forked from Archive/PX4-Autopilot
calibration: bugs fixed, mavlink messages cleanup
This commit is contained in:
Anton Babushkin
parent
ed79b686c5
commit
ea89f23c91
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@ -66,7 +66,7 @@ struct accel_report {
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int16_t temperature_raw;
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};
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/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
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/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
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struct accel_scale {
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float x_offset;
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float x_scale;
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@ -100,6 +100,24 @@
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* accel_T = A^-1 * g
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* g = 9.80665
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*
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* ===== Rotation =====
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*
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* Calibrating using model:
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* accel_corr = accel_T_r * (rot * accel_raw - accel_offs_r)
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*
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* Actual correction:
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* accel_corr = rot * accel_T * (accel_raw - accel_offs)
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*
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* Known: accel_T_r, accel_offs_r, rot
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* Unknown: accel_T, accel_offs
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*
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* Solution:
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* accel_T_r * (rot * accel_raw - accel_offs_r) = rot * accel_T * (accel_raw - accel_offs)
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* rot^-1 * accel_T_r * (rot * accel_raw - accel_offs_r) = accel_T * (accel_raw - accel_offs)
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* rot^-1 * accel_T_r * rot * accel_raw - rot^-1 * accel_T_r * accel_offs_r = accel_T * accel_raw - accel_T * accel_offs)
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* => accel_T = rot^-1 * accel_T_r * rot
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* => accel_offs = rot^-1 * accel_offs_r
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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@ -137,72 +155,97 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
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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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mavlink_log_info(mavlink_fd, "accel calibration: started");
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mavlink_log_info(mavlink_fd, "accel calibration: progress <0>");
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struct accel_scale accel_scale = {
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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};
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int res = OK;
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/* reset all offsets to zero and all scales to one */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
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close(fd);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to reset scale / offsets");
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}
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/* measure and calculate offsets & scales */
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float accel_offs[3];
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float accel_T[3][3];
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int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
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res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
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if (res == OK) {
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/* measurements complete successfully, rotate calibration values */
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/* measurements completed successfully, rotate calibration values */
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param_t board_rotation_h = param_find("SENS_BOARD_ROT");
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enum Rotation board_rotation_id;
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param_get(board_rotation_h, &(board_rotation_id));
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int32_t board_rotation_int;
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param_get(board_rotation_h, &(board_rotation_int));
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enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
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math::Matrix board_rotation(3, 3);
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get_rot_matrix(board_rotation_id, &board_rotation);
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board_rotation = board_rotation.transpose();
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math::Matrix board_rotation_t = board_rotation.transpose();
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math::Vector3 accel_offs_vec;
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accel_offs_vec.set(&accel_offs[0]);
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math::Vector3 accel_offs_rotated = board_rotation * accel_offs_vec;
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math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec;
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math::Matrix accel_T_mat(3, 3);
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accel_T_mat.set(&accel_T[0][0]);
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math::Matrix accel_T_rotated = board_rotation.transpose() * accel_T_mat * board_rotation;
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math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
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accel_scale.x_offset = accel_offs_rotated(0);
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accel_scale.x_scale = accel_T_rotated(0, 0);
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accel_scale.y_offset = accel_offs_rotated(1);
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accel_scale.y_scale = accel_T_rotated(1, 1);
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accel_scale.z_offset = accel_offs_rotated(2);
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accel_scale.z_scale = accel_T_rotated(2, 2);
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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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mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
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if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset))
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|| param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset))
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|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset))
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|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale))
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|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale))
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|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) {
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mavlink_log_critical(mavlink_fd, "ERROR: setting accel params failed");
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res = ERROR;
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}
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int fd = open(ACCEL_DEVICE_PATH, 0);
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struct accel_scale ascale = {
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accel_offs_rotated(0),
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accel_T_rotated(0, 0),
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accel_offs_rotated(1),
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accel_T_rotated(1, 1),
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accel_offs_rotated(2),
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accel_T_rotated(2, 2),
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};
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if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
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warn("WARNING: failed to set scale / offsets for accel");
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close(fd);
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/* auto-save to EEPROM */
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int save_ret = param_save_default();
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if (save_ret != 0) {
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warn("WARNING: auto-save of params to storage failed");
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}
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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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return ERROR;
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}
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/* exit accel calibration mode */
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if (res == OK) {
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/* apply new scaling and offsets */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
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close(fd);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for accel");
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}
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}
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if (res == OK) {
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/* auto-save to EEPROM */
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res = param_save_default();
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to save parameters");
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}
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}
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if (res == OK) {
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mavlink_log_info(mavlink_fd, "accel calibration: done");
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} else {
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mavlink_log_info(mavlink_fd, "accel calibration: failed");
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}
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return res;
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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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@ -212,27 +255,10 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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bool data_collected[6] = { false, false, false, false, false, false };
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const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
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/* reset existing calibration */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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struct accel_scale ascale_null = {
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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};
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int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
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close(fd);
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if (OK != ioctl_res) {
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warn("ERROR: failed to set scale / offsets for accel");
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return ERROR;
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}
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int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
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unsigned done_count = 0;
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int res = OK;
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while (true) {
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bool done = true;
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@ -245,6 +271,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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}
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}
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if (old_done_count != done_count)
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mavlink_log_info(mavlink_fd, "accel calibration: progress <%u>", 17 * done_count);
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if (done)
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break;
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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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@ -253,17 +285,11 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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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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if (done)
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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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res = ERROR;
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break;
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}
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if (data_collected[orient]) {
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@ -284,15 +310,16 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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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 == OK) {
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/* calculate offsets and transform matrix */
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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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if (res != OK) {
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mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error");
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}
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}
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return OK;
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return res;
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}
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/*
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@ -309,7 +336,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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/* max-hold dispersion of accel */
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float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
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/* EMA time constant in seconds*/
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float ema_len = 0.2f;
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float ema_len = 0.5f;
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/* set "still" threshold to 0.25 m/s^2 */
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float still_thr2 = pow(0.25f, 2);
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/* set accel error threshold to 5m/s^2 */
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@ -342,8 +369,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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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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float d = sensor.accelerometer_m_s2[i] - accel_ema[i];
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accel_ema[i] += d * w;
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d = d * d;
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accel_disp[i] = accel_disp[i] * (1.0f - w);
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@ -389,8 +416,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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}
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if (poll_errcount > 1000) {
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mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor");
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return -1;
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mavlink_log_critical(mavlink_fd, "ERROR: failed reading sensor");
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return ERROR;
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}
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}
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@ -424,9 +451,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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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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mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
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return -2; // Can't detect orientation
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return ERROR; // Can't detect orientation
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}
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/*
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@ -369,8 +369,10 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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if (hil_ret == OK && control_mode->flag_system_hil_enabled) {
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/* reset the arming mode to disarmed */
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed);
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if (arming_res != TRANSITION_DENIED) {
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mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby");
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} else {
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mavlink_log_info(mavlink_fd, "[cmd] HIL: FAILED resetting armed state");
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}
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@ -481,27 +483,28 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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break;
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}
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case VEHICLE_CMD_COMPONENT_ARM_DISARM:
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{
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transition_result_t arming_res = TRANSITION_NOT_CHANGED;
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if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
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if (safety->safety_switch_available && !safety->safety_off) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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arming_res = TRANSITION_DENIED;
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case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
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transition_result_t arming_res = TRANSITION_NOT_CHANGED;
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} else {
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
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}
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if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
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if (safety->safety_switch_available && !safety->safety_off) {
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print_reject_arm("NOT ARMING: Press safety switch first.");
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arming_res = TRANSITION_DENIED;
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if (arming_res == TRANSITION_CHANGED) {
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mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd");
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd");
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result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
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} else {
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arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed);
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}
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if (arming_res == TRANSITION_CHANGED) {
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mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd");
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result = VEHICLE_CMD_RESULT_ACCEPTED;
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} else {
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mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd");
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result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
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}
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}
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}
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}
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break;
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default:
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@ -940,7 +943,7 @@ int commander_thread_main(int argc, char *argv[])
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last_idle_time = system_load.tasks[0].total_runtime;
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/* check if board is connected via USB */
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struct stat statbuf;
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//struct stat statbuf;
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//on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0);
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}
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@ -970,6 +973,7 @@ int commander_thread_main(int argc, char *argv[])
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if (armed.armed) {
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arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed);
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} else {
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arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed);
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}
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@ -1244,12 +1248,14 @@ int commander_thread_main(int argc, char *argv[])
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counter++;
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int blink_state = blink_msg_state();
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if (blink_state > 0) {
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/* blinking LED message, don't touch LEDs */
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if (blink_state == 2) {
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/* blinking LED message completed, restore normal state */
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control_status_leds(&status, &armed, true);
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}
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} else {
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/* normal state */
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control_status_leds(&status, &armed, status_changed);
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@ -1264,7 +1270,7 @@ int commander_thread_main(int argc, char *argv[])
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ret = pthread_join(commander_low_prio_thread, NULL);
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if (ret) {
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warn("join failed", ret);
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warn("join failed: %d", ret);
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}
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rgbled_set_mode(RGBLED_MODE_OFF);
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|
|
@ -1308,6 +1314,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan
|
|||
/* driving rgbled */
|
||||
if (changed) {
|
||||
bool set_normal_color = false;
|
||||
|
||||
/* set mode */
|
||||
if (status->arming_state == ARMING_STATE_ARMED) {
|
||||
rgbled_set_mode(RGBLED_MODE_ON);
|
||||
|
|
@ -1332,6 +1339,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan
|
|||
if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
|
||||
rgbled_set_color(RGBLED_COLOR_AMBER);
|
||||
}
|
||||
|
||||
/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
|
||||
|
||||
} else {
|
||||
|
|
@ -1694,11 +1702,10 @@ void *commander_low_prio_loop(void *arg)
|
|||
fds[0].events = POLLIN;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
|
||||
/* wait for up to 100ms for data */
|
||||
/* wait for up to 200ms for data */
|
||||
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200);
|
||||
|
||||
/* timed out - periodic check for _task_should_exit, etc. */
|
||||
/* timed out - periodic check for thread_should_exit, etc. */
|
||||
if (pret == 0)
|
||||
continue;
|
||||
|
||||
|
|
@ -1773,7 +1780,7 @@ void *commander_low_prio_loop(void *arg)
|
|||
|
||||
} else if ((int)(cmd.param4) == 1) {
|
||||
/* RC calibration */
|
||||
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
|
||||
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
|
||||
calib_ret = do_rc_calibration(mavlink_fd);
|
||||
|
||||
} else if ((int)(cmd.param5) == 1) {
|
||||
|
|
@ -1854,7 +1861,6 @@ void *commander_low_prio_loop(void *arg)
|
|||
/* send acknowledge command */
|
||||
// XXX TODO
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
close(cmd_sub);
|
||||
|
|
|
|||
|
|
@ -58,7 +58,7 @@ static const int ERROR = -1;
|
|||
|
||||
int do_gyro_calibration(int mavlink_fd)
|
||||
{
|
||||
mavlink_log_info(mavlink_fd, "Gyro calibration starting, do not move unit.");
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration: started");
|
||||
|
||||
struct gyro_scale gyro_scale = {
|
||||
0.0f,
|
||||
|
|
@ -69,79 +69,85 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
1.0f,
|
||||
};
|
||||
|
||||
int res = OK;
|
||||
|
||||
/* reset all offsets to zero and all scales to one */
|
||||
int fd = open(GYRO_DEVICE_PATH, 0);
|
||||
res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale);
|
||||
close(fd);
|
||||
|
||||
if (res != OK) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: failed to reset scale / offsets");
|
||||
}
|
||||
|
||||
/* subscribe to gyro sensor topic */
|
||||
int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
|
||||
struct gyro_report gyro_report;
|
||||
|
||||
/* reset all offsets to zero and all scales to one */
|
||||
int fd = open(GYRO_DEVICE_PATH, 0);
|
||||
if (res == OK) {
|
||||
/* determine gyro mean values */
|
||||
const unsigned calibration_count = 5000;
|
||||
unsigned calibration_counter = 0;
|
||||
unsigned poll_errcount = 0;
|
||||
|
||||
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
|
||||
warn("WARNING: failed to reset scale / offsets for gyro");
|
||||
while (calibration_counter < calibration_count) {
|
||||
/* wait blocking for new data */
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = sub_sensor_gyro;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
close(fd);
|
||||
int poll_ret = poll(fds, 1, 1000);
|
||||
|
||||
if (poll_ret > 0) {
|
||||
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
|
||||
gyro_scale.x_offset += gyro_report.x;
|
||||
gyro_scale.y_offset += gyro_report.y;
|
||||
gyro_scale.z_offset += gyro_report.z;
|
||||
calibration_counter++;
|
||||
|
||||
/*** --- OFFSETS --- ***/
|
||||
if (calibration_counter % (calibration_count / 20) == 0)
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration: progress <%u>", (calibration_counter * 100) / calibration_count);
|
||||
|
||||
/* determine gyro mean values */
|
||||
const unsigned calibration_count = 5000;
|
||||
unsigned calibration_counter = 0;
|
||||
unsigned poll_errcount = 0;
|
||||
} else {
|
||||
poll_errcount++;
|
||||
}
|
||||
|
||||
while (calibration_counter < calibration_count) {
|
||||
|
||||
/* wait blocking for new data */
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = sub_sensor_gyro;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
int poll_ret = poll(fds, 1, 1000);
|
||||
|
||||
if (poll_ret > 0) {
|
||||
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
|
||||
gyro_scale.x_offset += gyro_report.x;
|
||||
gyro_scale.y_offset += gyro_report.y;
|
||||
gyro_scale.z_offset += gyro_report.z;
|
||||
calibration_counter++;
|
||||
if (calibration_counter % (calibration_count / 20) == 0)
|
||||
mavlink_log_info(mavlink_fd, "gyro cal progress <%u> percent", (calibration_counter * 100) / calibration_count);
|
||||
|
||||
} else {
|
||||
poll_errcount++;
|
||||
if (poll_errcount > 1000) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: failed reading gyro sensor");
|
||||
res = ERROR;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (poll_errcount > 1000) {
|
||||
mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor");
|
||||
close(sub_sensor_gyro);
|
||||
return ERROR;
|
||||
gyro_scale.x_offset /= calibration_count;
|
||||
gyro_scale.y_offset /= calibration_count;
|
||||
gyro_scale.z_offset /= calibration_count;
|
||||
}
|
||||
|
||||
if (res == OK) {
|
||||
/* check offsets */
|
||||
if (!isfinite(gyro_scale.x_offset) || !isfinite(gyro_scale.y_offset) || !isfinite(gyro_scale.z_offset)) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: offset is NaN");
|
||||
res = ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
gyro_scale.x_offset /= calibration_count;
|
||||
gyro_scale.y_offset /= calibration_count;
|
||||
gyro_scale.z_offset /= calibration_count;
|
||||
|
||||
if (!isfinite(gyro_scale.x_offset) || !isfinite(gyro_scale.y_offset) || !isfinite(gyro_scale.z_offset)) {
|
||||
mavlink_log_info(mavlink_fd, "gyro offset calibration FAILED (NaN)");
|
||||
close(sub_sensor_gyro);
|
||||
return ERROR;
|
||||
if (res == OK) {
|
||||
/* set offset parameters to new values */
|
||||
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset))
|
||||
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset))
|
||||
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: setting gyro offs params failed");
|
||||
res = ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
/* beep on calibration end */
|
||||
mavlink_log_info(mavlink_fd, "gyro offset calibration done.");
|
||||
#if 0
|
||||
/* beep on offset calibration end */
|
||||
mavlink_log_info(mavlink_fd, "gyro offset calibration done");
|
||||
tune_neutral();
|
||||
|
||||
/* set offset parameters to new values */
|
||||
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset))
|
||||
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset))
|
||||
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) {
|
||||
mavlink_log_critical(mavlink_fd, "Setting gyro offset parameters failed!");
|
||||
}
|
||||
|
||||
|
||||
/*** --- SCALING --- ***/
|
||||
#if 0
|
||||
/* scale calibration */
|
||||
/* this was only a proof of concept and is currently not working. scaling will be set to 1.0 for now. */
|
||||
|
||||
mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
|
||||
|
|
@ -163,9 +169,11 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
// XXX change to mag topic
|
||||
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
|
||||
|
||||
float mag_last = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]);
|
||||
if (mag_last > M_PI_F) mag_last -= 2*M_PI_F;
|
||||
if (mag_last < -M_PI_F) mag_last += 2*M_PI_F;
|
||||
float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
|
||||
|
||||
if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F;
|
||||
|
||||
if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F;
|
||||
|
||||
|
||||
uint64_t last_time = hrt_absolute_time();
|
||||
|
|
@ -175,7 +183,7 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
|
||||
/* abort this loop if not rotated more than 180 degrees within 5 seconds */
|
||||
if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f)
|
||||
&& (hrt_absolute_time() - start_time > 5 * 1e6)) {
|
||||
&& (hrt_absolute_time() - start_time > 5 * 1e6)) {
|
||||
mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done");
|
||||
close(sub_sensor_combined);
|
||||
return OK;
|
||||
|
|
@ -203,14 +211,17 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
// calculate error between estimate and measurement
|
||||
// apply declination correction for true heading as well.
|
||||
//float mag = -atan2f(magNav(1),magNav(0));
|
||||
float mag = -atan2f(raw.magnetometer_ga[1],raw.magnetometer_ga[0]);
|
||||
if (mag > M_PI_F) mag -= 2*M_PI_F;
|
||||
if (mag < -M_PI_F) mag += 2*M_PI_F;
|
||||
float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
|
||||
|
||||
if (mag > M_PI_F) mag -= 2 * M_PI_F;
|
||||
|
||||
if (mag < -M_PI_F) mag += 2 * M_PI_F;
|
||||
|
||||
float diff = mag - mag_last;
|
||||
|
||||
if (diff > M_PI_F) diff -= 2*M_PI_F;
|
||||
if (diff < -M_PI_F) diff += 2*M_PI_F;
|
||||
if (diff > M_PI_F) diff -= 2 * M_PI_F;
|
||||
|
||||
if (diff < -M_PI_F) diff += 2 * M_PI_F;
|
||||
|
||||
baseline_integral += diff;
|
||||
mag_last = mag;
|
||||
|
|
@ -220,15 +231,15 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
|
||||
// warnx("dbg: b: %6.4f, g: %6.4f", (double)baseline_integral, (double)gyro_integral);
|
||||
|
||||
// } else if (poll_ret == 0) {
|
||||
// /* any poll failure for 1s is a reason to abort */
|
||||
// mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
|
||||
// return;
|
||||
// } else if (poll_ret == 0) {
|
||||
// /* any poll failure for 1s is a reason to abort */
|
||||
// mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
|
||||
// return;
|
||||
}
|
||||
}
|
||||
|
||||
float gyro_scale = baseline_integral / gyro_integral;
|
||||
|
||||
|
||||
warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
|
||||
mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
|
||||
|
||||
|
|
@ -236,42 +247,54 @@ int do_gyro_calibration(int mavlink_fd)
|
|||
if (!isfinite(gyro_scale.x_scale) || !isfinite(gyro_scale.y_scale) || !isfinite(gyro_scale.z_scale)) {
|
||||
mavlink_log_info(mavlink_fd, "gyro scale calibration FAILED (NaN)");
|
||||
close(sub_sensor_gyro);
|
||||
mavlink_log_critical(mavlink_fd, "gyro calibration failed");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* beep on calibration end */
|
||||
mavlink_log_info(mavlink_fd, "gyro scale calibration done.");
|
||||
mavlink_log_info(mavlink_fd, "gyro scale calibration done");
|
||||
tune_neutral();
|
||||
|
||||
#endif
|
||||
|
||||
/* set scale parameters to new values */
|
||||
if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale))
|
||||
|| param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale))
|
||||
|| param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) {
|
||||
mavlink_log_critical(mavlink_fd, "Setting gyro scale parameters failed!");
|
||||
}
|
||||
|
||||
/* apply new scaling and offsets */
|
||||
fd = open(GYRO_DEVICE_PATH, 0);
|
||||
|
||||
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
|
||||
warn("WARNING: failed to apply new scale for gyro");
|
||||
|
||||
close(fd);
|
||||
|
||||
/* auto-save to EEPROM */
|
||||
int save_ret = param_save_default();
|
||||
|
||||
if (save_ret != 0) {
|
||||
warnx("WARNING: auto-save of params to storage failed");
|
||||
mavlink_log_critical(mavlink_fd, "gyro store failed");
|
||||
close(sub_sensor_gyro);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration done.");
|
||||
|
||||
close(sub_sensor_gyro);
|
||||
return OK;
|
||||
|
||||
if (res == OK) {
|
||||
/* set scale parameters to new values */
|
||||
if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale))
|
||||
|| param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale))
|
||||
|| param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: setting gyro scale params failed");
|
||||
res = ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
if (res == OK) {
|
||||
/* apply new scaling and offsets */
|
||||
fd = open(GYRO_DEVICE_PATH, 0);
|
||||
res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale);
|
||||
close(fd);
|
||||
|
||||
if (res != OK) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for gyro");
|
||||
}
|
||||
}
|
||||
|
||||
if (res == OK) {
|
||||
/* auto-save to EEPROM */
|
||||
res = param_save_default();
|
||||
|
||||
if (res != OK) {
|
||||
mavlink_log_critical(mavlink_fd, "ERROR: failed to save parameters");
|
||||
}
|
||||
}
|
||||
|
||||
if (res == OK) {
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration: done");
|
||||
|
||||
} else {
|
||||
mavlink_log_info(mavlink_fd, "gyro calibration: failed");
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue