Merge branch 'master' into telescience-v0.2

[fw/altos] / src / kalman / kalman.5c

diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c
index f734718413f8233c69cd5a58574a6c76c61a8756..46fa8e1fdefecbcd9dad65a9e1208c4bb2df306a 100755 (executable)
--- a/src/kalman/kalman.5c
+++ b/src/kalman/kalman.5c
@@ -55,6 +55,12 @@ real default_σ_m = 5;
 real default_σ_h = 20;
 real default_σ_a = 2;
 
+real[3,3] model_error(t, Φ) = multiply_mat_val ((real[3,3]) {
+               { t**5 / 20, t**4 / 8, t**3 / 6 },
+               { t**4 /  8, t**3 / 3, t**2 / 2 },
+               { t**3 /  6, t**2 / 2, t }
+       }, Φ);
+
 parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
        if (σ_m == 0)
                σ_m = default_σ_m;
@@ -87,11 +93,7 @@ parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
  * Model error covariance. The only inaccuracy in the
  * model is the assumption that acceleration is constant
  */
-               .q = (real[3,3]) {
-                       { 0, 0, 0 },
-                       { 0, 0, 0 },
-                       {.0, 0, σ_m**2 },
-               },
+               .q = model_error (t, σ_m**2),
 /*
  * Measurement error covariance
  * Our sensors are independent, so
@@ -140,11 +142,7 @@ parameters_t param_baro(real t, real σ_m, real σ_h) {
  * Model error covariance. The only inaccuracy in the
  * model is the assumption that acceleration is constant
  */
-               .q = (real[3,3]) {
-                       { 0, 0, 0 },
-                       { 0, 0, 0 },
-                       {.0, 0, σ_m**2 },
-               },
+               .q = model_error (t, σ_m**2),
 /*
  * Measurement error covariance
  * Our sensors are independent, so
@@ -191,11 +189,7 @@ parameters_t param_accel(real t, real σ_m, real σ_a) {
  * Model error covariance. The only inaccuracy in the
  * model is the assumption that acceleration is constant
  */
-               .q = (real[3,3]) {
-                       { 0, 0, 0 },
-                       { 0, 0, 0 },
-                       {.0, 0, σ_m**2 },
-               },
+               .q = model_error (t, σ_m**2),
 /*
  * Measurement error covariance
  * Our sensors are independent, so
@@ -236,11 +230,7 @@ parameters_t param_vel(real t) {
  * Model error covariance. The only inaccuracy in the
  * model is the assumption that acceleration is constant
  */
-               .q = (real[3,3]) {
-                       { 0, 0, 0 },
-                       { 0, 0, 0 },
-                       {.0, 0, σ_m**2 },
-               },
+               .q = model_error (t, σ_m**2),
 /*
  * Measurement error covariance
  * Our sensors are independent, so
@@ -460,19 +450,17 @@ void main() {
                mat_t k = converge(param);
                int[] d = dims(k);
                int time_inc = floor(1/time_step + 0.5);
-               if (d[1] == 2) {
-                       for (int i = 0; i < d[0]; i++)
-                               for (int j = 0; j < d[1]; j++)
-                                       printf ("#define %s_K%d%d_%d to_fix16(%12.10f)\n",
-                                               prefix, i, j, time_inc, k[i,j]);
-               } else {
-                       for (int i = 0; i < d[0]; i++) {
-                               printf ("#define %s_K%d_%d to_fix16(%12.10f)\n",
-                                       prefix, i, time_inc, k[i,0]);
+               for (int i = 0; i < d[0]; i++)
+                       for (int j = 0; j < d[1]; j++) {
+                               string name;
+                               if (d[1] == 1)
+                                       name = sprintf("%s_K%d_%d", prefix, i, time_inc);
+                               else
+                                       name = sprintf("%s_K%d%d_%d", prefix, i, j, time_inc);
+                               printf ("#define %s to_fix32(%12.10f)\n", name, k[i,j]);
                        }
-               }
                printf ("\n");
-               return;
+               exit(0);
        }
        string[dim(argv) - user_argind] rest = { [i] = argv[i+user_argind] };