fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 15:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Sensor cal rework

Browse Source 
- cancel support
- versioned cal messages
- better still detection
- better messaging
This commit is contained in:
Don Gagne
2015-04-26 14:34:19 +02:00
committed by Lorenz Meier
parent ecbff2885c
commit a7f88d97b8
9 changed files with 573 additions and 431 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/airspeed_calibration.cpp
+57 -49
View File
@@ -38,6 +38,7 @@
#include "airspeed_calibration.h"
#include "calibration_messages.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include <stdio.h>
@@ -61,19 +62,20 @@ static const int ERROR = -1;
static const char *sensor_name = "dpress";
#define HUMAN_ASPD_CAL_FAILED_MSG "Calibration failed, see http://px4.io/help/aspd"
static void feedback_calibration_failed(int mavlink_fd)
{
sleep(5);
mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
mavlink_log_critical(mavlink_fd, HUMAN_ASPD_CAL_FAILED_MSG);
mavlink_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, sensor_name);
}
int do_airspeed_calibration(int mavlink_fd)
{
int result = OK;
unsigned calibration_counter = 0;
const unsigned maxcount = 3000;
/* give directions */
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000;
@@ -96,11 +98,13 @@ int do_airspeed_calibration(int mavlink_fd)
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset zero failed");
}
close(fd);
}
int cancel_sub = calibrate_cancel_subscribe();
if (!paramreset_successful) {
@@ -108,26 +112,26 @@ int do_airspeed_calibration(int mavlink_fd)
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd");
close(diff_pres_sub);
return ERROR;
mavlink_log_critical(mavlink_fd, "[cal] No airspeed sensor, see http://px4.io/help/aspd");
goto error_return;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
}
}
unsigned calibration_counter = 0;
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
mavlink_log_critical(mavlink_fd, "[cal] Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
@@ -142,14 +146,13 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
goto error_return;
}
}
@@ -161,16 +164,15 @@ int do_airspeed_calibration(int mavlink_fd)
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset update failed");
}
close(fd_scale);
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
}
/* auto-save to EEPROM */
@@ -178,30 +180,31 @@ int do_airspeed_calibration(int mavlink_fd)
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
mavlink_log_critical(mavlink_fd, CAL_ERROR_SAVE_PARAMS_MSG);
goto error_return;
}
} else {
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
goto error_return;
}
mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
mavlink_log_critical(mavlink_fd, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
mavlink_log_critical(mavlink_fd, "Create airflow now");
mavlink_log_critical(mavlink_fd, "[cal] Create airflow now");
calibration_counter = 0;
const unsigned maxcount = 3000;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
@@ -216,7 +219,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)",
mavlink_log_info(mavlink_fd, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
@@ -224,30 +227,26 @@ int do_airspeed_calibration(int mavlink_fd)
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
mavlink_log_info(mavlink_fd, "[cal] Negative pressure difference detected (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
close(diff_pres_sub);
mavlink_log_info(mavlink_fd, "[cal] Swap static and dynamic ports!");
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
goto error_return;
}
/* save */
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 0);
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 0);
(void)param_save_default();
close(diff_pres_sub);
feedback_calibration_failed(mavlink_fd);
return ERROR;
goto error_return;
} else {
mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
mavlink_log_info(mavlink_fd, "[cal] Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
break;
}
@@ -255,21 +254,30 @@ int do_airspeed_calibration(int mavlink_fd)
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
goto error_return;
}
}
if (calibration_counter == maxcount) {
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
goto error_return;
}
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
mavlink_log_info(mavlink_fd, CAL_QGC_DONE_MSG, sensor_name);
tune_neutral(true);
normal_return:
calibrate_cancel_unsubscribe(cancel_sub);
close(diff_pres_sub);
return OK;
// This give a chance for the log messages to go out of the queue before someone else stomps on then
sleep(1);
return result;
error_return:
result = ERROR;
goto normal_return;
}