lib/sensor_calibration: add Magnetometer helper

src/lib/sensor_calibration/CMakeLists.txt

@@ -36,6 +36,8 @@ px4_add_library(sensor_calibration
 	Accelerometer.hpp
 	Gyroscope.cpp
 	Gyroscope.hpp
+	Magnetometer.cpp
+	Magnetometer.hpp
 	Utilities.cpp
 	Utilities.hpp
 )

src/lib/sensor_calibration/Magnetometer.cpp

@@ -0,0 +1,199 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "Magnetometer.hpp"
+
+#include "Utilities.hpp"
+
+#include <lib/parameters/param.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+namespace calibration
+{
+
+Magnetometer::Magnetometer()
+{
+	Reset();
+}
+
+Magnetometer::Magnetometer(uint32_t device_id)
+{
+	Reset();
+	set_device_id(device_id);
+}
+
+void Magnetometer::set_device_id(uint32_t device_id)
+{
+	if (_device_id != device_id) {
+		_device_id = device_id;
+		ParametersUpdate();
+	}
+}
+
+void Magnetometer::set_external(bool external)
+{
+	_external = external;
+}
+
+void Magnetometer::set_scale(const Vector3f &scale)
+{
+	_scale(0, 0) = scale(0);
+	_scale(1, 1) = scale(1);
+	_scale(2, 2) = scale(2);
+}
+
+void Magnetometer::set_offdiagonal(const Vector3f &offdiagonal)
+{
+	_scale(0, 1) = offdiagonal(0);
+	_scale(1, 0) = offdiagonal(0);
+
+	_scale(0, 2) = offdiagonal(1);
+	_scale(2, 0) = offdiagonal(1);
+
+	_scale(1, 2) = offdiagonal(2);
+	_scale(2, 1) = offdiagonal(2);
+}
+
+void Magnetometer::set_rotation(Rotation rotation)
+{
+	_rotation_enum = rotation;
+	_rotation = get_rot_matrix(rotation);
+}
+
+void Magnetometer::ParametersUpdate()
+{
+	if (_device_id == 0) {
+		Reset();
+		return;
+	}
+
+	_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
+
+	if (_calibration_index >= 0) {
+
+		if (!_external) {
+			_rotation = GetBoardRotation();
+			_rotation_enum = ROTATION_NONE;
+
+		} else {
+			int32_t rotation = GetCalibrationParam(SensorString(), "ROT", _calibration_index);
+			_rotation_enum = static_cast<Rotation>(rotation);
+			_rotation = get_rot_matrix((enum Rotation)rotation);
+		}
+
+		// CAL_MAGx_EN
+		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_enabled = (enabled == 1);
+
+		// CAL_MAGx_OFF{X,Y,Z}
+		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
+
+		// CAL_MAGx_SCALE{X,Y,Z}
+		const Vector3f diag = GetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index);
+
+		// CAL_MAGx_ODIAG{X,Y,Z}
+		const Vector3f offdiag = GetCalibrationParamsVector3f(SensorString(), "ODIAG", _calibration_index);
+
+		float scale[9] {
+			diag(0),    offdiag(0), offdiag(1),
+			offdiag(0),    diag(1), offdiag(2),
+			offdiag(1), offdiag(2),    diag(2)
+		};
+		_scale = Matrix3f{scale};
+
+		// CAL_MAGx_COMP{X,Y,Z}
+		_power_compensation = GetCalibrationParamsVector3f(SensorString(), "COMP", _calibration_index);
+
+	} else {
+		Reset();
+	}
+}
+
+void Magnetometer::Reset()
+{
+	_rotation.setIdentity();
+	_rotation_enum = ROTATION_NONE;
+	_offset.zero();
+	_scale.setIdentity();
+
+	_power_compensation.zero();
+	_power = 0.f;
+
+	_enabled = true;
+
+	_calibration_index = -1;
+}
+
+bool Magnetometer::ParametersSave()
+{
+	if (_calibration_index >= 0) {
+		// save calibration
+		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
+		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+
+		Vector3f scale{_scale.diag()};
+		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, scale);
+
+		Vector3f off_diag{_scale(0, 1), _scale(0, 2), _scale(1, 2)};
+		SetCalibrationParamsVector3f(SensorString(), "ODIAG", _calibration_index, off_diag);
+
+		SetCalibrationParamsVector3f(SensorString(), "COMP", _calibration_index, _power_compensation);
+
+		if (_external) {
+			SetCalibrationParam(SensorString(), "ROT", _calibration_index, (int32_t)_rotation_enum);
+
+		} else {
+			SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
+		}
+
+		return true;
+	}
+
+	return false;
+}
+
+void Magnetometer::PrintStatus()
+{
+	PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f] scale: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(),
+		 (double)_offset(0), (double)_offset(1), (double)_offset(2),
+		 (double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2));
+
+#if defined(DEBUG_BUILD)
+	_scale.print()
+#endif // DEBUG_BUILD
+}
+
+} // namespace calibration

src/lib/sensor_calibration/Magnetometer.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/conversion/rotation.h>
+#include <lib/matrix/matrix/math.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/battery_status.h>
+
+namespace calibration
+{
+class Magnetometer
+{
+public:
+	static constexpr int MAX_SENSOR_COUNT = 4;
+
+	static constexpr const char *SensorString() { return "MAG"; }
+
+	Magnetometer();
+	explicit Magnetometer(uint32_t device_id);
+
+	~Magnetometer() = default;
+
+	void PrintStatus();
+
+	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
+	void set_device_id(uint32_t device_id);
+	void set_external(bool external = true);
+	void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
+	void set_scale(const matrix::Vector3f &scale);
+	void set_offdiagonal(const matrix::Vector3f &offdiagonal);
+	void set_rotation(Rotation rotation);
+
+	uint32_t device_id() const { return _device_id; }
+	bool enabled() const { return _enabled; }
+	bool external() const { return _external; }
+	const matrix::Vector3f &offset() const { return _offset; }
+	const matrix::Dcmf &rotation() const { return _rotation; }
+	const Rotation &rotation_enum() const { return _rotation_enum; }
+	const matrix::Matrix3f &scale() const { return _scale; }
+
+	// apply offsets and scale
+	// rotate corrected measurements from sensor to body frame
+	inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
+	{
+		return _rotation * (_scale * ((data + _power * _power_compensation) - _offset));
+	}
+
+	bool ParametersSave();
+	void ParametersUpdate();
+
+	void Reset();
+
+	void UpdatePower(float power) { _power = power; }
+
+private:
+	Rotation _rotation_enum;
+
+	matrix::Dcmf _rotation;
+	matrix::Vector3f _offset;
+	matrix::Matrix3f _scale;
+	matrix::Vector3f _power_compensation;
+	float _power{0.f};
+
+	int8_t _calibration_index{-1};
+	uint32_t _device_id{0};
+
+	bool _enabled{true};
+	bool _external{false};
+};
+} // namespace calibration