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Fixed calibration routines to ignore previous offsets during calibration, added scale compensation for MPU-6000

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Lorenz Meier
2012-09-11 23:35:01 +02:00
parent 31d028828c
commit a74a455ab5
3 changed files with 155 additions and 38 deletions
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apps/sensors/sensors.cpp
+33 -25
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@@ -182,7 +182,8 @@ private:
float gyro_offset[3];
float mag_offset[3];
float acc_offset[3];
float accel_offset[3];
float accel_scale[3];
int rc_type;
@@ -203,8 +204,9 @@ private:
param_t rc_type;
param_t gyro_offset[3];
param_t accel_offset[3];
param_t accel_scale[3];
param_t mag_offset[3];
param_t acc_offset[3];
param_t rc_map_roll;
param_t rc_map_pitch;
@@ -383,19 +385,22 @@ Sensors::Sensors() :
_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENSOR_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENSOR_GYRO_YOFF");
_parameter_handles.gyro_offset[2] = param_find("SENSOR_GYRO_ZOFF");
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
/* accel offsets */
_parameter_handles.acc_offset[0] = param_find("SENSOR_ACC_XOFF");
_parameter_handles.acc_offset[1] = param_find("SENSOR_ACC_YOFF");
_parameter_handles.acc_offset[2] = param_find("SENSOR_ACC_ZOFF");
_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
_parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF");
_parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF");
_parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE");
_parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE");
_parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE");
/* mag offsets */
_parameter_handles.mag_offset[0] = param_find("SENSOR_MAG_XOFF");
_parameter_handles.mag_offset[1] = param_find("SENSOR_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENSOR_MAG_ZOFF");
_parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF");
_parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF");
_parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF");
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
@@ -493,9 +498,12 @@ Sensors::parameters_update()
param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2]));
/* accel offsets */
param_get(_parameter_handles.acc_offset[0], &(_parameters.acc_offset[0]));
param_get(_parameter_handles.acc_offset[1], &(_parameters.acc_offset[1]));
param_get(_parameter_handles.acc_offset[2], &(_parameters.acc_offset[2]));
param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0]));
param_get(_parameter_handles.accel_offset[1], &(_parameters.accel_offset[1]));
param_get(_parameter_handles.accel_offset[2], &(_parameters.accel_offset[2]));
param_get(_parameter_handles.accel_scale[0], &(_parameters.accel_scale[0]));
param_get(_parameter_handles.accel_scale[1], &(_parameters.accel_scale[1]));
param_get(_parameter_handles.accel_scale[2], &(_parameters.accel_scale[2]));
/* mag offsets */
param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0]));
@@ -643,9 +651,9 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
const float range_g = 4.0f;
/* scale from 14 bit to m/s2 */
accel_report.x = (((accel_report.x_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
accel_report.y = (((accel_report.y_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
accel_report.z = (((accel_report.z_raw - _parameters.acc_offset[0]) * range_g) / 8192.0f) / 9.81f;
accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f;
raw.accelerometer_counter++;
} else {
@@ -822,12 +830,12 @@ Sensors::parameter_update_poll(bool forced)
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
_parameters.acc_offset[0],
1.0f,
_parameters.acc_offset[1],
1.0f,
_parameters.acc_offset[2],
1.0f,
_parameters.accel_offset[0],
_parameters.accel_scale[0],
_parameters.accel_offset[1],
_parameters.accel_scale[1],
_parameters.accel_offset[2],
_parameters.accel_scale[2],
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
@@ -1004,7 +1012,7 @@ Sensors::task_main()
parameter_update_poll(true /* forced */);
/* advertise the sensor_combined topic and make the initial publication */
/* advertise the SENS_combined topic and make the initial publication */
_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
/* advertise the manual_control topic */
@@ -1092,7 +1100,7 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_create("sensor_task",
_sensors_task = task_create("SENS_task",
SCHED_PRIORITY_MAX - 5,
4096, /* XXX may be excesssive */
(main_t)&Sensors::task_main_trampoline,