Merge pull request #1063 from pigeonhunter/offset_tuning

Offset tuning implemented in sensors app

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c

@@ -61,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
 /* offset estimation - UNUSED */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
 
-/* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
-
 /* magnetic declination, in degrees */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 
@@ -85,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->r2 	=	param_find("EKF_ATT_V4_R2");
 	h->r3 	=	param_find("EKF_ATT_V4_R3");
 
-	h->roll_off  =	param_find("ATT_ROLL_OFF3");
-	h->pitch_off =	param_find("ATT_PITCH_OFF3");
-	h->yaw_off   =	param_find("ATT_YAW_OFF3");
-
 	h->mag_decl   =	param_find("ATT_MAG_DECL");
 
 	h->acc_comp   =	param_find("ATT_ACC_COMP");
@@ -109,10 +100,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r2, &(p->r[2]));
 	param_get(h->r3, &(p->r[3]));
 
-	param_get(h->roll_off, &(p->roll_off));
-	param_get(h->pitch_off, &(p->pitch_off));
-	param_get(h->yaw_off, &(p->yaw_off));
-
 	param_get(h->mag_decl, &(p->mag_decl));
 	p->mag_decl *= M_PI / 180.0f;
 

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h

@@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params {
 struct attitude_estimator_ekf_param_handles {
 	param_t r0, r1, r2, r3;
 	param_t q0, q1, q2, q3, q4;
-	param_t roll_off, pitch_off, yaw_off;
 	param_t mag_decl;
 	param_t acc_comp;
 };

src/modules/sensors/sensor_params.c

@@ -242,6 +242,36 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
  */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
+/**
+ * Board rotation Y (Pitch) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
+
+/**
+ * Board rotation X (Roll) offset
+ *
+ * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
+
+/**
+ * Board rotation Z (YAW) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
+
 /**
  * External magnetometer rotation
  *

src/modules/sensors/sensors.cpp

@@ -229,7 +229,7 @@ private:
 	math::Matrix<3, 3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
 	math::Matrix<3, 3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
 	bool		_mag_is_external;		/**< true if the active mag is on an external board */
-
+	
 	uint64_t _battery_discharged;			/**< battery discharged current in mA*ms */
 	hrt_abstime _battery_current_timestamp;	/**< timestamp of last battery current reading */
 
@@ -252,6 +252,8 @@ private:
 
 		int board_rotation;
 		int external_mag_rotation;
+		
+		float board_offset[3];
 
 		int rc_map_roll;
 		int rc_map_pitch;
@@ -341,6 +343,8 @@ private:
 
 		param_t board_rotation;
 		param_t external_mag_rotation;
+		
+		param_t board_offset[3];
 
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
@@ -587,6 +591,11 @@ Sensors::Sensors() :
 	/* rotations */
 	_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
 	_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
+	
+	/* rotation offsets */
+	_parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
+	_parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
+	_parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -791,6 +800,18 @@ Sensors::parameters_update()
 
 	get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
 	get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
+	
+	param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0]));
+	param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1]));
+	param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2]));
+	
+	/** fine tune board offset on parameter update **/
+	math::Matrix<3, 3> board_rotation_offset; 
+	board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0],
+							 M_DEG_TO_RAD_F * _parameters.board_offset[1],
+							 M_DEG_TO_RAD_F * _parameters.board_offset[2]);
+	
+	_board_rotation = _board_rotation * board_rotation_offset;
 
 	return OK;
 }