ardupilot/libraries/AP_Compass/CompassCalibrator.h

175 lines
4.6 KiB
C
Raw Normal View History

#pragma once
#include <AP_Math/AP_Math.h>
#define COMPASS_CAL_NUM_SPHERE_PARAMS 4
#define COMPASS_CAL_NUM_ELLIPSOID_PARAMS 9
#define COMPASS_CAL_NUM_SAMPLES 300
//RMS tolerance
#define COMPASS_CAL_DEFAULT_TOLERANCE 5.0f
enum compass_cal_status_t {
COMPASS_CAL_NOT_STARTED=0,
COMPASS_CAL_WAITING_TO_START=1,
COMPASS_CAL_RUNNING_STEP_ONE=2,
COMPASS_CAL_RUNNING_STEP_TWO=3,
COMPASS_CAL_SUCCESS=4,
COMPASS_CAL_FAILED=5,
COMPASS_CAL_BAD_ORIENTATION=6,
};
class CompassCalibrator {
public:
typedef uint8_t completion_mask_t[10];
CompassCalibrator();
void start(bool retry, float delay, uint16_t offset_max, uint8_t compass_idx);
void clear();
void update(bool &failure);
void new_sample(const Vector3f &sample);
bool check_for_timeout();
bool running() const;
void set_orientation(enum Rotation orientation, bool is_external, bool fix_orientation) {
_check_orientation = true;
_orientation = orientation;
_orig_orientation = orientation;
_is_external = is_external;
_fix_orientation = fix_orientation;
}
void set_tolerance(float tolerance) { _tolerance = tolerance; }
void get_calibration(Vector3f &offsets, Vector3f &diagonals, Vector3f &offdiagonals);
enum Rotation get_orientation(void) { return _orientation; }
enum Rotation get_original_orientation(void) { return _orig_orientation; }
float get_completion_percent() const;
completion_mask_t& get_completion_mask();
enum compass_cal_status_t get_status() const { return _status; }
float get_fitness() const { return sqrtf(_fitness); }
float get_orientation_confidence() const { return _orientation_confidence; }
uint8_t get_attempt() const { return _attempt; }
private:
class param_t {
public:
float* get_sphere_params() {
return &radius;
}
float* get_ellipsoid_params() {
return &offset.x;
}
float radius;
Vector3f offset;
Vector3f diag;
Vector3f offdiag;
};
// compact class for approximate attitude, to save memory
class AttitudeSample {
public:
Matrix3f get_rotmat();
void set_from_ahrs();
private:
int8_t roll;
int8_t pitch;
int8_t yaw;
};
class CompassSample {
public:
Vector3f get() const;
void set(const Vector3f &in);
AttitudeSample att;
private:
int16_t x;
int16_t y;
int16_t z;
};
enum Rotation _orientation;
enum Rotation _orig_orientation;
bool _is_external;
bool _check_orientation;
bool _fix_orientation;
uint8_t _compass_idx;
enum compass_cal_status_t _status;
// timeout watchdog state
uint32_t _last_sample_ms;
// behavioral state
float _delay_start_sec;
uint32_t _start_time_ms;
bool _retry;
float _tolerance;
uint8_t _attempt;
uint16_t _offset_max;
completion_mask_t _completion_mask;
//fit state
class param_t _params;
uint16_t _fit_step;
CompassSample *_sample_buffer;
float _fitness; // mean squared residuals
float _initial_fitness;
float _sphere_lambda;
float _ellipsoid_lambda;
uint16_t _samples_collected;
uint16_t _samples_thinned;
float _orientation_confidence;
bool set_status(compass_cal_status_t status);
// returns true if sample should be added to buffer
bool accept_sample(const Vector3f &sample);
bool accept_sample(const CompassSample &sample);
// returns true if fit is acceptable
bool fit_acceptable();
void reset_state();
void initialize_fit();
bool fitting() const;
// thins out samples between step one and step two
void thin_samples();
float calc_residual(const Vector3f& sample, const param_t& params) const;
float calc_mean_squared_residuals(const param_t& params) const;
float calc_mean_squared_residuals() const;
void calc_initial_offset();
void calc_sphere_jacob(const Vector3f& sample, const param_t& params, float* ret) const;
void run_sphere_fit();
void calc_ellipsoid_jacob(const Vector3f& sample, const param_t& params, float* ret) const;
void run_ellipsoid_fit();
/**
* Update #_completion_mask for the geodesic section of \p v. Corrections
* are applied to \p v with #_params.
*
* @param v[in] A vector representing one calibration sample.
*/
void update_completion_mask(const Vector3f& v);
/**
* Reset and update #_completion_mask with the current samples.
*/
void update_completion_mask();
Vector3f calculate_earth_field(CompassSample &sample, enum Rotation r);
bool calculate_orientation();
};