mirror of https://github.com/ArduPilot/ardupilot
554 lines
19 KiB
C++
554 lines
19 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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#define AP_INLINE_VECTOR_OPS
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#include "AP_InertialSensor_tempcal.h"
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#include "AP_InertialSensor_config.h"
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#if HAL_INS_TEMPERATURE_CAL_ENABLE
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Common/ExpandingString.h>
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#include <AP_Notify/AP_Notify.h>
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// this scale factor ensures params are easy to work with in GUI parameter editors
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#define SCALE_FACTOR 1.0e6
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#define INV_SCALE_FACTOR 1.0e-6
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#define TEMP_RANGE_MIN 10
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// timeout calibration after 10 minutes, if no temperature rise
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#define CAL_TIMEOUT_MS (600U*1000U)
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/*
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we use a fixed reference temperature of 35C. This has the advantage
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that we don't need to know the final temperature when doing an
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online calibration which allows us to have a calibration timeout
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*/
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#define TEMP_REFERENCE 35.0
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extern const AP_HAL::HAL& hal;
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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. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
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// @Values: 0:Disabled,1:Enabled,2:LearnCalibration
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO_FLAGS("ENABLE", 1, AP_InertialSensor_TCal, enable, float(Enable::Disabled), 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. This must be at least 10 degrees above TMIN for calibration
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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, 70),
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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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return (c[0] + (c[1] + c[2]*tdiff)*tdiff)*tdiff*INV_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 != Enable::Enabled) {
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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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// 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 - TEMP_REFERENCE, coeff);
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// we need to add the correction for the temperature
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// difference between the TREF, 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 - TEMP_REFERENCE, 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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/*
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for SITL we don't apply the temperature limits and use mid-point as
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reference. This makes the SITL data independent of TEMP_REFERENCE
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and prevents an abrupt change at the endpoints
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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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const float tmid = 0.5*(temp_max+temp_min);
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accel += polynomial_eval(temperature - tmid, accel_coeff);
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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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const float tmid = 0.5*(temp_max+temp_min);
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gyro += polynomial_eval(temperature - tmid, gyro_coeff);
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}
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AP_InertialSensor_TCal::Learn::Learn(AP_InertialSensor_TCal &_tcal, float _start_temp) :
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start_temp(_start_temp),
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tcal(_tcal)
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{
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reset(_start_temp);
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}
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/*
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update polyfit with new sample
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*/
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void AP_InertialSensor_TCal::Learn::add_sample(const Vector3f &sample, float temperature, struct LearnState &st)
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{
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temperature = st.temp_filter.apply(temperature);
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st.sum += sample;
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st.sum_count++;
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uint32_t now = AP_HAL::millis();
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if (st.sum_count < 100 ||
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temperature - st.last_temp < 0.5) {
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// check for timeout
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if (st.last_sample_ms != 0 &&
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temperature - start_temp >= TEMP_RANGE_MIN &&
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now - st.last_sample_ms > CAL_TIMEOUT_MS) {
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// we have timed out, finish up now
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finish_calibration(st.last_temp);
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}
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// wait for more data
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return;
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}
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st.sum /= st.sum_count;
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const uint8_t si = &st - &state[0];
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const float T = (temperature + st.last_temp) * 0.5;
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if (si == 0) {
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// we use the first accel sample as the zero baseline
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if (accel_start.is_zero()) {
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accel_start = st.sum;
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start_temp = T;
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}
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st.sum -= accel_start;
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}
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const float tdiff = T - TEMP_REFERENCE;
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#if HAL_LOGGING_ENABLED
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AP::logger().Write("TCLR", "TimeUS,I,SType,Temp,X,Y,Z,NSamp",
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"s#------",
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"F000000-",
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"QBBffffI",
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AP_HAL::micros64(),
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instance(),
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si,
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T,
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st.sum.x, st.sum.y, st.sum.z,
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st.sum_count);
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#endif
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st.pfit.update(tdiff, st.sum);
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st.sum.zero();
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st.sum_count = 0;
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st.last_temp = temperature;
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st.last_sample_ms = now;
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if (temperature - start_temp >= TEMP_RANGE_MIN) {
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if (temperature >= start_tmax) {
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// we've reached the target temperature
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finish_calibration(temperature);
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} else if (now - last_save_ms > 15000) {
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// save partial calibration, so if user stops the cal part
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// way then they still have a useful calibration
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last_save_ms = now;
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save_calibration(st.last_temp);
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}
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}
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}
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/*
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update accel temperature compensation learning
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*/
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void AP_InertialSensor_TCal::update_accel_learning(const Vector3f &accel, float temperature)
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{
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if (enable != Enable::LearnCalibration) {
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return;
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}
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if (learn == nullptr && hal.scheduler->is_system_initialized()) {
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learn = new Learn(*this, temperature);
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if (learn) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TCAL[%u]: started calibration t=%.1fC tmax=%.1fC",
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instance()+1,
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temperature, learn->start_tmax);
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AP_Notify::events.initiated_temp_cal = 1;
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}
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}
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if (learn != nullptr) {
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AP_Notify::flags.temp_cal_running = true;
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learn->add_sample(accel, temperature, learn->state[0]);
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}
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}
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/*
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update gyro temperature compensation learning
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*/
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void AP_InertialSensor_TCal::update_gyro_learning(const Vector3f &gyro, float temperature)
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{
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if (enable != Enable::LearnCalibration) {
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return;
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}
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if (learn != nullptr) {
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learn->add_sample(gyro, temperature, learn->state[1]);
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}
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}
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/*
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reset calibration
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*/
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void AP_InertialSensor_TCal::Learn::reset(float temperature)
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{
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memset((void*)&state[0], 0, sizeof(state));
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start_tmax = tcal.temp_max;
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accel_start.zero();
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for (uint8_t i=0; i<ARRAY_SIZE(state); i++) {
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state[i].temp_filter.set_cutoff_frequency(1000, 0.5);
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state[i].temp_filter.reset(temperature);
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state[i].last_temp = temperature;
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}
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}
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/*
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finish and save calibration
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*/
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void AP_InertialSensor_TCal::Learn::finish_calibration(float temperature)
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{
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if (!save_calibration(temperature)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TCAL[%u]: failed fit", instance()+1);
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AP_Notify::events.temp_cal_failed = 1;
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tcal.enable.set_and_save_ifchanged(int8_t(AP_InertialSensor_TCal::Enable::Disabled));
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return;
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}
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TCAL[%u]: completed calibration tmin=%.1f tmax=%.1f",
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instance()+1,
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tcal.temp_min.get(), tcal.temp_max.get());
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tcal.enable.set_and_save_ifchanged(int8_t(AP_InertialSensor_TCal::Enable::Enabled));
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}
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/*
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save calibration state
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*/
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bool AP_InertialSensor_TCal::Learn::save_calibration(float temperature)
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{
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Vector3f coefficients[3];
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Vector3f p[4];
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if (!state[0].pfit.get_polynomial(p)) {
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return false;
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}
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for (uint8_t k=0; k<3; k++) {
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coefficients[k] = p[2-k] * SCALE_FACTOR;
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}
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for (uint8_t k=0; k<3; k++) {
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tcal.accel_coeff[k].set_and_save_ifchanged(coefficients[k]);
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}
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if (!state[1].pfit.get_polynomial(p)) {
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return false;
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}
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for (uint8_t k=0; k<3; k++) {
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coefficients[k] = p[2-k] * SCALE_FACTOR;
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}
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for (uint8_t k=0; k<3; k++) {
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tcal.gyro_coeff[k].set_and_save_ifchanged(coefficients[k]);
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}
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tcal.temp_min.set_and_save_ifchanged(start_temp);
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tcal.temp_max.set_and_save_ifchanged(temperature);
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return true;
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}
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uint8_t AP_InertialSensor_TCal::instance(void) const
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{
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return AP::ins().tcal_instance(*this);
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}
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/*
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get a string representation of parameters for this calibration set
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*/
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void AP_InertialSensor_TCal::get_persistent_params(ExpandingString &str) const
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{
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if (enable != AP_InertialSensor_TCal::Enable::Enabled) {
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return;
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}
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const uint8_t imu = instance()+1;
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#if INS_AUX_INSTANCES
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if (imu > 3) {
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str.printf("INS%u_TCAL_ENABLE=1\n", imu);
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str.printf("INS%u_TCAL_TMIN=%.2f\n", imu, temp_min.get());
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str.printf("INS%u_TCAL_TMAX=%.2f\n", imu, temp_max.get());
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for (uint8_t k=0; k<3; k++) {
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const Vector3f &acc = accel_coeff[k].get();
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const Vector3f &gyr = gyro_coeff[k].get();
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str.printf("INS%u_TCAL_ACC%u_X=%f\n", imu, k+1, acc.x);
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str.printf("INS%u_TCAL_ACC%u_Y=%f\n", imu, k+1, acc.y);
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str.printf("INS%u_TCAL_ACC%u_Z=%f\n", imu, k+1, acc.z);
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str.printf("INS%u_TCAL_GYR%u_X=%f\n", imu, k+1, gyr.x);
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str.printf("INS%u_TCAL_GYR%u_Y=%f\n", imu, k+1, gyr.y);
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str.printf("INS%u_TCAL_GYR%u_Z=%f\n", imu, k+1, gyr.z);
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}
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return;
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}
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#endif
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str.printf("INS_TCAL%u_ENABLE=1\n", imu);
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str.printf("INS_TCAL%u_TMIN=%.2f\n", imu, temp_min.get());
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str.printf("INS_TCAL%u_TMAX=%.2f\n", imu, temp_max.get());
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for (uint8_t k=0; k<3; k++) {
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const Vector3f &acc = accel_coeff[k].get();
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const Vector3f &gyr = gyro_coeff[k].get();
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str.printf("INS_TCAL%u_ACC%u_X=%f\n", imu, k+1, acc.x);
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str.printf("INS_TCAL%u_ACC%u_Y=%f\n", imu, k+1, acc.y);
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str.printf("INS_TCAL%u_ACC%u_Z=%f\n", imu, k+1, acc.z);
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str.printf("INS_TCAL%u_GYR%u_X=%f\n", imu, k+1, gyr.x);
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str.printf("INS_TCAL%u_GYR%u_Y=%f\n", imu, k+1, gyr.y);
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str.printf("INS_TCAL%u_GYR%u_Z=%f\n", imu, k+1, gyr.z);
|
|
}
|
|
}
|
|
|
|
/*
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|
get a string representation of parameters that should be made
|
|
persistent across changes of firmware type
|
|
*/
|
|
void AP_InertialSensor::get_persistent_params(ExpandingString &str) const
|
|
{
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|
bool save_options = false;
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if (uint32_t(tcal_options.get()) & uint32_t(TCalOptions::PERSIST_ACCEL_CAL)) {
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|
save_options = true;
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|
for (uint8_t i=0; i<(INS_MAX_INSTANCES-INS_AUX_INSTANCES); i++) {
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const uint8_t imu = i+1;
|
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const Vector3f &aoff = _accel_offset(i).get();
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const Vector3f &ascl = _accel_scale(i).get();
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|
char id[2] = "";
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|
if (i > 0) {
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|
id[0] = '1'+i;
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|
}
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|
str.printf("INS_ACC%s_ID=%u\n", id, unsigned(_accel_id(i).get()));
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|
str.printf("INS_ACC%sOFFS_X=%f\n", id, aoff.x);
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|
str.printf("INS_ACC%sOFFS_Y=%f\n", id, aoff.y);
|
|
str.printf("INS_ACC%sOFFS_Z=%f\n", id, aoff.z);
|
|
str.printf("INS_ACC%sSCAL_X=%f\n", id, ascl.x);
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|
str.printf("INS_ACC%sSCAL_Y=%f\n", id, ascl.y);
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|
str.printf("INS_ACC%sSCAL_Z=%f\n", id, ascl.z);
|
|
str.printf("INS_ACC%u_CALTEMP=%.2f\n", imu, caltemp_accel(i).get());
|
|
}
|
|
#if INS_AUX_INSTANCES
|
|
for (uint8_t i=0; i<INS_AUX_INSTANCES; i++) {
|
|
const uint8_t imu = i+(INS_MAX_INSTANCES-INS_AUX_INSTANCES);
|
|
const Vector3f &aoff = params[i]._accel_offset.get();
|
|
const Vector3f &ascl = params[i]._accel_scale.get();
|
|
str.printf("INS%u_ACC_ID=%u\n", imu, unsigned(params[i]._accel_id.get()));
|
|
str.printf("INS%u_ACCOFFS_X=%f\n", imu, aoff.x);
|
|
str.printf("INS%u_ACCOFFS_Y=%f\n", imu, aoff.y);
|
|
str.printf("INS%u_ACCOFFS_Z=%f\n", imu, aoff.z);
|
|
str.printf("INS%u_ACCSCAL_X=%f\n", imu, ascl.x);
|
|
str.printf("INS%u_ACCSCAL_Y=%f\n", imu, ascl.y);
|
|
str.printf("INS%u_ACC_CALTEMP=%.2f\n", imu, params[i].caltemp_accel.get());
|
|
}
|
|
#endif
|
|
}
|
|
if (uint32_t(tcal_options.get()) & uint32_t(TCalOptions::PERSIST_TEMP_CAL)) {
|
|
for (auto &tc : tcal_old_param) {
|
|
tc.get_persistent_params(str);
|
|
}
|
|
#if INS_AUX_INSTANCES
|
|
for (uint8_t i=0; i<INS_AUX_INSTANCES; i++) {
|
|
params[i].tcal.get_persistent_params(str);
|
|
}
|
|
#endif
|
|
save_options = true;
|
|
}
|
|
if (save_options) {
|
|
/*
|
|
we also have to save the TCAL_OPTIONS parameter so that
|
|
future flashing of the bootloader doesn't cause an erase
|
|
*/
|
|
str.printf("INS_TCAL_OPTIONS=%u\n", unsigned(tcal_options.get()));
|
|
}
|
|
}
|
|
|
|
|
|
#endif // HAL_INS_TEMPERATURE_CAL_ENABLE
|