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AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt

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This commit is contained in:
rmackay9 2012-12-05 09:20:31 +09:00
parent a5c4e65cdf
commit a92b7f3477
1 changed files with 8 additions and 0 deletions
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libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -13,6 +13,10 @@
/* AP_InertialSensor is an abstraction for gyro and accel measurements /* AP_InertialSensor is an abstraction for gyro and accel measurements
* which are correctly aligned to the body axes and scaled to SI units. * which are correctly aligned to the body axes and scaled to SI units.
*
* Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt
* blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
* original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
*/ */
class AP_InertialSensor class AP_InertialSensor
{ {
@ -139,6 +143,10 @@ protected:
void (*flash_leds_cb)(bool on) = NULL); void (*flash_leds_cb)(bool on) = NULL);
#if !defined( __AVR_ATmega1280__ ) #if !defined( __AVR_ATmega1280__ )
// Calibration routines borrowed from Rolfe Schmidt
// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
// _calibrate_accel - perform low level accel calibration // _calibrate_accel - perform low level accel calibration
virtual bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale); virtual bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale);
virtual void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]); virtual void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]);