forked from Archive/PX4-Autopilot
Checkpoint: Working, but non-verified full mag calibration
This commit is contained in:
Lorenz Meier
parent
28171fb596
commit
096bf2dc93
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@ -0,0 +1,175 @@
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#include <math.h>
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#include "calibration_routines.h"
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int sphere_fit_least_squares(const float x[], const float y[], const float z[],
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unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) {
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float x_sumplain = 0.0f;
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float x_sumsq = 0.0f;
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float x_sumcube = 0.0f;
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float y_sumplain = 0.0f;
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float y_sumsq = 0.0f;
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float y_sumcube = 0.0f;
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float z_sumplain = 0.0f;
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float z_sumsq = 0.0f;
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float z_sumcube = 0.0f;
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float xy_sum = 0.0f;
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float xz_sum = 0.0f;
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float yz_sum = 0.0f;
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float x2y_sum = 0.0f;
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float x2z_sum = 0.0f;
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float y2x_sum = 0.0f;
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float y2z_sum = 0.0f;
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float z2x_sum = 0.0f;
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float z2y_sum = 0.0f;
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for (unsigned int i = 0; i < size; i++) {
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float x2 = x[i] * x[i];
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float y2 = y[i] * y[i];
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float z2 = z[i] * z[i];
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x_sumplain += x[i];
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x_sumsq += x2;
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x_sumcube += x2 * x[i];
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y_sumplain += y[i];
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y_sumsq += y2;
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y_sumcube += y2 * y[i];
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z_sumplain += z[i];
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z_sumsq += z2;
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z_sumcube += z2 * z[i];
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xy_sum += x[i] * y[i];
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xz_sum += x[i] * z[i];
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yz_sum += y[i] * z[i];
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x2y_sum += x2 * y[i];
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x2z_sum += x2 * z[i];
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y2x_sum += y2 * x[i];
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y2z_sum += y2 * z[i];
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z2x_sum += z2 * x[i];
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z2y_sum += z2 * y[i];
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}
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//
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//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
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//
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// P is a structure that has been computed with the data earlier.
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// P.npoints is the number of elements; the length of X,Y,Z are identical.
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// P's members are logically named.
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//
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// X[n] is the x component of point n
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// Y[n] is the y component of point n
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// Z[n] is the z component of point n
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//
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// A is the x coordiante of the sphere
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// B is the y coordiante of the sphere
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// C is the z coordiante of the sphere
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// Rsq is the radius squared of the sphere.
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//
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//This method should converge; maybe 5-100 iterations or more.
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//
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float x_sum = x_sumplain / size; //sum( X[n] )
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float x_sum2 = x_sumsq / size; //sum( X[n]^2 )
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float x_sum3 = x_sumcube / size; //sum( X[n]^3 )
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float y_sum = y_sumplain / size; //sum( Y[n] )
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float y_sum2 = y_sumsq / size; //sum( Y[n]^2 )
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float y_sum3 = y_sumcube / size; //sum( Y[n]^3 )
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float z_sum = z_sumplain / size; //sum( Z[n] )
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float z_sum2 = z_sumsq / size; //sum( Z[n]^2 )
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float z_sum3 = z_sumcube / size; //sum( Z[n]^3 )
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float XY = xy_sum / size; //sum( X[n] * Y[n] )
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float XZ = xz_sum / size; //sum( X[n] * Z[n] )
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float YZ = yz_sum / size; //sum( Y[n] * Z[n] )
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float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] )
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float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] )
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float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] )
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float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] )
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float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] )
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float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] )
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//Reduction of multiplications
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float F0 = x_sum2 + y_sum2 + z_sum2;
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float F1 = 0.5f * F0;
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float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
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float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
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float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
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//Set initial conditions:
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float A = x_sum;
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float B = y_sum;
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float C = z_sum;
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//First iteration computation:
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float A2 = A*A;
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float B2 = B*B;
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float C2 = C*C;
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float QS = A2 + B2 + C2;
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float QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
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//Set initial conditions:
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float Rsq = F0 + QB + QS;
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//First iteration computation:
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float Q0 = 0.5f * (QS - Rsq);
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float Q1 = F1 + Q0;
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float Q2 = 8.0f * ( QS - Rsq + QB + F0 );
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float aA,aB,aC,nA,nB,nC,dA,dB,dC;
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//Iterate N times, ignore stop condition.
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int n = 0;
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while( n < max_iterations ){
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n++;
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//Compute denominator:
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aA = Q2 + 16.0f * (A2 - 2.0f * A*x_sum + x_sum2);
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aB = Q2 + 16.0f *(B2 - 2.0f * B*y_sum + y_sum2);
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aC = Q2 + 16.0f *(C2 - 2.0f * C*z_sum + z_sum2);
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aA = (aA == 0.0f) ? 1.0f : aA;
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aB = (aB == 0.0f) ? 1.0f : aB;
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aC = (aC == 0.0f) ? 1.0f : aC;
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//Compute next iteration
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nA = A - ((F2 + 16.0f * ( B*XY + C*XZ + x_sum*(-A2 - Q0) + A*(x_sum2 + Q1 - C*z_sum - B*y_sum) ) )/aA);
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nB = B - ((F3 + 16.0f * ( A*XY + C*YZ + y_sum*(-B2 - Q0) + B*(y_sum2 + Q1 - A*x_sum - C*z_sum) ) )/aB);
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nC = C - ((F4 + 16.0f * ( A*XZ + B*YZ + z_sum*(-C2 - Q0) + C*(z_sum2 + Q1 - A*x_sum - B*y_sum) ) )/aC);
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//Check for stop condition
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dA = (nA - A);
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dB = (nB - B);
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dC = (nC - C);
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if( (dA*dA + dB*dB + dC*dC) <= delta ){ break; }
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//Compute next iteration's values
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A = nA;
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B = nB;
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C = nC;
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A2 = A*A;
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B2 = B*B;
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C2 = C*C;
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QS = A2 + B2 + C2;
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QB = -2.0f * (A*x_sum + B*y_sum + C*z_sum);
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Rsq = F0 + QB + QS;
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Q0 = 0.5f * (QS - Rsq);
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Q1 = F1 + Q0;
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Q2 = 8.0f * ( QS - Rsq + QB + F0 );
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}
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*sphere_x = A;
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*sphere_y = B;
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*sphere_z = C;
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*sphere_radius = sqrtf(Rsq);
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return 0;
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}
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@ -0,0 +1,21 @@
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/**
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* Least-squares fit of a sphere to a set of points.
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*
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* Fits a sphere to a set of points on the sphere surface.
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*
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* @param x point coordinates on the X axis
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* @param y point coordinates on the Y axis
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* @param z point coordinates on the Z axis
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* @param size number of points
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* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
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* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
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* @param sphere_x coordinate of the sphere center on the X axis
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* @param sphere_y coordinate of the sphere center on the Y axis
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* @param sphere_z coordinate of the sphere center on the Z axis
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* @param sphere_radius sphere radius
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*
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* @return 0 on success, 1 on failure
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*/
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int sphere_fit_least_squares(const float x[], const float y[], const float z[],
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unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius);
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@ -83,6 +83,8 @@
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#include <drivers/drv_mag.h>
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#include <drivers/drv_baro.h>
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#include "calibration_routines.h"
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PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
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//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
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@ -288,8 +290,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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status->flag_preflight_mag_calibration = true;
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state_machine_publish(status_pub, status, mavlink_fd);
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int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
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struct sensor_combined_s raw;
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int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
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orb_set_interval(sub_mag, 22);
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struct mag_report mag;
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/* 30 seconds */
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uint64_t calibration_interval = 45 * 1000 * 1000;
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@ -306,8 +309,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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int fd = open(MAG_DEVICE_PATH, 0);
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/* erase old calibration */
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struct mag_scale mscale_null = {
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0.0f,
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1.0f,
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@ -321,8 +323,15 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
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}
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/* calibrate range */
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if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
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warnx("failed to calibrate scale");
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}
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close(fd);
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/* calibrate offsets */
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uint64_t calibration_start = hrt_absolute_time();
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uint64_t axis_deadline = hrt_absolute_time();
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@ -331,10 +340,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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const char axislabels[3] = { 'Z', 'X', 'Y'};
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int axis_index = -1;
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while (hrt_absolute_time() < calibration_deadline) {
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const int calibration_maxcount = 2000;
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float *x = malloc(sizeof(float) * calibration_maxcount);
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float *y = malloc(sizeof(float) * calibration_maxcount);
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float *z = malloc(sizeof(float) * calibration_maxcount);
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while (hrt_absolute_time() < calibration_deadline &&
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calibration_counter < calibration_maxcount) {
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/* wait blocking for new data */
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struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
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struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
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/* user guidance */
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if (hrt_absolute_time() >= axis_deadline &&
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@ -363,30 +378,34 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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// }
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if (poll(fds, 1, 1000)) {
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orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
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orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
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x[calibration_counter] = mag.x;
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y[calibration_counter] = mag.y;
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z[calibration_counter] = mag.z;
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/* get min/max values */
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/* ignore other axes */
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if (raw.magnetometer_ga[0] < mag_min[0]) {
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mag_min[0] = raw.magnetometer_ga[0];
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}
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else if (raw.magnetometer_ga[0] > mag_max[0]) {
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mag_max[0] = raw.magnetometer_ga[0];
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}
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// if (mag.x < mag_min[0]) {
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// mag_min[0] = mag.x;
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// }
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// else if (mag.x > mag_max[0]) {
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// mag_max[0] = mag.x;
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// }
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if (raw.magnetometer_ga[1] < mag_min[1]) {
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mag_min[1] = raw.magnetometer_ga[1];
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}
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else if (raw.magnetometer_ga[1] > mag_max[1]) {
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mag_max[1] = raw.magnetometer_ga[1];
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}
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// if (raw.magnetometer_ga[1] < mag_min[1]) {
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// mag_min[1] = raw.magnetometer_ga[1];
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// }
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// else if (raw.magnetometer_ga[1] > mag_max[1]) {
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// mag_max[1] = raw.magnetometer_ga[1];
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// }
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if (raw.magnetometer_ga[2] < mag_min[2]) {
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mag_min[2] = raw.magnetometer_ga[2];
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}
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else if (raw.magnetometer_ga[2] > mag_max[2]) {
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mag_max[2] = raw.magnetometer_ga[2];
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}
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// if (raw.magnetometer_ga[2] < mag_min[2]) {
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// mag_min[2] = raw.magnetometer_ga[2];
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// }
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// else if (raw.magnetometer_ga[2] > mag_max[2]) {
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// mag_max[2] = raw.magnetometer_ga[2];
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// }
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calibration_counter++;
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} else {
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@ -396,77 +415,90 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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}
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}
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/* disable calibration mode */
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status->flag_preflight_mag_calibration = false;
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state_machine_publish(status_pub, status, mavlink_fd);
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float sphere_x;
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float sphere_y;
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float sphere_z;
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float sphere_radius;
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float mag_offset[3];
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sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
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/**
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* The offset is subtracted from the sensor values, so the result is the
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* POSITIVE number that has to be subtracted from the sensor data
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* to shift the center to zero
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*
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* offset = max - ((max - min) / 2.0f)
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* max - max/2 + min/2
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* max/2 + min/2
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*
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* which reduces to
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*
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* offset = (max + min) / 2.0f
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*/
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free(x);
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free(y);
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free(z);
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mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
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mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
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mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
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float mag_offset[3] = {sphere_x, sphere_y, sphere_z};
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// *
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// * The offset is subtracted from the sensor values, so the result is the
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// * POSITIVE number that has to be subtracted from the sensor data
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// * to shift the center to zero
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// *
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// * offset = max - ((max - min) / 2.0f)
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// * max - max/2 + min/2
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// * max/2 + min/2
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// *
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// * which reduces to
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// *
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// * offset = (max + min) / 2.0f
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// mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
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// mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
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// mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
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if (isfinite(mag_offset[0]) && isfinite(mag_offset[1]) && isfinite(mag_offset[2])) {
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/* announce and set new offset */
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if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
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fprintf(stderr, "[commander] Setting X mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
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fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
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fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_XSCALE"), &(mag_offset[0]))) {
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fprintf(stderr, "[commander] Setting X mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_YSCALE"), &(mag_offset[1]))) {
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fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_ZSCALE"), &(mag_offset[2]))) {
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fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
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}
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fd = open(MAG_DEVICE_PATH, 0);
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struct mag_scale mscale = {
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mag_offset[0],
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1.0f,
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mag_offset[1],
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1.0f,
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mag_offset[2],
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1.0f,
|
||||
};
|
||||
|
||||
struct mag_scale mscale;
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
|
||||
warn("WARNING: failed to get scale / offsets for mag");
|
||||
|
||||
mscale.x_offset = mag_offset[0];
|
||||
mscale.y_offset = mag_offset[1];
|
||||
mscale.z_offset = mag_offset[2];
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
|
||||
warn("WARNING: failed to set scale / offsets for mag");
|
||||
close(fd);
|
||||
|
||||
/* announce and set new offset */
|
||||
|
||||
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
|
||||
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
|
||||
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
|
||||
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
|
||||
fprintf(stderr, "[commander] Setting X mag scale failed!\n");
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
|
||||
fprintf(stderr, "[commander] Setting Y mag scale failed!\n");
|
||||
}
|
||||
|
||||
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
|
||||
fprintf(stderr, "[commander] Setting Z mag scale failed!\n");
|
||||
}
|
||||
|
||||
/* auto-save to EEPROM */
|
||||
int save_ret = pm_save_eeprom(false);
|
||||
if(save_ret != 0) {
|
||||
warn("WARNING: auto-save of params to EEPROM failed");
|
||||
}
|
||||
|
||||
printf("[mag cal] scale: %.6f %.6f %.6f\n\t\toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
|
||||
mscale.x_scale, mscale.y_scale, mscale.z_scale,
|
||||
mscale.x_offset, mscale.y_offset, mscale.z_offset, sphere_radius);
|
||||
|
||||
// char buf[50];
|
||||
// sprintf(buf, "[commander] mag cal: x:%d y:%d z:%d mGa", (int)(mag_offset[0]*1000), (int)(mag_offset[1]*1000), (int)(mag_offset[2]*1000));
|
||||
// mavlink_log_info(mavlink_fd, buf);
|
||||
|
|
@ -475,7 +507,11 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
|
|||
mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
|
||||
}
|
||||
|
||||
close(sub_sensor_combined);
|
||||
/* disable calibration mode */
|
||||
status->flag_preflight_mag_calibration = false;
|
||||
state_machine_publish(status_pub, status, mavlink_fd);
|
||||
|
||||
close(sub_mag);
|
||||
}
|
||||
|
||||
void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
|
||||
|
|
|
|||
|
|
@ -184,7 +184,7 @@ private:
|
|||
*
|
||||
* @param enable set to 1 to enable self-test strap, 0 to disable
|
||||
*/
|
||||
int calibrate(unsigned enable);
|
||||
int calibrate(struct file *filp, unsigned enable);
|
||||
|
||||
/**
|
||||
* Perform the on-sensor scale calibration routine.
|
||||
|
|
@ -603,7 +603,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return 0;
|
||||
|
||||
case MAGIOCCALIBRATE:
|
||||
return calibrate(arg);
|
||||
return calibrate(filp, arg);
|
||||
|
||||
case MAGIOCEXSTRAP:
|
||||
return set_excitement(arg);
|
||||
|
|
@ -813,41 +813,15 @@ out:
|
|||
return ret;
|
||||
}
|
||||
|
||||
int HMC5883::calibrate(unsigned enable)
|
||||
int HMC5883::calibrate(struct file *filp, unsigned enable)
|
||||
{
|
||||
struct mag_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
int ret = 1;
|
||||
|
||||
// XXX do something smarter here
|
||||
int fd = (int)enable;
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
if (sz != sizeof(report))
|
||||
err(1, "immediate read failed");
|
||||
|
||||
warnx("starting mag scale calibration");
|
||||
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
warnx("sampling 500 samples for scaling offset");
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
|
||||
errx(1, "failed to set queue depth");
|
||||
|
||||
/* start the sensor polling at 50 Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 50))
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
|
||||
/* Set to 2.5 Gauss */
|
||||
if (OK != ioctl(fd, MAGIOCSRANGE, 2)) {
|
||||
warnx("failed to set 2.5 Ga range");
|
||||
}
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCPOSEX, 1)) {
|
||||
warnx("failed to enable sensor calibration mode");
|
||||
}
|
||||
|
||||
struct mag_scale mscale_previous = {
|
||||
0.0f,
|
||||
1.0f,
|
||||
|
|
@ -857,10 +831,6 @@ int HMC5883::calibrate(unsigned enable)
|
|||
1.0f,
|
||||
};
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
|
||||
warn("WARNING: failed to get scale / offsets for mag");
|
||||
}
|
||||
|
||||
struct mag_scale mscale_null = {
|
||||
0.0f,
|
||||
1.0f,
|
||||
|
|
@ -870,12 +840,61 @@ int HMC5883::calibrate(unsigned enable)
|
|||
1.0f,
|
||||
};
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
|
||||
warn("WARNING: failed to set null scale / offsets for mag");
|
||||
float avg_excited[3] = {0.0f, 0.0f, 0.0f};
|
||||
unsigned i;
|
||||
|
||||
warnx("starting mag scale calibration");
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(filp, (char*)&report, sizeof(report));
|
||||
if (sz != sizeof(report)) {
|
||||
warn("immediate read failed");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
float avg_excited[3];
|
||||
unsigned i;
|
||||
warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
|
||||
warnx("time: %lld", report.timestamp);
|
||||
warnx("sampling 500 samples for scaling offset");
|
||||
|
||||
/* set the queue depth to 10 */
|
||||
if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) {
|
||||
warn("failed to set queue depth");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* start the sensor polling at 50 Hz */
|
||||
if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
|
||||
warn("failed to set 2Hz poll rate");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* Set to 2.5 Gauss */
|
||||
if (OK != ioctl(filp, MAGIOCSRANGE, 2)) {
|
||||
warnx("failed to set 2.5 Ga range");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
|
||||
warnx("failed to enable sensor calibration mode");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
|
||||
warn("WARNING: failed to get scale / offsets for mag");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
|
||||
warn("WARNING: failed to set null scale / offsets for mag");
|
||||
ret = 1;
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* read the sensor 10x and report each value */
|
||||
for (i = 0; i < 500; i++) {
|
||||
|
|
@ -884,56 +903,56 @@ int HMC5883::calibrate(unsigned enable)
|
|||
/* wait for data to be ready */
|
||||
fds.fd = fd;
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
ret = ::poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1)
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
if (ret != 1) {
|
||||
warn("timed out waiting for sensor data");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
sz = ::read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
warn("periodic read failed");
|
||||
goto out;
|
||||
} else {
|
||||
avg_excited[0] += report.x;
|
||||
avg_excited[1] += report.y;
|
||||
avg_excited[2] += report.z;
|
||||
}
|
||||
|
||||
// warnx("periodic read %u", i);
|
||||
// warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
|
||||
// warnx("time: %lld", report.timestamp);
|
||||
//warnx("periodic read %u", i);
|
||||
//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
|
||||
}
|
||||
|
||||
avg_excited[0] /= i;
|
||||
avg_excited[1] /= i;
|
||||
avg_excited[2] /= i;
|
||||
|
||||
warnx("periodic excited reads %u", i);
|
||||
warnx("done. Performed %u reads", i);
|
||||
warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]);
|
||||
|
||||
/* Set to 1.1 Gauss and end calibration */
|
||||
ret = ioctl(fd, MAGIOCNONEX, 0);
|
||||
ret = ioctl(fd, MAGIOCSRANGE, 1);
|
||||
|
||||
float scaling[3];
|
||||
|
||||
/* calculate axis scaling */
|
||||
scaling[0] = 1.16f / avg_excited[0];
|
||||
scaling[0] = fabsf(1.16f / avg_excited[0]);
|
||||
/* second axis inverted */
|
||||
scaling[1] = 1.16f / -avg_excited[1];
|
||||
scaling[2] = 1.08f / avg_excited[2];
|
||||
scaling[1] = fabsf(1.16f / -avg_excited[1]);
|
||||
scaling[2] = fabsf(1.08f / avg_excited[2]);
|
||||
|
||||
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
|
||||
|
||||
/* set back to normal mode */
|
||||
/* Set to 1.1 Gauss */
|
||||
if (OK != ioctl(fd, MAGIOCSRANGE, 1)) {
|
||||
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
|
||||
warnx("failed to set 1.1 Ga range");
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCCALIBRATE, 0)) {
|
||||
if (OK != ioctl(filp, MAGIOCEXSTRAP, 0)) {
|
||||
warnx("failed to disable sensor calibration mode");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* set scaling in device */
|
||||
|
|
@ -941,9 +960,20 @@ int HMC5883::calibrate(unsigned enable)
|
|||
mscale_previous.y_scale = scaling[1];
|
||||
mscale_previous.z_scale = scaling[2];
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
|
||||
if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
|
||||
warn("WARNING: failed to set new scale / offsets for mag");
|
||||
goto out;
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
|
||||
out:
|
||||
if (ret == OK) {
|
||||
warnx("calibration successfully finished.");
|
||||
} else {
|
||||
warnx("calibration failed.");
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
int HMC5883::set_excitement(unsigned enable)
|
||||
|
|
@ -954,7 +984,7 @@ int HMC5883::set_excitement(unsigned enable)
|
|||
ret = read_reg(ADDR_CONF_A, conf_reg);
|
||||
if (OK != ret)
|
||||
perf_count(_comms_errors);
|
||||
if (enable < 0) {
|
||||
if (((int)enable) < 0) {
|
||||
conf_reg |= 0x01;
|
||||
} else if (enable > 0) {
|
||||
conf_reg |= 0x02;
|
||||
|
|
@ -1170,7 +1200,6 @@ test()
|
|||
*/
|
||||
int calibrate()
|
||||
{
|
||||
struct mag_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
|
|
@ -1178,13 +1207,17 @@ int calibrate()
|
|||
if (fd < 0)
|
||||
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
|
||||
if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
|
||||
warnx("failed to enable sensor calibration mode");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
errx(0, "PASS");
|
||||
if (ret == OK) {
|
||||
errx(0, "PASS");
|
||||
} else {
|
||||
errx(1, "FAIL");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
Loading…
Reference in New Issue