mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.0 KiB
C++
125 lines
3.0 KiB
C++
#include <AP_Math/AP_Math.h>
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#define COMPASS_CAL_NUM_SPHERE_PARAMS 4
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#define COMPASS_CAL_NUM_ELLIPSOID_PARAMS 9
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#define COMPASS_CAL_NUM_SAMPLES 300
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//RMS tolerance
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#define COMPASS_CAL_DEFAULT_TOLERANCE 5.0f
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enum compass_cal_status_t {
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COMPASS_CAL_NOT_STARTED=0,
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COMPASS_CAL_WAITING_TO_START=1,
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COMPASS_CAL_RUNNING_STEP_ONE=2,
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COMPASS_CAL_RUNNING_STEP_TWO=3,
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COMPASS_CAL_SUCCESS=4,
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COMPASS_CAL_FAILED=5
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};
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class CompassCalibrator {
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public:
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CompassCalibrator();
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void start(bool retry=false, bool autosave=false, float delay=0.0f);
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void clear();
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void update(bool &failure);
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void new_sample(const Vector3f &sample);
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bool check_for_timeout();
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bool running() const;
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void set_tolerance(float tolerance) { _tolerance = tolerance; }
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void get_calibration(Vector3f &offsets, Vector3f &diagonals, Vector3f &offdiagonals);
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float get_completion_percent() const;
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enum compass_cal_status_t get_status() const { return _status; }
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float get_fitness() const { return sqrtf(_fitness); }
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bool get_autosave() const { return _autosave; }
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uint8_t get_attempt() const { return _attempt; }
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private:
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class param_t {
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public:
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float* get_sphere_params() {
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return &radius;
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}
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float* get_ellipsoid_params() {
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return &offset.x;
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}
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float radius;
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Vector3f offset;
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Vector3f diag;
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Vector3f offdiag;
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};
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class CompassSample {
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public:
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Vector3f get() const;
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void set(const Vector3f &in);
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private:
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int16_t x;
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int16_t y;
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int16_t z;
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};
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enum compass_cal_status_t _status;
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// timeout watchdog state
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uint32_t _last_sample_ms;
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// behavioral state
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float _delay_start_sec;
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uint32_t _start_time_ms;
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bool _autosave;
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bool _retry;
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float _tolerance;
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uint8_t _attempt;
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//fit state
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class param_t _params;
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uint16_t _fit_step;
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CompassSample *_sample_buffer;
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float _fitness; // mean squared residuals
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float _initial_fitness;
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float _sphere_lambda;
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float _ellipsoid_lambda;
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uint16_t _samples_collected;
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uint16_t _samples_thinned;
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bool set_status(compass_cal_status_t status);
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// returns true if sample should be added to buffer
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bool accept_sample(const Vector3f &sample);
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bool accept_sample(const CompassSample &sample);
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// returns true if fit is acceptable
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bool fit_acceptable();
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void reset_state();
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void initialize_fit();
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bool fitting() const;
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// thins out samples between step one and step two
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void thin_samples();
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float calc_residual(const Vector3f& sample, const param_t& params) const;
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float calc_mean_squared_residuals(const param_t& params) const;
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float calc_mean_squared_residuals() const;
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void calc_sphere_jacob(const Vector3f& sample, const param_t& params, float* ret) const;
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void run_sphere_fit();
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void calc_ellipsoid_jacob(const Vector3f& sample, const param_t& params, float* ret) const;
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void run_ellipsoid_fit();
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uint16_t get_random();
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};
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