// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* compass/motor interference calibration */ // setup_compassmot - sets compass's motor interference parameters static uint8_t mavlink_compassmot(mavlink_channel_t chan) { int8_t comp_type; // throttle or current based compensation Vector3f compass_base; // compass vector when throttle is zero Vector3f motor_impact; // impact of motors on compass vector Vector3f motor_impact_scaled; // impact of motors on compass vector scaled with throttle Vector3f motor_compensation; // final compensation to be stored to eeprom float throttle_pct; // throttle as a percentage 0.0 ~ 1.0 float throttle_pct_max = 0.0f; // maximum throttle reached (as a percentage 0~1.0) float current_amps_max = 0.0f; // maximum current reached float interference_pct = 0.0f; // interference as a percentage of total mag field (for reporting purposes only) uint32_t last_run_time; uint32_t last_send_time; bool updated = false; // have we updated the compensation vector at least once uint8_t command_ack_start = command_ack_counter; // exit immediately if we are already in compassmot if (ap.compass_mot) { // ignore restart messages return 1; }else{ ap.compass_mot = true; } // check compass is enabled if (!g.compass_enabled) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("compass disabled\n")); ap.compass_mot = false; return 1; } // check compass health compass.read(); if (!compass.healthy()) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("check compass")); ap.compass_mot = false; return 1; } // check if radio is calibrated pre_arm_rc_checks(); if (!ap.pre_arm_rc_check) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("RC not calibrated")); ap.compass_mot = false; return 1; } // check throttle is at zero read_radio(); if (g.rc_3.control_in != 0) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("thr not zero")); ap.compass_mot = false; return 1; } // check we are landed if (!ap.land_complete) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("Not landed")); ap.compass_mot = false; return 1; } // disable cpu failsafe failsafe_disable(); // initialise compass init_compass(); // default compensation type to use current if possible if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) { comp_type = AP_COMPASS_MOT_COMP_CURRENT; }else{ comp_type = AP_COMPASS_MOT_COMP_THROTTLE; } // send back initial ACK mavlink_msg_command_ack_send(chan, MAV_CMD_PREFLIGHT_CALIBRATION,0); // flash leds AP_Notify::flags.esc_calibration = true; // warn user we are starting calibration gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("STARTING CALIBRATION")); // inform what type of compensation we are attempting if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) { gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("CURRENT")); } else{ gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("THROTTLE")); } // disable throttle and battery failsafe g.failsafe_throttle = FS_THR_DISABLED; g.failsafe_battery_enabled = FS_BATT_DISABLED; g.failsafe_gps_enabled = FS_GPS_DISABLED; // disable motor compensation compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED); compass.set_motor_compensation(Vector3f(0,0,0)); // get initial compass readings last_run_time = millis(); while ( millis() - last_run_time < 500 ) { compass.accumulate(); } compass.read(); // store initial x,y,z compass values compass_base = compass.get_field(); // initialise motor compensation motor_compensation = Vector3f(0,0,0); // enable motors and pass through throttle init_rc_out(); output_min(); motors.armed(true); // initialise run time last_run_time = millis(); last_send_time = millis(); // main run while there is no user input and the compass is healthy while (command_ack_start == command_ack_counter && compass.healthy() && motors.armed()) { // 50hz loop if (millis() - last_run_time < 20) { // grab some compass values compass.accumulate(); hal.scheduler->delay(5); continue; } last_run_time = millis(); // read radio input read_radio(); // pass through throttle to motors motors.throttle_pass_through(); // read some compass values compass.read(); // read current read_battery(); // calculate scaling for throttle throttle_pct = (float)g.rc_3.control_in / 1000.0f; throttle_pct = constrain_float(throttle_pct,0.0f,1.0f); // if throttle is near zero, update base x,y,z values if (throttle_pct <= 0.0f) { compass_base = compass_base * 0.99f + compass.get_field() * 0.01f; // causing printing to happen as soon as throttle is lifted } else { // calculate diff from compass base and scale with throttle motor_impact = compass.get_field() - compass_base; // throttle based compensation if (comp_type == AP_COMPASS_MOT_COMP_THROTTLE) { // scale by throttle motor_impact_scaled = motor_impact / throttle_pct; // adjust the motor compensation to negate the impact motor_compensation = motor_compensation * 0.99f - motor_impact_scaled * 0.01f; updated = true; } else { // current based compensation if more than 3amps being drawn motor_impact_scaled = motor_impact / battery.current_amps(); // adjust the motor compensation to negate the impact if drawing over 3amps if( battery.current_amps() >= 3.0f ) { motor_compensation = motor_compensation * 0.99f - motor_impact_scaled * 0.01f; updated = true; } } // calculate interference percentage at full throttle as % of total mag field if (comp_type == AP_COMPASS_MOT_COMP_THROTTLE) { // interference is impact@fullthrottle / mag field * 100 interference_pct = motor_compensation.length() / (float)COMPASS_MAGFIELD_EXPECTED * 100.0f; }else{ // interference is impact/amp * (max current seen / max throttle seen) / mag field * 100 interference_pct = motor_compensation.length() * (current_amps_max/throttle_pct_max) / (float)COMPASS_MAGFIELD_EXPECTED * 100.0f; } // record maximum throttle and current throttle_pct_max = max(throttle_pct_max, throttle_pct); current_amps_max = max(current_amps_max, battery.current_amps()); } if (hal.scheduler->millis() - last_send_time > 500) { last_send_time = hal.scheduler->millis(); mavlink_msg_compassmot_status_send(chan, g.rc_3.control_in, battery.current_amps(), interference_pct, motor_compensation.x, motor_compensation.y, motor_compensation.z); } } // stop motors motors.output_min(); motors.armed(false); // set and save motor compensation if (updated) { compass.motor_compensation_type(comp_type); compass.set_motor_compensation(motor_compensation); compass.save_motor_compensation(); // display success message gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("Calibration Successful!")); } else { // compensation vector never updated, report failure gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH, PSTR("Failed!")); compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED); } // display new motor offsets and save report_compass(); // turn off notify leds AP_Notify::flags.esc_calibration = false; // re-enable cpu failsafe failsafe_enable(); // re-enable failsafes g.failsafe_throttle.load(); g.failsafe_battery_enabled.load(); g.failsafe_gps_enabled.load(); // flag we have completed ap.compass_mot = false; return 0; }