mirror of https://github.com/ArduPilot/ardupilot
360 lines
9.9 KiB
C++
360 lines
9.9 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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#include "AP_AccelCal.h"
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#include <stdarg.h>
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#include <GCS_MAVLink/GCS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_HAL/AP_HAL.h>
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const extern AP_HAL::HAL& hal;
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static bool _start_collect_sample;
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static void _snoop(const mavlink_message_t* msg);
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uint8_t AP_AccelCal::_num_clients = 0;
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AP_AccelCal_Client* AP_AccelCal::_clients[AP_ACCELCAL_MAX_NUM_CLIENTS] {};
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void AP_AccelCal::update()
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{
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if (!get_calibrator(0)) {
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// no calibrators
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return;
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}
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if (_started) {
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update_status();
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AccelCalibrator *cal;
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uint8_t num_active_calibrators = 0;
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for(uint8_t i=0; (cal = get_calibrator(i)); i++) {
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num_active_calibrators++;
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}
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if (num_active_calibrators != _num_active_calibrators) {
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fail();
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return;
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}
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if(_start_collect_sample) {
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collect_sample();
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_gcs->set_snoop(NULL);
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_start_collect_sample = false;
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}
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switch(_status) {
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case ACCEL_CAL_NOT_STARTED:
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fail();
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return;
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case ACCEL_CAL_WAITING_FOR_ORIENTATION: {
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// if we're waiting for orientation, first ensure that all calibrators are on the same step
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uint8_t step;
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if ((cal = get_calibrator(0)) == NULL) {
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fail();
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return;
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}
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step = cal->get_num_samples_collected()+1;
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for(uint8_t i=1 ; (cal = get_calibrator(i)) ; i++) {
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if (step != cal->get_num_samples_collected()+1) {
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fail();
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return;
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}
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}
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// if we're on a new step, print a message describing the step
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if (step != _step) {
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_step = step;
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const char *msg;
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switch (step) {
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case 1:
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msg = "level";
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break;
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case 2:
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msg = "on its LEFT side";
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break;
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case 3:
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msg = "on its RIGHT side";
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break;
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case 4:
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msg = "nose DOWN";
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break;
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case 5:
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msg = "nose UP";
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break;
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case 6:
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msg = "on its BACK";
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break;
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default:
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fail();
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return;
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}
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_printf("Place vehicle %s and press any key.", msg);
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}
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// setup snooping of packets so we can see the COMMAND_ACK
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_gcs->set_snoop(_snoop);
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break;
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}
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case ACCEL_CAL_COLLECTING_SAMPLE:
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// check for timeout
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for(uint8_t i=0; (cal = get_calibrator(i)); i++) {
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cal->check_for_timeout();
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}
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update_status();
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if (_status == ACCEL_CAL_FAILED) {
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fail();
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}
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return;
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case ACCEL_CAL_SUCCESS:
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// save
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if (_saving) {
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bool done = true;
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for(uint8_t i=0; i<_num_clients; i++) {
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if (client_active(i) && _clients[i]->_acal_get_saving()) {
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done = false;
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break;
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}
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}
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if (done) {
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success();
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}
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return;
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} else {
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for(uint8_t i=0; i<_num_clients; i++) {
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if(client_active(i) && _clients[i]->_acal_get_fail()) {
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fail();
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return;
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}
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}
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for(uint8_t i=0; i<_num_clients; i++) {
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if(client_active(i)) {
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_clients[i]->_acal_save_calibrations();
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}
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}
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_saving = true;
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}
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return;
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default:
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case ACCEL_CAL_FAILED:
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fail();
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return;
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}
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}
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}
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void AP_AccelCal::start(GCS_MAVLINK *gcs)
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{
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if (gcs == NULL || _started) {
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return;
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}
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_start_collect_sample = false;
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_num_active_calibrators = 0;
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AccelCalibrator *cal;
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for(uint8_t i=0; (cal = get_calibrator(i)); i++) {
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cal->clear();
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cal->start(ACCEL_CAL_AXIS_ALIGNED_ELLIPSOID, 6, 0.5f);
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_num_active_calibrators++;
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}
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_started = true;
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_saving = false;
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_gcs = gcs;
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_step = 0;
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update_status();
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}
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void AP_AccelCal::success()
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{
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_printf("Calibration successful");
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for(uint8_t i=0 ; i < _num_clients ; i++) {
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_clients[i]->_acal_event_success();
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}
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clear();
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}
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void AP_AccelCal::cancel()
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{
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_printf("Calibration cancelled");
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for(uint8_t i=0 ; i < _num_clients ; i++) {
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_clients[i]->_acal_event_cancellation();
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}
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clear();
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}
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void AP_AccelCal::fail()
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{
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_printf("Calibration FAILED");
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for(uint8_t i=0 ; i < _num_clients ; i++) {
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_clients[i]->_acal_event_failure();
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}
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clear();
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}
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void AP_AccelCal::clear()
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{
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if (!_started) {
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return;
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}
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AccelCalibrator *cal;
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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cal->clear();
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}
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_gcs = NULL;
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_step = 0;
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_started = false;
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_saving = false;
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update_status();
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}
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void AP_AccelCal::collect_sample()
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{
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if (_status != ACCEL_CAL_WAITING_FOR_ORIENTATION) {
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return;
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}
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for(uint8_t i=0; i<_num_clients; i++) {
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if (client_active(i) && !_clients[i]->_acal_get_ready_to_sample()) {
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_printf("Not ready to sample");
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return;
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}
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}
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AccelCalibrator *cal;
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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cal->collect_sample();
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}
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// setup snooping of packets so we can see the COMMAND_ACK
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_gcs->set_snoop(NULL);
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update_status();
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}
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void AP_AccelCal::register_client(AP_AccelCal_Client* client) {
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if (client == NULL || _num_clients >= AP_ACCELCAL_MAX_NUM_CLIENTS) {
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return;
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}
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for(uint8_t i=0; i<_num_clients; i++) {
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if(_clients[i] == client) {
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return;
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}
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}
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_clients[_num_clients] = client;
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_num_clients++;
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}
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AccelCalibrator* AP_AccelCal::get_calibrator(uint8_t index) {
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AccelCalibrator* ret;
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for(uint8_t i=0; i<_num_clients; i++) {
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for(uint8_t j=0 ; (ret = _clients[i]->_acal_get_calibrator(j)) ; j++) {
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if (index == 0) {
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return ret;
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}
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index--;
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}
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}
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return NULL;
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}
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void AP_AccelCal::update_status() {
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AccelCalibrator *cal;
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if (!get_calibrator(0)) {
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// no calibrators
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_status = ACCEL_CAL_NOT_STARTED;
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return;
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}
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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if (cal->get_status() == ACCEL_CAL_FAILED) {
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_status = ACCEL_CAL_FAILED; //fail if even one of the calibration has
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return;
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}
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}
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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if (cal->get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
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_status = ACCEL_CAL_COLLECTING_SAMPLE; // move to Collecting sample state if all the callibrators have
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return;
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}
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}
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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if (cal->get_status() == ACCEL_CAL_WAITING_FOR_ORIENTATION) {
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_status = ACCEL_CAL_WAITING_FOR_ORIENTATION; // move to waiting for user ack for orientation confirmation
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return;
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}
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}
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for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
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if (cal->get_status() == ACCEL_CAL_NOT_STARTED) {
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_status = ACCEL_CAL_NOT_STARTED; // we haven't started if all the calibrators haven't
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return;
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}
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}
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_status = ACCEL_CAL_SUCCESS; // we have succeeded calibration if all the calibrators have
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return;
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}
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bool AP_AccelCal::client_active(uint8_t client_num)
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{
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return (bool)_clients[client_num]->_acal_get_calibrator(0);
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}
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static void _snoop(const mavlink_message_t* msg)
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{
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if (msg->msgid == MAVLINK_MSG_ID_COMMAND_ACK) {
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_start_collect_sample = true;
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}
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}
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void AP_AccelCal::_printf(const char* fmt, ...)
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{
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if (!_gcs) {
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return;
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}
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char msg[50];
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va_list ap;
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va_start(ap, fmt);
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hal.util->vsnprintf(msg, sizeof(msg), fmt, ap);
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va_end(ap);
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if (msg[strlen(msg)-1] == '\n') {
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// STATUSTEXT messages should not add linefeed
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msg[strlen(msg)-1] = 0;
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}
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AP_HAL::UARTDriver *uart = _gcs->get_uart();
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/*
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* to ensure these messages get to the user we need to wait for the
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* port send buffer to have enough room
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*/
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while (uart->txspace() < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_STATUSTEXT_LEN) {
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hal.scheduler->delay(1);
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}
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#if !APM_BUILD_TYPE(APM_BUILD_Replay)
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_gcs->send_text(MAV_SEVERITY_CRITICAL, msg);
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#endif
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}
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