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main.c
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main.c
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#include "main.h"
#include "get_quat_from_K.h"
#include "get_quat_from_K_initialize.h"
#include "get_quat_from_K_terminate.h"
#include "optimal_request.h"
#include "optimal_request_init.h"
#include <stdio.h>
#define MEAS_DATA_LEN 10
// clang-format off
// m/s^2
float ref_acc[MEAS_DATA_LEN][3] = {
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f},
{-0.0518488f, -0.0495620f, -0.9974243f}
};
// uT
float ref_mag[MEAS_DATA_LEN][3] = {
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f},
{0.8514420f, 0.5186020f, 0.0780922f}
};
// m/s^2
float bdy_acc[MEAS_DATA_LEN][3] = {
{-0.0499382f, -0.0499465f, -0.9975026f},
{0.0701378f, 0.0133364f, -0.9974482f},
{-0.0649361f, 0.0263973f, -0.9975402f},
{0.0408270f, -0.0591221f, -0.9974155f},
{-0.0000943f, 0.0739300f, -0.9972634f},
{-0.0360212f, -0.0617453f, -0.9974417f},
{0.0632904f, 0.0319716f, -0.9974829f},
{-0.0697152f, 0.0078434f, -0.9975361f},
{0.0553128f, -0.0455329f, -0.9974303f},
{-0.0213633f, 0.0689299f, -0.9973927f},
};
// uT
float bdy_mag[MEAS_DATA_LEN][3] = {
{0.8586434f, 0.5011600f, 0.1075650f},
{-0.9945581f, 0.0674259f, 0.0794227f},
{0.8250760f, -0.5603430f, 0.0725626f},
{-0.4015002f, 0.9142123f, 0.0548959f},
{-0.2057217f, -0.9744645f, 0.0899864f},
{0.6722905f, 0.7350830f, 0.0876269f},
{-0.9676241f, -0.2360950f, 0.0892341f},
{0.9378584f, -0.3283825f, 0.1121896f},
{-0.5882629f, 0.8040481f, 0.0863333f},
{0.0727781f, -0.9955956f, 0.0590990f}
};
// rad/s
float bdy_gyr[MEAS_DATA_LEN][3] = {
{0.0001055f, -0.0002394f, 0.9989619f},
{-0.0004950f, -0.0008095f, 0.9997655f},
{0.0012313f, -0.0003464f, 0.9997750f},
{-0.0006960f, -0.0000978f, 0.9995347f},
{0.0008544f, 0.0000944f, 0.9987742f},
{0.0002633f, 0.0012149f, 1.0002811f},
{0.0000908f, -0.0011827f, 1.0000168f},
{0.0002767f, -0.0002244f, 1.0004414f},
{0.0001294f, 0.0004387f, 0.9997478f},
{0.0001225f, 0.0002816f, 0.9999148f},
};
// clang-format on
void or_fill_r(float r[6], float vec1[3], float vec2[3])
{
r[0] = vec1[0];
r[1] = vec1[1];
r[2] = vec1[2];
r[3] = vec2[0];
r[4] = vec2[1];
r[5] = vec2[2];
}
void or_fill_b(float b[6], float vec1[3], float vec2[3])
{
b[0] = vec1[0];
b[1] = vec1[1];
b[2] = vec1[2];
b[3] = vec2[0];
b[4] = vec2[1];
b[5] = vec2[2];
}
void or_fill_w(float w[3], float vec_w[3])
{
w[0] = vec_w[0];
w[1] = vec_w[1];
w[2] = vec_w[2];
}
int main(void)
{
struct0_T or_handle;
float q_est[4];
// these values are not changing
or_handle.Mu_noise_var = 0.0008117f;
or_handle.Eta_noise_var = 0.0000010f;
or_handle.dT = 10.0f;
// for k = 0
// first measurements
or_fill_r(or_handle.r, ref_acc[0], ref_mag[0]);
or_fill_b(or_handle.b, bdy_acc[0], bdy_mag[0]);
or_fill_w(or_handle.w, bdy_gyr[0]);
// init optimal_req on 1st meas
optimal_request_init(&or_handle);
get_quat_from_K(or_handle.K, q_est);
// for all other measurements
for (int i = 1; i < MEAS_DATA_LEN; i++) {
// fill r and b vectors with measurements
or_fill_r(or_handle.r, ref_acc[i], ref_mag[i]);
or_fill_b(or_handle.b, bdy_acc[i], bdy_mag[i]);
or_fill_w(or_handle.w, bdy_gyr[i]);
// call optimal req on meas
optimal_request(&or_handle);
// get q from K
get_quat_from_K(or_handle.K, q_est);
printf("q_estimate[%d] = %5f %10f %10f %10f \n",
i,
q_est[0],
q_est[1],
q_est[2],
q_est[3]);
}
return 0;
}