forked from Archive/PX4-Autopilot
accelerometer_calibration: code style fixed, lib/conversion copyright fix
This commit is contained in:
Anton Babushkin
parent
b75c8e672f
commit
0dc9c9ac26
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@ -32,7 +32,7 @@
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############################################################################
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#
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# Rotation library
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# Conversion library
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#
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SRCS = rotation.cpp
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@ -1,8 +1,40 @@
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/*
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* rotation.cpp
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/****************************************************************************
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*
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* Created on: 20.10.2013
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* Author: ton
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rotation.cpp
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*
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* Vector rotation library
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*/
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#include "math.h"
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@ -1,8 +1,40 @@
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/*
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* rotation.h
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/****************************************************************************
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*
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* Created on: 20.10.2013
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* Author: ton
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rotation.h
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*
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* Vector rotation library
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*/
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#ifndef ROTATION_H_
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@ -135,7 +135,8 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
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int mat_invert3(float src[3][3], float dst[3][3]);
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int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
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int do_accel_calibration(int mavlink_fd) {
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int do_accel_calibration(int mavlink_fd)
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{
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/* announce change */
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mavlink_log_info(mavlink_fd, "accel calibration started");
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mavlink_log_info(mavlink_fd, "accel cal progress <0> percent");
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@ -162,11 +163,11 @@ int do_accel_calibration(int mavlink_fd) {
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/* set parameters */
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if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs_rotated(0)))
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|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1)))
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|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2)))
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|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_T_rotated(0, 0)))
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|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_T_rotated(1, 1)))
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|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_T_rotated(2, 2)))) {
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|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1)))
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|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2)))
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|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_T_rotated(0, 0)))
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|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_T_rotated(1, 1)))
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|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_T_rotated(2, 2)))) {
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mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
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}
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@ -194,6 +195,7 @@ int do_accel_calibration(int mavlink_fd) {
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mavlink_log_info(mavlink_fd, "accel calibration done");
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return OK;
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} else {
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/* measurements error */
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mavlink_log_info(mavlink_fd, "accel calibration aborted");
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@ -203,7 +205,8 @@ int do_accel_calibration(int mavlink_fd) {
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/* exit accel calibration mode */
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}
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int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]) {
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int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3])
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{
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const int samples_num = 2500;
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float accel_ref[6][3];
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bool data_collected[6] = { false, false, false, false, false, false };
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@ -243,12 +246,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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}
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mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
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(!data_collected[0]) ? "x+ " : "",
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(!data_collected[1]) ? "x- " : "",
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(!data_collected[2]) ? "y+ " : "",
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(!data_collected[3]) ? "y- " : "",
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(!data_collected[4]) ? "z+ " : "",
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(!data_collected[5]) ? "z- " : "");
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(!data_collected[0]) ? "x+ " : "",
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(!data_collected[1]) ? "x- " : "",
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(!data_collected[2]) ? "y+ " : "",
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(!data_collected[3]) ? "y- " : "",
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(!data_collected[4]) ? "z+ " : "",
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(!data_collected[5]) ? "z- " : "");
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if (old_done_count != done_count)
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mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
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@ -257,6 +260,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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break;
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int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
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if (orient < 0) {
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close(sensor_combined_sub);
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return ERROR;
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@ -270,17 +274,19 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]);
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read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
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mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient],
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(double)accel_ref[orient][0],
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(double)accel_ref[orient][1],
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(double)accel_ref[orient][2]);
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(double)accel_ref[orient][0],
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(double)accel_ref[orient][1],
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(double)accel_ref[orient][2]);
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data_collected[orient] = true;
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tune_neutral();
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}
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close(sensor_combined_sub);
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/* calculate offsets and transform matrix */
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int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
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if (res != 0) {
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mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error");
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return ERROR;
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@ -295,7 +301,8 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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* @return 0..5 according to orientation when vehicle is still and ready for measurements,
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* ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
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*/
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int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
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int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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{
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struct sensor_combined_s sensor;
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/* exponential moving average of accel */
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float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
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@ -326,30 +333,35 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
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while (true) {
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/* wait blocking for new data */
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int poll_ret = poll(fds, 1, 1000);
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if (poll_ret) {
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orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
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t = hrt_absolute_time();
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float dt = (t - t_prev) / 1000000.0f;
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t_prev = t;
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float w = dt / ema_len;
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for (int i = 0; i < 3; i++) {
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accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
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float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
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d = d * d;
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accel_disp[i] = accel_disp[i] * (1.0f - w);
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if (d > accel_disp[i])
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accel_disp[i] = d;
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}
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/* still detector with hysteresis */
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if ( accel_disp[0] < still_thr2 &&
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accel_disp[1] < still_thr2 &&
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accel_disp[2] < still_thr2 ) {
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if (accel_disp[0] < still_thr2 &&
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accel_disp[1] < still_thr2 &&
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accel_disp[2] < still_thr2) {
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/* is still now */
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if (t_still == 0) {
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/* first time */
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mavlink_log_info(mavlink_fd, "detected rest position, waiting...");
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t_still = t;
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t_timeout = t + timeout;
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} else {
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/* still since t_still */
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if (t > t_still + still_time) {
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@ -357,18 +369,21 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
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break;
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}
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}
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} else if ( accel_disp[0] > still_thr2 * 2.0f ||
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accel_disp[1] > still_thr2 * 2.0f ||
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accel_disp[2] > still_thr2 * 2.0f) {
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} else if (accel_disp[0] > still_thr2 * 2.0f ||
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accel_disp[1] > still_thr2 * 2.0f ||
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accel_disp[2] > still_thr2 * 2.0f) {
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/* not still, reset still start time */
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if (t_still != 0) {
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mavlink_log_info(mavlink_fd, "detected motion, please hold still...");
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t_still = 0;
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}
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}
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} else if (poll_ret == 0) {
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poll_errcount++;
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}
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if (t > t_timeout) {
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poll_errcount++;
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}
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@ -379,29 +394,34 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
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}
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}
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if ( fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr )
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if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr)
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return 0; // [ g, 0, 0 ]
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if ( fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr )
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if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr)
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return 1; // [ -g, 0, 0 ]
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if ( fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr )
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if (fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr)
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return 2; // [ 0, g, 0 ]
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if ( fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr )
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if (fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
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fabsf(accel_ema[2]) < accel_err_thr)
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return 3; // [ 0, -g, 0 ]
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if ( fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr )
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if (fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr)
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return 4; // [ 0, 0, g ]
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if ( fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr )
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if (fabsf(accel_ema[0]) < accel_err_thr &&
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fabsf(accel_ema[1]) < accel_err_thr &&
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fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
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return 5; // [ 0, 0, -g ]
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mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
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@ -412,7 +432,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
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/*
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* Read specified number of accelerometer samples, calculate average and dispersion.
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*/
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int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
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int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num)
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{
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struct pollfd fds[1];
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fds[0].fd = sensor_combined_sub;
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fds[0].events = POLLIN;
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@ -423,12 +444,16 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
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while (count < samples_num) {
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int poll_ret = poll(fds, 1, 1000);
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if (poll_ret == 1) {
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struct sensor_combined_s sensor;
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orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
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for (int i = 0; i < 3; i++)
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accel_sum[i] += sensor.accelerometer_m_s2[i];
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count++;
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} else {
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errcount++;
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continue;
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@ -445,10 +470,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
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return OK;
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}
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int mat_invert3(float src[3][3], float dst[3][3]) {
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int mat_invert3(float src[3][3], float dst[3][3])
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{
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float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
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src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
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src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
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src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
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src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
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if (det == 0.0f)
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return ERROR; // Singular matrix
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@ -465,7 +492,8 @@ int mat_invert3(float src[3][3], float dst[3][3]) {
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return OK;
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}
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int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
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int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g)
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{
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/* calculate offsets */
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for (int i = 0; i < 3; i++) {
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accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
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@ -474,6 +502,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
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/* fill matrix A for linear equations system*/
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float mat_A[3][3];
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memset(mat_A, 0, sizeof(mat_A));
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for (int i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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float a = accel_ref[i * 2][j] - accel_offs[j];
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@ -483,6 +512,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
|
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/* calculate inverse matrix for A */
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float mat_A_inv[3][3];
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if (mat_invert3(mat_A, mat_A_inv) != OK)
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||||
return ERROR;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue