Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; WP_MatchesMapRegex has a deprecated constructor in /home/sdreams/public_html/wp-includes/class-wp.php on line 635

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Translation_Entry has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/entry.php on line 14

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; POMO_Reader has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/streams.php on line 12

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; POMO_FileReader has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/streams.php on line 106

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; POMO_StringReader has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/streams.php on line 150

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; POMO_CachedFileReader has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/streams.php on line 189

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; POMO_CachedIntFileReader has a deprecated constructor in /home/sdreams/public_html/wp-includes/pomo/streams.php on line 204

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; WP_Widget_Factory has a deprecated constructor in /home/sdreams/public_html/wp-includes/widgets.php on line 405

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; downloadable_file has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/download-monitor/classes/downloadable_file.class.php on line 5

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; download_taxonomies has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/download-monitor/classes/download_taxonomies.class.php on line 6

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; download_category has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/download-monitor/classes/download_taxonomies.class.php on line 142

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; download_tag has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/download-monitor/classes/download_taxonomies.class.php on line 165

Deprecated: Function create_function() is deprecated in /home/sdreams/public_html/wp-includes/pomo/translations.php on line 171

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Jetpack has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/class.jetpack.php on line 25

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Jetpack_User_Agent_Info has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/class.jetpack-user-agent.php on line 61

Deprecated: Function create_function() is deprecated in /home/sdreams/public_html/wp-includes/pomo/translations.php on line 171

Deprecated: Function create_function() is deprecated in /home/sdreams/public_html/wp-includes/pomo/translations.php on line 171

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Jetpack_Image_Widget has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/widgets/image-widget.php on line 9

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Jetpack_RSS_Links_Widget has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/widgets/rsslinks-widget.php on line 9

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; safecss has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/custom-css/custom-css.php on line 1431

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Jetpack_Notifications has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/notes.php on line 27

Deprecated: Function create_function() is deprecated in /home/sdreams/public_html/wp-includes/pomo/translations.php on line 171

Deprecated: Function create_function() is deprecated in /home/sdreams/public_html/wp-includes/pomo/translations.php on line 171

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Sharing_Service_Total has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/sharedaddy/sharing-service.php on line 352

Deprecated: Methods with the same name as their class will not be constructors in a future version of PHP; Sharing_Post_Total has a deprecated constructor in /home/sdreams/public_html/wp-content/plugins/jetpack/modules/sharedaddy/sharing-service.php on line 374
Mejoras: Software DSP – HAL Instrumentos « SmartDreams
Notice: get_settings está obsoleto desde la versión 2.1. Utiliza get_option() en su lugar. in /home/sdreams/public_html/wp-includes/functions.php on line 3202

Notice: get_settings está obsoleto desde la versión 2.1. Utiliza get_option() en su lugar. in /home/sdreams/public_html/wp-includes/functions.php on line 3202

Notice: get_settings está obsoleto desde la versión 2.1. Utiliza get_option() en su lugar. in /home/sdreams/public_html/wp-includes/functions.php on line 3202

Mejoras: Software DSP – HAL Instrumentos

El objetivo de este módulo es leer la información desde los instrumentos de la IMU a través de una de las interfaces SPI del DSP, aplicar los procesos de filtrado adecuados y poner a disposición del módulo de control, el ángulo de inclinación y su derivada en unidades adecuadas.

Para cumplir con estos requerimientos, es necesario ejecutar una rutina de manejo de la interfaz SPI en conjunto con los algoritmos de filtrado y la máquina de estados que lee secuencialmente cada instrumento, ya que se requiere acceder a cuatro dispositivos diferentes a través de un mismo bus, mediante un sistema de direccionamiento incorporado en el diseño electrónico.

Esto se logró aplicando el mismo enfoque de administración de tareas del sistema completo, de manera anidada en este módulo. En consecuencia, se creó un sub módulo encargado de manejar la interfaz SPI; otro sub módulo encargado de recibir las lecturas de los instrumentos y aplicar los filtrados correspondientes; y finalmente un sub-módulo encargado de ejecutar la máquina de estados, solicitando la lectura de un instrumento diferente de manera secuencial, cada cierto intervalo de tiempo determinado por la configuración del módulo HAL Timer.

En el cálculo de los valores que son puestos a disposición del módulo de control se aplican dos clases de filtrado:

  • Promedio móvil: Para minimizar el efecto que puedan tener eventuales datos incorrectos, producto del ruido electromagnético en el bus de comunicación u otro motivo. Se realiza un promedio de las últimas lecturas obtenidas en una ventana de tiempo determinada. Este tipo de filtrado suaviza la señal de salida pero genera retardos en la respuesta del sistema, por lo que se escogieron tamaños de ventana relativamente pequeños.
  • Limitación de derivada: Puesto que las lecturas provienen de un sistema dinámico que posee una cierta inercia, se toma como hipótesis que las variables físicas no pueden variar arbitrariamente entre una muestra y otra. De esta manera, si se aplica un limitador adecuado a la diferencia entre la lectura que se recibe y la anterior, se pueden filtrar valores inválidos sin sacrificar mayormente el tiempo de respuesta del controlador.

Además de los procesos de filtrado, el módulo de lectura de instrumentos implementa una alarma que detiene el vehículo si la lectura del giróscopo es excesivamente alta. Esto sucede habitualmente con movimientos violentos propios de un controlador inestable o producto de un choque del vehículo.

Agregar comentario

Categorías

Enlaces

Estadísticas


eXTReMe Tracker