrone.h index e38c6809..e83acb44 100644 --- a/Source/LuckyWorld/MultiRotorDrone.h +++ b/Source/LuckyWorld/MultiRotorDrone.h @@ -128,7 +128,7 @@ protected: bool KeepXYPosition = false; FlyingMode Mode = MANUAL; - + bool use_true_state = true; struct PID_Controller @@ -288,9 +288,8 @@ protected: FTrueDroneState TrueState; FTrueDroneState State; - StateElements EstState; + OutputState EstState; - bool use_true_state = true; bool AltitudeManualControl = true; bool XYmanualControl = true;