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airspeed (pitot) offset calibration

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Thomas Gubler
2013-02-24 21:57:38 +01:00
parent 2707d2c1dd
commit c0a852dab4
6 changed files with 130 additions and 7 deletions
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apps/commander/commander.c
+96
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@@ -80,6 +80,7 @@
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
@@ -785,6 +786,79 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
close(sub_sensor_combined);
}
void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status)
{
/* announce change */
mavlink_log_info(mavlink_fd, "keep it still");
/* set to accel calibration mode */
status->flag_preflight_airspeed_calibration = true;
state_machine_publish(status_pub, status, mavlink_fd);
const int calibration_count = 2500;
int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s differential_pressure;
int calibration_counter = 0;
float airspeed_offset = 0.0f;
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure);
airspeed_offset += differential_pressure.voltage;
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;
}
}
airspeed_offset = airspeed_offset / calibration_count;
if (isfinite(airspeed_offset)) {
if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_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_confirm();
sleep(2);
tune_confirm();
sleep(2);
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
}
/* exit airspeed calibration mode */
status->flag_preflight_airspeed_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
close(sub_differential_pressure);
}
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
@@ -980,6 +1054,28 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
handled = true;
}
/* airspeed calibration */
if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol
/* transition to calibration state */
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "CMD starting airspeed cal");
tune_confirm();
do_airspeed_calibration(status_pub, &current_status);
tune_confirm();
mavlink_log_info(mavlink_fd, "CMD finished airspeed cal");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal");
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
/* none found */
if (!handled) {
//warnx("refusing unsupported calibration request\n");