mirror of https://github.com/ArduPilot/ardupilot
109 lines
4.2 KiB
C++
109 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_IMU_Oilpan.h
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/// @brief IMU driver for the APM oilpan
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#ifndef AP_IMU_Oilpan_h
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#define AP_IMU_Oilpan_h
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Math/AP_Math.h"
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#include "../AP_ADC/AP_ADC.h"
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#include <inttypes.h>
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#include "IMU.h"
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class AP_IMU_Oilpan : public IMU
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{
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public:
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/// Constructor
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///
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/// Saves the ADC pointer and constructs the calibration data variable.
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///
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/// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer.
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/// @param key The AP_Var::key value we will use when loading/saving calibration data.
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///
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AP_IMU_Oilpan(AP_ADC *adc, AP_Var::Key key) :
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_adc(adc),
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_sensor_cal(key, PSTR("IMU_SENSOR_CAL"))
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// _sensor_cal(key, PSTR("IMU_SENSOR_CAL"), AP_Var::k_flag_no_auto_load)
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{}
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/// Do warm or cold start.
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///
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/// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved
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/// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the
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/// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro.
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///
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/// @param style Selects the initialisation style.
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/// COLD_START performs calibration of both the accelerometer and gyro.
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/// WARM_START loads accelerometer and gyro calibration from a previous cold start.
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///
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virtual void init(Start_style style = COLD_START, void (*callback)(unsigned long t) = delay);
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virtual void save();
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virtual void init_accel(void (*callback)(unsigned long t) = delay);
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virtual void init_gyro(void (*callback)(unsigned long t) = delay);
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virtual bool update(void);
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// for jason
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float gx() { return _sensor_cal[0]; }
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float gy() { return _sensor_cal[1]; }
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float gz() { return _sensor_cal[2]; }
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float ax() { return _sensor_cal[3]; }
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float ay() { return _sensor_cal[4]; }
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float az() { return _sensor_cal[5]; }
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void ax(const float v) { _sensor_cal[3] = v; }
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void ay(const float v) { _sensor_cal[4] = v; }
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void az(const float v) { _sensor_cal[5] = v; }
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private:
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AP_ADC *_adc; ///< ADC that we use for reading sensors
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AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets
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virtual void _init_accel(void (*callback)(unsigned long t)); ///< no-save implementation
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virtual void _init_gyro(void (*callback)(unsigned long t)); ///< no-save implementation
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float _sensor_compensation(uint8_t channel, int temp) const;
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float _sensor_in(uint8_t channel, int temperature);
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// constants
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static const uint8_t _sensors[6]; ///< ADC channel mappings for the sensors
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static const int8_t _sensor_signs[6]; ///< ADC result sign adjustment for sensors
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static const uint8_t _gyro_temp_ch = 3; ///< ADC channel reading the gyro temperature
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static const float _gyro_temp_curve[3][3]; ///< Temperature compensation curve for the gyro
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// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
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// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
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// Tested value : 418
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//
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static const float _gravity = 423.8; ///< 1G in the raw data coming from the accelerometer
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// Value based on actual sample data from 20 boards
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static const float _accel_scale = 9.80665 / 423.8; ///< would like to use _gravity here, but cannot
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// IDG500 Sensitivity (from datasheet) => 2.0mV/degree/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
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// Tested values : 0.4026, ?, 0.4192
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//
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static const float _gyro_gain_x = 0.4; // X axis Gyro gain
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static const float _gyro_gain_y = 0.41; // Y axis Gyro gain
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static const float _gyro_gain_z = 0.41; // Z axis Gyro gain
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// Maximum possible value returned by an offset-corrected sensor channel
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//
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static const float _adc_constraint = 900;
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// Gyro and Accelerometer calibration criterial
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//
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static const float _gyro_total_cal_change = 4.0; // Experimentally derived - allows for some minor motion
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static const float _gyro_max_cal_offset = 320.0;
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static const float _accel_total_cal_change = 4.0;
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static const float _accel_max_cal_offset = 250.0;
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};
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#endif
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