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Working code for single basestation #465

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Working code for single basestation #465

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2a6574e
Reset lighthouse deck on boot
NicksonYap Sep 2, 2019
d7593ea
Add library for Matrix SVD function
NicksonYap Sep 2, 2019
b730909
Speed up SVD Lib use float instead of double
NicksonYap Sep 4, 2019
708047d
Partially working single basestation (math is right, logic is faulty)
NicksonYap Sep 4, 2019
d1f11c0
Check if Singular_Value_Decomposition success
NicksonYap Sep 4, 2019
699125b
clean up
NicksonYap Sep 4, 2019
c4c3069
estimatePosition - tidy up
NicksonYap Sep 4, 2019
ff6b41c
Fix angleTimestamping
NicksonYap Sep 4, 2019
ca25364
Fix timing
NicksonYap Sep 4, 2019
550e321
Count unique rays per second
NicksonYap Sep 4, 2019
7aa4a8b
Hopefully fixed sweep validation timing
NicksonYap Sep 5, 2019
f6b0632
Re-arrange
NicksonYap Sep 5, 2019
beb5e9a
disable lighthouseGeometryBestFitBetweenRays
NicksonYap Sep 5, 2019
41574df
free(dummy_array)
NicksonYap Sep 6, 2019
29b369d
Fix sensor geometry
NicksonYap Sep 6, 2019
f3cc1e6
Skip single basestation for now
NicksonYap Sep 6, 2019
7e876a1
Test to calculate only when all 4 sensors see all 2 BS
NicksonYap Sep 6, 2019
5efbed1
Re-activate bestFit (still crashes)
NicksonYap Sep 6, 2019
7b68e04
lighthouseGeometryBestFitBetweenRays - rearrange, but still crashes
NicksonYap Sep 6, 2019
6ee8448
attempt to free some ram?
NicksonYap Sep 6, 2019
2d5dec6
finally able to run (but buggy)
NicksonYap Sep 7, 2019
5cc0c56
simplify
NicksonYap Sep 7, 2019
019e4cc
clean up
NicksonYap Sep 7, 2019
63ac40e
Recompute S vector
NicksonYap Sep 7, 2019
0b4a107
Allow single basestation
NicksonYap Sep 7, 2019
e55b5d2
clean up
NicksonYap Sep 7, 2019
863aa42
Basestation geometry with respect to world
NicksonYap Sep 7, 2019
7b0bc5c
Fix
NicksonYap Sep 7, 2019
6d52095
Reduce iterations
NicksonYap Sep 7, 2019
df5d97b
Use Singular_Value_Decomposition_Solve
NicksonYap Sep 8, 2019
a9458e4
lighthouseGeometryBestFitBetweenRays - cleanup
NicksonYap Sep 8, 2019
2c19508
Cleanup
NicksonYap Sep 8, 2019
bff3427
lighthouseGeometryBestFitBetweenRays - Clean up
NicksonYap Sep 8, 2019
76b19e5
Cleanup lighthouse.c - removed some counting
NicksonYap Sep 8, 2019
af3af9e
Remove unused header
NicksonYap Sep 8, 2019
c83d058
Forgot to remove cycleRate
NicksonYap Sep 8, 2019
016a10b
Merge branch 'lh_fix_get_bs_pos' into lh_single_bs
NicksonYap Sep 8, 2019
6133427
get_bs_position - Convert from VR to CF
NicksonYap Sep 8, 2019
50aa653
Use FLT_EPSILON
NicksonYap Sep 9, 2019
977f95c
Use fabsf
NicksonYap Sep 9, 2019
9c0ad70
sqrtf
NicksonYap Sep 9, 2019
c05c43a
Make sure all constant numbers are float
NicksonYap Sep 9, 2019
472e5cd
Fix some integer conversion warning
NicksonYap Sep 9, 2019
9fc1d8b
fix when DISABLE_LIGHTHOUSE_DRIVER==1
NicksonYap Sep 9, 2019
a1207b6
pulse_processor - #include "task.h"
NicksonYap Sep 9, 2019
f69fb46
Merge branch 'master' into lh_single_bs
NicksonYap Sep 16, 2019
ec2ad65
Lighthouse - Ensure geometries are initialized as float, avoids warnings
NicksonYap Sep 16, 2019
aefac3c
Fix compile errors
NicksonYap Sep 17, 2019
143c896
Fix FPGA flashing due to reset
NicksonYap Sep 17, 2019
d8eb3f4
Fix logging false reported ext_pos
NicksonYap Sep 17, 2019
b415001
More accurate center, adjust stdDev, some analysis
NicksonYap Sep 19, 2019
4cc58fd
Tighter stdDev
NicksonYap Sep 19, 2019
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7 changes: 7 additions & 0 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,9 @@ PROJ_OBJ += diskio_function_tests.o
CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
endif

#mymathlib.com
VPATH += $(LIB)/mymathlib.com

# Crazyflie sources
VPATH += src/init src/hal/src src/modules/src src/utils/src src/drivers/bosch/src src/drivers/src src/platform

Expand Down Expand Up @@ -237,6 +240,9 @@ PROJ_OBJ += SEGGER_RTT.o SEGGER_RTT_printf.o
CFLAGS += -DDEBUG_PRINT_ON_SEGGER_RTT
endif

# mymathlib.com
PROJ_OBJ += singular_value_decomposition.o

# Libs
PROJ_OBJ += libarm_math.a

Expand Down Expand Up @@ -267,6 +273,7 @@ INCLUDES += -Ivendor/libdw1000/inc
INCLUDES += -I$(LIB)/FatFS
INCLUDES += -I$(LIB)/vl53l1
INCLUDES += -I$(LIB)/vl53l1/core/inc
INCLUDES += -I$(LIB)/mymathlib.com

ifeq ($(DEBUG), 1)
CFLAGS += -O0 -g3 -DDEBUG
Expand Down
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