moved commander to C++, preparation for better gyro scale calibration respecting the current attitude for more accurate results

2026-06-27 18:50:34 +08:00 · 2013-07-20 13:47:51 +02:00
parent da1bf69ce2
commit 68ab69de01
13 changed files with 156 additions and 86 deletions
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed_calibration.cpp
+ * Airspeed sensor calibration routine
+ */
+
+#include "airspeed_calibration.h"
+#include "commander_helper.h"
+
+#include <stdio.h>
+#include <poll.h>
+#include <math.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/differential_pressure.h>
+#include <mavlink/mavlink_log.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+
+void do_airspeed_calibration(int mavlink_fd)
+{
+	/* give directions */
+	mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");
+
+	const int calibration_count = 2500;
+
+	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
+	struct differential_pressure_s diff_pres;
+
+	int calibration_counter = 0;
+	float diff_pres_offset = 0.0f;
+
+	while (calibration_counter < calibration_count) {
+
+		/* wait blocking for new data */
+		struct pollfd fds[1];
+		fds[0].fd = diff_pres_sub;
+		fds[0].events = POLLIN;
+
+		int poll_ret = poll(fds, 1, 1000);
+
+		if (poll_ret) {
+			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
+			diff_pres_offset += diff_pres.differential_pressure_pa;
+			calibration_counter++;
+
+		} else if (poll_ret == 0) {
+			/* any poll failure for 1s is a reason to abort */
+			mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
+			return;
+		}
+	}
+
+	diff_pres_offset = diff_pres_offset / calibration_count;
+
+	if (isfinite(diff_pres_offset)) {
+
+		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
+			mavlink_log_critical(mavlink_fd, "Setting offs failed!");
+		}
+
+		/* auto-save to EEPROM */
+		int save_ret = param_save_default();
+
+		if (save_ret != 0) {
+			warn("WARNING: auto-save of params to storage failed");
+		}
+
+		//char buf[50];
+		//sprintf(buf, "[cmd] 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, "airspeed calibration done");
+
+		tune_positive();
+
+	} else {
+		mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
+	}
+
+	close(diff_pres_sub);
+}