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Checkpoint: Working, but non-verified full mag calibration

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Lorenz Meier
2012-10-21 15:36:29 +02:00
parent 28171fb596
commit 096bf2dc93
4 changed files with 408 additions and 143 deletions
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apps/commander/commander.c
+117 -81
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@@ -83,6 +83,8 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include "calibration_routines.h"
PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */
//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */
@@ -288,8 +290,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
status->flag_preflight_mag_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
orb_set_interval(sub_mag, 22);
struct mag_report mag;
/* 30 seconds */
uint64_t calibration_interval = 45 * 1000 * 1000;
@@ -306,8 +309,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
int fd = open(MAG_DEVICE_PATH, 0);
/* erase old calibration */
struct mag_scale mscale_null = {
0.0f,
1.0f,
@@ -321,8 +323,15 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
}
/* calibrate range */
if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
warnx("failed to calibrate scale");
}
close(fd);
/* calibrate offsets */
uint64_t calibration_start = hrt_absolute_time();
uint64_t axis_deadline = hrt_absolute_time();
@@ -331,10 +340,16 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
const char axislabels[3] = { 'Z', 'X', 'Y'};
int axis_index = -1;
while (hrt_absolute_time() < calibration_deadline) {
const int calibration_maxcount = 2000;
float *x = malloc(sizeof(float) * calibration_maxcount);
float *y = malloc(sizeof(float) * calibration_maxcount);
float *z = malloc(sizeof(float) * calibration_maxcount);
while (hrt_absolute_time() < calibration_deadline &&
calibration_counter < calibration_maxcount) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() >= axis_deadline &&
@@ -363,30 +378,34 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
// }
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;
z[calibration_counter] = mag.z;
/* get min/max values */
/* ignore other axes */
if (raw.magnetometer_ga[0] < mag_min[0]) {
mag_min[0] = raw.magnetometer_ga[0];
}
else if (raw.magnetometer_ga[0] > mag_max[0]) {
mag_max[0] = raw.magnetometer_ga[0];
}
// if (mag.x < mag_min[0]) {
// mag_min[0] = mag.x;
// }
// else if (mag.x > mag_max[0]) {
// mag_max[0] = mag.x;
// }
if (raw.magnetometer_ga[1] < mag_min[1]) {
mag_min[1] = raw.magnetometer_ga[1];
}
else if (raw.magnetometer_ga[1] > mag_max[1]) {
mag_max[1] = raw.magnetometer_ga[1];
}
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
if (raw.magnetometer_ga[2] < mag_min[2]) {
mag_min[2] = raw.magnetometer_ga[2];
}
else if (raw.magnetometer_ga[2] > mag_max[2]) {
mag_max[2] = raw.magnetometer_ga[2];
}
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else {
@@ -396,76 +415,89 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
}
}
/* disable calibration mode */
status->flag_preflight_mag_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
float sphere_x;
float sphere_y;
float sphere_z;
float sphere_radius;
float mag_offset[3];
sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
/**
* The offset is subtracted from the sensor values, so the result is the
* POSITIVE number that has to be subtracted from the sensor data
* to shift the center to zero
*
* offset = max - ((max - min) / 2.0f)
* max - max/2 + min/2
* max/2 + min/2
*
* which reduces to
*
* offset = (max + min) / 2.0f
*/
free(x);
free(y);
free(z);
mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
float mag_offset[3] = {sphere_x, sphere_y, sphere_z};
// *
// * The offset is subtracted from the sensor values, so the result is the
// * POSITIVE number that has to be subtracted from the sensor data
// * to shift the center to zero
// *
// * offset = max - ((max - min) / 2.0f)
// * max - max/2 + min/2
// * max/2 + min/2
// *
// * which reduces to
// *
// * offset = (max + min) / 2.0f
// mag_offset[0] = (mag_max[0] + mag_min[0]) / 2.0f;
// mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
// mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
if (isfinite(mag_offset[0]) && isfinite(mag_offset[1]) && isfinite(mag_offset[2])) {
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
mag_offset[0],
1.0f,
mag_offset[1],
1.0f,
mag_offset[2],
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));
@@ -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)