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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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moved commander to C++, preparation for better gyro scale calibration respecting the current attitude for more accurate results
This commit is contained in:
Lorenz Meier
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/****************************************************************************
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*
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* Copyright (C) 2013 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 mag_calibration.cpp
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* Magnetometer calibration routine
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*/
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#include "mag_calibration.h"
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#include "commander_helper.h"
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#include "calibration_routines.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <poll.h>
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#include <math.h>
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#include <fcntl.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/sensor_combined.h>
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#include <drivers/drv_mag.h>
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#include <mavlink/mavlink_log.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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void do_mag_calibration(int mavlink_fd)
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{
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mavlink_log_info(mavlink_fd, "mag calibration starting, hold still");
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int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
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struct mag_report mag;
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/* 45 seconds */
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uint64_t calibration_interval = 45 * 1000 * 1000;
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/* maximum 2000 values */
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const unsigned int calibration_maxcount = 500;
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unsigned int calibration_counter = 0;
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/* limit update rate to get equally spaced measurements over time (in ms) */
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orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
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int fd = open(MAG_DEVICE_PATH, O_RDONLY);
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/* erase old calibration */
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struct mag_scale mscale_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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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
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warn("WARNING: failed to set scale / offsets for mag");
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mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
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}
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/* calibrate range */
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if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
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warnx("failed to calibrate scale");
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}
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close(fd);
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/* calibrate offsets */
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// uint64_t calibration_start = hrt_absolute_time();
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uint64_t axis_deadline = hrt_absolute_time();
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uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
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const char axislabels[3] = { 'X', 'Y', 'Z'};
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int axis_index = -1;
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float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
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float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
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float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
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if (x == NULL || y == NULL || z == NULL) {
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warnx("mag cal failed: out of memory");
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mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
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warnx("x:%p y:%p z:%p\n", x, y, z);
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return;
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}
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while (hrt_absolute_time() < calibration_deadline &&
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calibration_counter < calibration_maxcount) {
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/* wait blocking for new data */
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struct pollfd fds[1];
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fds[0].fd = sub_mag;
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fds[0].events = POLLIN;
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/* user guidance */
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if (hrt_absolute_time() >= axis_deadline &&
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axis_index < 3) {
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axis_index++;
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char buf[50];
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sprintf(buf, "please rotate around %c", axislabels[axis_index]);
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mavlink_log_info(mavlink_fd, buf);
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tune_neutral();
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axis_deadline += calibration_interval / 3;
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}
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if (!(axis_index < 3)) {
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break;
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}
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// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
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// if ((axis_left / 1000) == 0 && axis_left > 0) {
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// char buf[50];
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// sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
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// mavlink_log_info(mavlink_fd, buf);
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// }
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int poll_ret = poll(fds, 1, 1000);
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if (poll_ret) {
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orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
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x[calibration_counter] = mag.x;
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y[calibration_counter] = mag.y;
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z[calibration_counter] = mag.z;
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/* get min/max values */
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// if (mag.x < mag_min[0]) {
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// mag_min[0] = mag.x;
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// }
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// else if (mag.x > mag_max[0]) {
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// mag_max[0] = mag.x;
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// }
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// if (raw.magnetometer_ga[1] < mag_min[1]) {
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// mag_min[1] = raw.magnetometer_ga[1];
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// }
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// else if (raw.magnetometer_ga[1] > mag_max[1]) {
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// mag_max[1] = raw.magnetometer_ga[1];
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// }
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// if (raw.magnetometer_ga[2] < mag_min[2]) {
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// mag_min[2] = raw.magnetometer_ga[2];
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// }
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// else if (raw.magnetometer_ga[2] > mag_max[2]) {
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// mag_max[2] = raw.magnetometer_ga[2];
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// }
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calibration_counter++;
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} else if (poll_ret == 0) {
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/* any poll failure for 1s is a reason to abort */
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mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)");
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break;
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}
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}
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float sphere_x;
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float sphere_y;
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float sphere_z;
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float sphere_radius;
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sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
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free(x);
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free(y);
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free(z);
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if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
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fd = open(MAG_DEVICE_PATH, 0);
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struct mag_scale mscale;
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if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
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warn("WARNING: failed to get scale / offsets for mag");
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mscale.x_offset = sphere_x;
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mscale.y_offset = sphere_y;
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mscale.z_offset = sphere_z;
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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
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warn("WARNING: failed to set scale / offsets for mag");
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close(fd);
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/* announce and set new offset */
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if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
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warnx("Setting X mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
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warnx("Setting Y mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
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warnx("Setting Z mag offset failed!\n");
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}
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if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
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warnx("Setting X mag scale failed!\n");
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}
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if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
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warnx("Setting Y mag scale failed!\n");
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}
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if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
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warnx("Setting Z mag scale failed!\n");
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}
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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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mavlink_log_info(mavlink_fd, "FAILED storing calibration");
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}
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warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
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(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
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(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
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char buf[52];
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sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
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(double)mscale.y_offset, (double)mscale.z_offset);
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mavlink_log_info(mavlink_fd, buf);
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sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
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(double)mscale.y_scale, (double)mscale.z_scale);
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mavlink_log_info(mavlink_fd, buf);
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mavlink_log_info(mavlink_fd, "mag calibration done");
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tune_positive();
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/* third beep by cal end routine */
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} else {
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mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
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}
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close(sub_mag);
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}
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