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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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level calibration: speedup & check for motion
- instead of resetting existing calibration on start and having to wait until the estimator converges, keep existing calibration applied and subtract it. - reduce calibration time from 5s to 500ms, and check for motion during that time. - repeat if there was motion - fix an uorb resource leak
This commit is contained in:
Beat Küng
Daniel Agar
parent
b4eaa6696e
commit
e2a2654628
@ -151,6 +151,7 @@
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#include <uORB/topics/sensor_correction.h>
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#include <uORB/Subscription.hpp>
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using namespace time_literals;
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using namespace matrix;
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static const char *sensor_name = "accel";
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@ -796,14 +797,9 @@ calibrate_return calculate_calibration_values(unsigned sensor,
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int do_level_calibration(orb_advert_t *mavlink_log_pub)
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{
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const unsigned cal_time = 5;
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const unsigned cal_hz = 100;
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unsigned settle_time = 30;
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bool success = false;
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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struct vehicle_attitude_s att;
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memset(&att, 0, sizeof(att));
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vehicle_attitude_s att{};
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calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level");
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@ -811,7 +807,7 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
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param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");
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param_t board_rot_handle = param_find("SENS_BOARD_ROT");
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// save old values if calibration fails
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// get old values
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float roll_offset_current;
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float pitch_offset_current;
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int32_t board_rot_current = 0;
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@ -819,67 +815,82 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
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param_get(pitch_offset_handle, &pitch_offset_current);
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param_get(board_rot_handle, &board_rot_current);
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// give attitude some time to settle if there have been changes to the board rotation parameters
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if (board_rot_current == 0 && fabsf(roll_offset_current) < FLT_EPSILON && fabsf(pitch_offset_current) < FLT_EPSILON) {
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settle_time = 0;
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}
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float zero = 0.0f;
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param_set_no_notification(roll_offset_handle, &zero);
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param_set_no_notification(pitch_offset_handle, &zero);
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param_notify_changes();
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Dcmf board_rotation_offset = Eulerf(
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math::radians(roll_offset_current),
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math::radians(pitch_offset_current),
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0.f);
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px4_pollfd_struct_t fds[1];
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fds[0].fd = att_sub;
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fds[0].events = POLLIN;
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float roll_mean = 0.0f;
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float pitch_mean = 0.0f;
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unsigned counter = 0;
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bool had_motion = true;
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int num_retries = 0;
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// sleep for some time
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hrt_abstime start = hrt_absolute_time();
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while (had_motion && num_retries++ < 50) {
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Vector2f min_angles{100.f, 100.f};
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Vector2f max_angles{-100.f, -100.f};
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roll_mean = 0.0f;
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pitch_mean = 0.0f;
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counter = 0;
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int last_progress_report = -100;
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const hrt_abstime calibration_duration = 500_ms;
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const hrt_abstime start = hrt_absolute_time();
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while (hrt_elapsed_time(&start) < settle_time * 1000000) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG,
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(int)(90 * hrt_elapsed_time(&start) / 1e6f / (float)settle_time));
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px4_sleep(settle_time / 10);
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}
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while (hrt_elapsed_time(&start) < calibration_duration) {
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int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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start = hrt_absolute_time();
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if (pollret <= 0) {
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// attitude estimator is not running
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calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot");
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
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goto out;
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}
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// average attitude for 5 seconds
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while (hrt_elapsed_time(&start) < cal_time * 1000000) {
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int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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int progress = 100 * hrt_elapsed_time(&start) / calibration_duration;
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if (pollret <= 0) {
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// attitude estimator is not running
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calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot");
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
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goto out;
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if (progress >= last_progress_report + 20) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress);
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last_progress_report = progress;
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}
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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Eulerf att_euler = Quatf(att.q);
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// keep min + max angles
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for (int i = 0; i < 2; ++i) {
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if (att_euler(i) < min_angles(i)) { min_angles(i) = att_euler(i); }
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if (att_euler(i) > max_angles(i)) { max_angles(i) = att_euler(i); }
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}
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att_euler(2) = 0.f; // ignore yaw
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att_euler = Eulerf(board_rotation_offset * Dcmf(att_euler)); // subtract existing board rotation
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roll_mean += att_euler.phi();
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pitch_mean += att_euler.theta();
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++counter;
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}
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orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
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matrix::Eulerf euler = matrix::Quatf(att.q);
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roll_mean += euler.phi();
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pitch_mean += euler.theta();
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counter++;
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// motion detection: check that (max-min angle) is within a threshold.
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// The difference is typically <0.1 deg while at rest
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if (max_angles(0) - min_angles(0) < math::radians(0.5f) &&
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max_angles(1) - min_angles(1) < math::radians(0.5f)) {
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had_motion = false;
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}
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}
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calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
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if (counter > (cal_time * cal_hz / 2)) {
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roll_mean /= counter;
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pitch_mean /= counter;
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roll_mean /= counter;
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pitch_mean /= counter;
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} else {
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calibration_log_info(mavlink_log_pub, "not enough measurements taken");
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success = false;
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goto out;
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}
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if (had_motion) {
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calibration_log_critical(mavlink_log_pub, "motion during calibration");
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if (fabsf(roll_mean) > 0.8f) {
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} else if (fabsf(roll_mean) > 0.8f) {
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calibration_log_critical(mavlink_log_pub, "excess roll angle");
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} else if (fabsf(pitch_mean) > 0.8f) {
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@ -896,15 +907,13 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
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out:
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orb_unsubscribe(att_sub);
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if (success) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "level");
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return 0;
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} else {
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// set old parameters
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param_set_no_notification(roll_offset_handle, &roll_offset_current);
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param_set_no_notification(pitch_offset_handle, &pitch_offset_current);
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param_notify_changes();
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
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return 1;
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}
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