mirror of
https://github.com/ArduPilot/ardupilot
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239 lines
8.6 KiB
C++
239 lines
8.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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IMU temperature calibration handling
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*/
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#include "AP_InertialSensor.h"
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#if HAL_INS_TEMPERATURE_CAL_ENABLE
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// temperature calibration parameters, per IMU
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const AP_Param::GroupInfo AP_InertialSensor::TCal::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable temperature calibration
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// @Description: Enable the use of temperature calibration parameters for this IMU
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 1, AP_InertialSensor::TCal, enable, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: TMIN
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// @DisplayName: Temperature calibration min
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// @Description: The minimum temperature that the calibration is valid for
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// @Range: -70 80
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// @Units: degC
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("TMIN", 2, AP_InertialSensor::TCal, temp_min, 0),
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// @Param: TMAX
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// @DisplayName: Temperature calibration max
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// @Description: The maximum temperature that the calibration is valid for
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// @Range: -70 80
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// @Units: degC
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("TMAX", 3, AP_InertialSensor::TCal, temp_max, 0),
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// @Param: ACC1_X
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// @DisplayName: Accelerometer 1st order temperature coefficient X axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC1_Y
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// @DisplayName: Accelerometer 1st order temperature coefficient Y axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC1_Z
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// @DisplayName: Accelerometer 1st order temperature coefficient Z axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("ACC1", 4, AP_InertialSensor::TCal, accel_coeff[0], 0),
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// @Param: ACC2_X
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// @DisplayName: Accelerometer 2nd order temperature coefficient X axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC2_Y
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// @DisplayName: Accelerometer 2nd order temperature coefficient Y axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC2_Z
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// @DisplayName: Accelerometer 2nd order temperature coefficient Z axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("ACC2", 5, AP_InertialSensor::TCal, accel_coeff[1], 0),
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// @Param: ACC3_X
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// @DisplayName: Accelerometer 3rd order temperature coefficient X axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC3_Y
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// @DisplayName: Accelerometer 3rd order temperature coefficient Y axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: ACC3_Z
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// @DisplayName: Accelerometer 3rd order temperature coefficient Z axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("ACC3", 6, AP_InertialSensor::TCal, accel_coeff[2], 0),
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// @Param: GYR1_X
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// @DisplayName: Gyroscope 1st order temperature coefficient X axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR1_Y
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// @DisplayName: Gyroscope 1st order temperature coefficient Y axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR1_Z
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// @DisplayName: Gyroscope 1st order temperature coefficient Z axis
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// @Description: This is the 1st order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("GYR1", 7, AP_InertialSensor::TCal, gyro_coeff[0], 0),
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// @Param: GYR2_X
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// @DisplayName: Gyroscope 2nd order temperature coefficient X axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR2_Y
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// @DisplayName: Gyroscope 2nd order temperature coefficient Y axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR2_Z
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// @DisplayName: Gyroscope 2nd order temperature coefficient Z axis
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// @Description: This is the 2nd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("GYR2", 8, AP_InertialSensor::TCal, gyro_coeff[1], 0),
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// @Param: GYR3_X
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// @DisplayName: Gyroscope 3rd order temperature coefficient X axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR3_Y
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// @DisplayName: Gyroscope 3rd order temperature coefficient Y axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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// @Param: GYR3_Z
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// @DisplayName: Gyroscope 3rd order temperature coefficient Z axis
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// @Description: This is the 3rd order temperature coefficient from a temperature calibration
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// @User: Advanced
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// @Calibration: 1
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AP_GROUPINFO("GYR3", 9, AP_InertialSensor::TCal, gyro_coeff[2], 0),
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AP_GROUPEND
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};
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/*
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evaluate a 3rd order polynomial (without the constant term) given a set of coefficients
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*/
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Vector3f AP_InertialSensor::TCal::polynomial_eval(float tdiff, const AP_Vector3f coeff[3]) const
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{
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// evaluate order 3 polynomial
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const Vector3f *c = (Vector3f *)&coeff[0];
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// this scale factor ensures params are easy to work with in GUI parameter editors
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const float scale_factor = 1.0e-6;
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return (c[0] + (c[1] + c[2]*tdiff)*tdiff)*tdiff*scale_factor;
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}
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/*
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correct a single sensor for the current temperature
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*/
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void AP_InertialSensor::TCal::correct_sensor(float temperature, float cal_temp, const AP_Vector3f coeff[3], Vector3f &v) const
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{
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if (!enable) {
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return;
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}
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temperature = constrain_float(temperature, temp_min, temp_max);
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cal_temp = constrain_float(cal_temp, temp_min, temp_max);
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const float tmid = (temp_max + temp_min)*0.5;
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if (tmid <= 0) {
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return;
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}
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// get the polynomial correction for the difference between the
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// current temperature and the mid temperature
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v -= polynomial_eval(temperature - tmid, coeff);
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// we need to add the correction for the temperature
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// difference between the tmid, which is the reference used for
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// the calibration process, and the cal_temp, which is the
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// temperature that the offsets and scale factors was setup for
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v += polynomial_eval(cal_temp - tmid, coeff);
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}
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void AP_InertialSensor::TCal::correct_accel(float temperature, float cal_temp, Vector3f &accel) const
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{
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correct_sensor(temperature, cal_temp, accel_coeff, accel);
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}
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void AP_InertialSensor::TCal::correct_gyro(float temperature, float cal_temp, Vector3f &gyro) const
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{
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correct_sensor(temperature, cal_temp, gyro_coeff, gyro);
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}
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void AP_InertialSensor::TCal::sitl_apply_accel(float temperature, Vector3f &accel) const
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{
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Vector3f v;
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correct_sensor(temperature, 0.5*(temp_max+temp_min), accel_coeff, v);
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accel -= v;
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}
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void AP_InertialSensor::TCal::sitl_apply_gyro(float temperature, Vector3f &gyro) const
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{
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Vector3f v;
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correct_sensor(temperature, 0.5*(temp_max+temp_min), gyro_coeff, v);
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gyro -= v;
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}
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#endif // HAL_INS_TEMPERATURE_CAL_ENABLE
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