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Calibration improvement

This commit is contained in:
Lorenz Meier 2012-10-29 16:41:53 +01:00
parent c3c76ef3d5
commit 574eb96a2e
5 changed files with 81 additions and 2 deletions
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2
ROMFS/scripts/rcS
View File

@ -46,6 +46,8 @@ if [ -f /fs/microsd/etc/rc ]
then
echo "[init] reading /fs/microsd/etc/rc"
sh /fs/microsd/etc/rc
else
echo "[init] script /fs/microsd/etc/rc not present"
fi
#

25
apps/commander/commander.c
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@ -360,6 +360,10 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
float *y = malloc(sizeof(float) * calibration_maxcount);
float *z = malloc(sizeof(float) * calibration_maxcount);
tune_confirm();
sleep(2);
tune_confirm();
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
@ -504,6 +508,13 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
}
@ -607,6 +618,12 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
}
@ -721,6 +738,12 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
tune_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
}
@ -740,7 +763,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
uint8_t result = MAV_RESULT_UNSUPPORTED;
/* announce command handling */
ioctl(buzzer, TONE_SET_ALARM, 1);
tune_confirm();
/* supported command handling start */

49
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -66,6 +66,8 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <float.h>
/*
* HMC5883 internal constants and data structures.
*/
@ -159,6 +161,10 @@ private:
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/* status reporting */
bool _sensor_ok; /**< sensor was found and reports ok */
bool _calibrated; /**< the calibration is valid */
/**
* Test whether the device supported by the driver is present at a
* specific address.
@ -272,6 +278,13 @@ private:
*/
float meas_to_float(uint8_t in[2]);
/**
* Check the current calibration and update device status
*
* @return 0 if calibration is ok, 1 else
*/
int check_calibration();
};
/* helper macro for handling report buffer indices */
@ -295,7 +308,9 @@ HMC5883::HMC5883(int bus) :
_mag_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows"))
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
_sensor_ok(false),
_calibrated(false)
{
// enable debug() calls
_debug_enabled = true;
@ -351,6 +366,8 @@ HMC5883::init()
set_range(_range_ga);
ret = OK;
/* sensor is ok, but not calibrated */
_sensor_ok = true;
out:
return ret;
}
@ -1000,6 +1017,36 @@ out:
return ret;
}
int HMC5883::check_calibration()
{
bool scale_valid, offset_valid;
if ((-2.0f * FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < 2.0f * FLT_EPSILON + 1.0f) &&
(-2.0f * FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < 2.0f * FLT_EPSILON + 1.0f)) {
/* scale is different from one */
scale_valid = true;
} else {
scale_valid = false;
}
if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) {
/* offset is different from zero */
offset_valid = true;
} else {
offset_valid = false;
}
if (_calibrated && !(offset_valid && scale_valid)) {
warnx("warning: mag %s%s", (scale_valid) ? "" : "scale invalid. ",
(offset_valid) ? "" : "offset invalid.");
_calibrated = false;
// XXX Notify system via uORB
}
}
int HMC5883::set_excitement(unsigned enable)
{
int ret;

3
apps/sensors/sensor_params.c
View File

@ -130,6 +130,9 @@ PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
PARAM_DEFINE_INT32(RC_MAP_AUX1, 6);
PARAM_DEFINE_INT32(RC_MAP_AUX2, 7);
PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);

4
apps/sensors/sensors.cpp
View File

@ -1030,6 +1030,10 @@ Sensors::task_main()
manual_control.pitch = 0.0f;
manual_control.yaw = 0.0f;
manual_control.throttle = 0.0f;
manual_control.aux1_cam_pan_flaps = 0.0f;
manual_control.aux2_cam_tilt = 0.0f;
manual_control.aux3_cam_zoom = 0.0f;
manual_control.aux4_cam_roll = 0.0f;
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}