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Add prototype IMU temperature compensation
Enabled using TC_A_ENABLE and TC_G_ENABLE parameters Disabled by default. IMU offsets and scale factors for selected sensor published to sensor_correction topic TODO Parameter storage method is cumbersome
This commit is contained in:
Paul Riseborough
committed by
Lorenz Meier
Lorenz Meier
parent
9599f58c5d
commit
63f032832f
@@ -0,0 +1,249 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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 temperature_compensation.cpp
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*
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* Sensors temperature compensation methods
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*
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* @author Paul Riseborough <gncsolns@gmail.com>
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*/
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#include "temperature_compensation.h"
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#include <systemlib/param/param.h>
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#include <stdio.h>
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#include <px4_defines.h>
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namespace sensors_temp_comp
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{
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int initialize_parameter_handles(ParameterHandles ¶meter_handles)
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{
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char nbuf[16];
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/* rate gyro calibration parameters */
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sprintf(nbuf, "TC_G_ENABLE");
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parameter_handles.gyro_tc_enable = param_find(nbuf);
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for (unsigned j = 0; j < 3; j++) {
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sprintf(nbuf, "TC_G%d_ID", j);
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parameter_handles.gyro_cal_handles[j].ID = param_find(nbuf);
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for (unsigned i = 0; i < 3; i++) {
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sprintf(nbuf, "TC_G%d_X3_%d", j, i);
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parameter_handles.gyro_cal_handles[j].x3[i] = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_X2_%d", j, i);
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parameter_handles.gyro_cal_handles[j].x2[i] = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_X1_%d", j, i);
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parameter_handles.gyro_cal_handles[j].x1[i] = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_X0_%d", j, i);
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parameter_handles.gyro_cal_handles[j].x0[i] = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_SCL_%d", j, i);
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parameter_handles.gyro_cal_handles[j].scale[i] = param_find(nbuf);
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}
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sprintf(nbuf, "TC_G%d_TREF", j);
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parameter_handles.gyro_cal_handles[j].ref_temp = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_TMIN", j);
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parameter_handles.gyro_cal_handles[j].min_temp = param_find(nbuf);
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sprintf(nbuf, "TC_G%d_TMAX", j);
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parameter_handles.gyro_cal_handles[j].max_temp = param_find(nbuf);
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}
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/* accelerometer calibration parameters */
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sprintf(nbuf, "TC_A_ENABLE");
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parameter_handles.accel_tc_enable = param_find(nbuf);
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for (unsigned j = 0; j < 3; j++) {
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sprintf(nbuf, "TC_A%d_ID", j);
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parameter_handles.accel_cal_handles[j].ID = param_find(nbuf);
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for (unsigned i = 0; i < 3; i++) {
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sprintf(nbuf, "TC_A%d_X3_%d", j, i);
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parameter_handles.accel_cal_handles[j].x3[i] = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_X2_%d", j, i);
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parameter_handles.accel_cal_handles[j].x2[i] = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_X1_%d", j, i);
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parameter_handles.accel_cal_handles[j].x1[i] = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_X0_%d", j, i);
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parameter_handles.accel_cal_handles[j].x0[i] = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_SCL_%d", j, i);
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parameter_handles.accel_cal_handles[j].scale[i] = param_find(nbuf);
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}
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sprintf(nbuf, "TC_A%d_TREF", j);
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parameter_handles.accel_cal_handles[j].ref_temp = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_TMIN", j);
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parameter_handles.accel_cal_handles[j].min_temp = param_find(nbuf);
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sprintf(nbuf, "TC_A%d_TMAX", j);
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parameter_handles.accel_cal_handles[j].max_temp = param_find(nbuf);
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}
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return PX4_OK;
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}
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int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
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{
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int ret = PX4_OK;
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/* rate gyro calibration parameters */
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param_get(parameter_handles.gyro_tc_enable, &(parameters.gyro_tc_enable));
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for (unsigned j = 0; j < 3; j++) {
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if (param_get(parameter_handles.gyro_cal_handles[j].ID, &(parameters.gyro_cal_data[j].ID)) == PX4_OK) {
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param_get(parameter_handles.gyro_cal_handles[j].ref_temp, &(parameters.gyro_cal_data[j].ref_temp));
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param_get(parameter_handles.gyro_cal_handles[j].min_temp, &(parameters.gyro_cal_data[j].min_temp));
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param_get(parameter_handles.gyro_cal_handles[j].min_temp, &(parameters.gyro_cal_data[j].min_temp));
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for (unsigned int i = 0; i < 3; i++) {
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param_get(parameter_handles.gyro_cal_handles[j].x3[i], &(parameters.gyro_cal_data[j].x3[i]));
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param_get(parameter_handles.gyro_cal_handles[j].x2[i], &(parameters.gyro_cal_data[j].x2[i]));
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param_get(parameter_handles.gyro_cal_handles[j].x1[i], &(parameters.gyro_cal_data[j].x1[i]));
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param_get(parameter_handles.gyro_cal_handles[j].x0[i], &(parameters.gyro_cal_data[j].x0[i]));
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param_get(parameter_handles.gyro_cal_handles[j].scale[i], &(parameters.gyro_cal_data[j].scale[i]));
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}
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} else {
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// Set all cal values to zero and scale factor to unity
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memset(¶meters.gyro_cal_data[j], 0, sizeof(parameters.gyro_cal_data[j]));
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// Set the scale factor to unity
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for (unsigned int i = 0; i < 3; i++) {
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parameters.gyro_cal_data[j].scale[i] = 1.0f;
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}
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PX4_WARN("FAIL GYRO %d CAL PARAM LOAD - USING DEFAULTS", j);
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ret = PX4_ERROR;
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}
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}
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/* accelerometer calibration parameters */
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param_get(parameter_handles.accel_tc_enable, &(parameters.accel_tc_enable));
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for (unsigned j = 0; j < 3; j++) {
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if (param_get(parameter_handles.accel_cal_handles[j].ID, &(parameters.accel_cal_data[j].ID)) == PX4_OK) {
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param_get(parameter_handles.accel_cal_handles[j].ref_temp, &(parameters.accel_cal_data[j].ref_temp));
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param_get(parameter_handles.accel_cal_handles[j].min_temp, &(parameters.accel_cal_data[j].min_temp));
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param_get(parameter_handles.accel_cal_handles[j].min_temp, &(parameters.accel_cal_data[j].min_temp));
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for (unsigned int i = 0; i < 3; i++) {
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param_get(parameter_handles.accel_cal_handles[j].x3[i], &(parameters.accel_cal_data[j].x3[i]));
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param_get(parameter_handles.accel_cal_handles[j].x2[i], &(parameters.accel_cal_data[j].x2[i]));
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param_get(parameter_handles.accel_cal_handles[j].x1[i], &(parameters.accel_cal_data[j].x1[i]));
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param_get(parameter_handles.accel_cal_handles[j].x0[i], &(parameters.accel_cal_data[j].x0[i]));
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param_get(parameter_handles.accel_cal_handles[j].scale[i], &(parameters.accel_cal_data[j].scale[i]));
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}
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} else {
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// Set all cal values to zero and scale factor to unity
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memset(¶meters.accel_cal_data[j], 0, sizeof(parameters.accel_cal_data[j]));
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// Set the scale factor to unity
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for (unsigned int i = 0; i < 3; i++) {
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parameters.accel_cal_data[j].scale[i] = 1.0f;
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}
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PX4_WARN("FAIL ACCEL %d CAL PARAM LOAD - USING DEFAULTS", j);
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ret = PX4_ERROR;
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}
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}
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return ret;
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}
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bool correct_data_1D(struct SENSOR_CAL_DATA_1D &coef, const float &measured_temp, float &offset)
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{
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bool ret = true;
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// clip the measured temperature to remain within the calibration range
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float delta_temp;
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if (measured_temp > coef.max_temp) {
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delta_temp = coef.max_temp;
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ret = false;
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} else if (measured_temp < coef.min_temp) {
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delta_temp = coef.min_temp;
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ret = false;
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} else {
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delta_temp = measured_temp;
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}
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delta_temp -= coef.ref_temp;
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// calulate the offset
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offset = coef.x0 + coef.x1 * delta_temp + coef.x2 * delta_temp * delta_temp + coef.x3 * delta_temp * delta_temp *
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delta_temp;
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return ret;
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}
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bool calc_thermal_offsets_3D(struct SENSOR_CAL_DATA_3D &coef, const float &measured_temp, float offset[])
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{
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bool ret = true;
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// clip the measured temperature to remain within the calibration range
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float delta_temp;
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if (measured_temp > coef.max_temp) {
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delta_temp = coef.max_temp;
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ret = false;
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} else if (measured_temp < coef.min_temp) {
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delta_temp = coef.min_temp;
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ret = false;
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} else {
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delta_temp = measured_temp;
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}
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delta_temp -= coef.ref_temp;
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// calulate the offsets
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float delta_temp_2 = delta_temp * delta_temp;
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float delta_temp_3 = delta_temp_2 * delta_temp;
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for (uint8_t i = 0; i < 3; i++) {
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offset[i] = coef.x0[i] + coef.x1[i] * delta_temp + coef.x2[i] * delta_temp_2 + coef.x3[i] * delta_temp_3;
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}
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return ret;
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}
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}
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