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SITL: added a simpler compass cal simulation 

just output 1250 to servo5 and it will go through lots of rotations
This commit is contained in:
Andrew Tridgell 2016-09-16 08:59:43 +10:00
parent 2d2ed7b06e
commit 8f35305496
2 changed files with 71 additions and 2 deletions
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68
libraries/SITL/SIM_Calibration.cpp
View File

@ -39,8 +39,10 @@ void SITL::Calibration::update(const struct sitl_input& input)
_stop_control(input, rot_accel);
} else if (switcher_pwm < 1200) {
_attitude_control(input, rot_accel);
} else if (switcher_pwm < 1300) {
_calibration_poses(rot_accel);
} else {
_angular_velocity_control(input, rot_accel);
_attitude_control(input, rot_accel);
}
accel_body(0, 0, 0);
@ -68,6 +70,14 @@ void SITL::Calibration::_attitude_control(const struct sitl_input& input,
float desired_roll = -M_PI + 2 * M_PI * (input.servos[5] - 1000) / 1000.f;
float desired_pitch = -M_PI + 2 * M_PI * (input.servos[6] - 1000) / 1000.f;
float desired_yaw = -M_PI + 2 * M_PI * (input.servos[7] - 1000) / 1000.f;
_attitude_set(desired_roll, desired_pitch, desired_yaw, rot_accel);
}
void SITL::Calibration::_attitude_set(float desired_roll, float desired_pitch, float desired_yaw,
Vector3f& rot_accel)
{
float dt = frame_time_us * 1.0e-6f;
Quaternion desired_q;
@ -101,7 +111,9 @@ void SITL::Calibration::_angular_velocity_control(const struct sitl_input& in,
float theta = MAX_ANGULAR_SPEED * (in.servos[4] - 1200) / 800.f;
float dt = frame_time_us * 1.0e-6f;
axis.normalize();
if (axis.length() > 0) {
axis.normalize();
}
Vector3f desired_angvel = axis * theta;
Vector3f error = desired_angvel - gyro;
@ -110,3 +122,55 @@ void SITL::Calibration::_angular_velocity_control(const struct sitl_input& in,
/* Provide a somewhat "smooth" transition */
rot_accel *= .05f;
}
/*
move continuously through 6 calibration poses, doing a rotation
about each pose over 3 seconds
*/
void SITL::Calibration::_calibration_poses(Vector3f& rot_accel)
{
const struct pose {
int16_t roll, pitch, yaw;
uint8_t axis;
} poses[] = {
{ 0, 0, 0, 0 },
{ 0, 0, 0, 1 },
{ 0, 0, 0, 2 },
{ 90, 0, 0, 1 },
{ 0, 90, 0, 1 },
{ 0, 180, 0, 2 },
{ 45, 0, 0, 1 },
{ 0, 45, 0, 2 },
{ 0, 0, 45, 0 },
{ 30, 0, 0, 1 },
{ 0, 30, 0, 0 },
{ 30, 0, 0, 1 },
{ 0, 0, 30, 0 },
{ 0, 0, 30, 1 },
{ 60, 20, 0, 1 },
{ 0, 50, 10, 0 },
{ 0, 30, 50, 1 },
{ 0, 30, 50, 2 },
};
const float secs_per_pose = 6;
const float rate = radians(360 / secs_per_pose);
float tnow = AP_HAL::millis() * 1.0e-3;
float t_in_pose = fmod(tnow, secs_per_pose);
uint8_t pose_num = ((unsigned)(tnow / secs_per_pose)) % ARRAY_SIZE(poses);
const struct pose &pose = poses[pose_num];
// let the sensor smoothing create sensible gyro values
use_smoothing = true;
dcm.identity();
dcm.from_euler(radians(pose.roll), radians(pose.pitch), radians(pose.yaw));
Vector3f axis;
axis[pose.axis] = 1;
float rot_angle = rate * t_in_pose;
Matrix3f r2;
r2.from_axis_angle(axis, rot_angle);
dcm = r2 * dcm;
accel_body(0, 0, -GRAVITY_MSS);
accel_body = dcm.transposed() * accel_body;
}

5
libraries/SITL/SIM_Calibration.h
View File

@ -71,10 +71,15 @@ public:
private:
void _stop_control(const struct sitl_input& input, Vector3f& rot_accel);
void _attitude_set(float desired_roll, float desired_pitch, float desired_yaw,
Vector3f& rot_accel);
void _attitude_control(const struct sitl_input& input,
Vector3f& rot_accel);
void _angular_velocity_control(const struct sitl_input& input,
Vector3f& rot_accel);
void _calibration_poses(Vector3f& rot_accel);
};
}