accel & gyro calibration helpers

src/lib/CMakeLists.txt

@@ -59,6 +59,7 @@ add_subdirectory(output_limit)
 add_subdirectory(perf)
 add_subdirectory(pid)
 add_subdirectory(rc)
+add_subdirectory(sensor_calibration)
 add_subdirectory(systemlib)
 add_subdirectory(tecs)
 add_subdirectory(terrain_estimation)

src/lib/sensor_calibration/Accelerometer.cpp

@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "Accelerometer.hpp"
+
+#include "Utilities.hpp"
+
+#include <lib/parameters/param.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+namespace calibration
+{
+
+Accelerometer::Accelerometer()
+{
+	Reset();
+}
+
+Accelerometer::Accelerometer(uint32_t device_id)
+{
+	Reset();
+	set_device_id(device_id);
+}
+
+void Accelerometer::set_device_id(uint32_t device_id)
+{
+	if (_device_id != device_id) {
+		_device_id = device_id;
+		ParametersUpdate();
+		SensorCorrectionsUpdate(true);
+	}
+}
+
+void Accelerometer::SensorCorrectionsUpdate(bool force)
+{
+	// check if the selected sensor has updated
+	if (_sensor_correction_sub.updated() || force) {
+
+		// valid device id required
+		if (_device_id == 0) {
+			return;
+		}
+
+		sensor_correction_s corrections;
+
+		if (_sensor_correction_sub.copy(&corrections)) {
+			// find sensor_corrections index
+			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
+				if (corrections.accel_device_ids[i] == _device_id) {
+					switch (i) {
+					case 0:
+						_thermal_offset = Vector3f{corrections.accel_offset_0};
+						return;
+					case 1:
+						_thermal_offset = Vector3f{corrections.accel_offset_1};
+						return;
+					case 2:
+						_thermal_offset = Vector3f{corrections.accel_offset_2};
+						return;
+					}
+				}
+			}
+		}
+
+		// zero thermal offset if not found
+		_thermal_offset.zero();
+	}
+}
+
+void Accelerometer::ParametersUpdate()
+{
+	if (_device_id == 0) {
+		Reset();
+		return;
+	}
+
+	_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
+
+	if (_calibration_index >= 0) {
+
+		if (!_external) {
+			_rotation = GetBoardRotation();
+
+		} else {
+			// TODO: per sensor external rotation
+			_rotation.setIdentity();
+		}
+
+		// CAL_ACCx_EN
+		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_enabled = (enabled == 1);
+
+		// CAL_ACCx_OFF{X,Y,Z}
+		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
+
+		// CAL_ACCx_SCALE{X,Y,Z}
+		_scale = GetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index);
+
+	} else {
+		Reset();
+	}
+}
+
+void Accelerometer::Reset()
+{
+	_rotation.setIdentity();
+	_offset.zero();
+	_scale = Vector3f{1.f, 1.f, 1.f};
+	_thermal_offset.zero();
+
+	_enabled = true;
+
+	_calibration_index = -1;
+}
+
+bool Accelerometer::ParametersSave()
+{
+	if (_calibration_index >= 0) {
+		// save calibration
+		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
+		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
+
+		return true;
+	}
+
+	return false;
+}
+
+void Accelerometer::PrintStatus()
+{
+	PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f] scale: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(),
+		 (double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_scale(0), (double)_scale(1), (double)_scale(2));
+
+	if (_thermal_offset.norm() > 0.f) {
+		PX4_INFO("%s %d temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,
+			 (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
+	}
+}
+
+} // namespace calibration

src/lib/sensor_calibration/Accelerometer.hpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/conversion/rotation.h>
+#include <lib/matrix/matrix/math.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/sensor_correction.h>
+
+namespace calibration
+{
+class Accelerometer
+{
+public:
+	static constexpr int MAX_SENSOR_COUNT = 3;
+
+	static constexpr const char *SensorString() { return "ACC"; }
+
+	Accelerometer();
+	explicit Accelerometer(uint32_t device_id);
+
+	~Accelerometer() = default;
+
+	void PrintStatus();
+
+	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
+	void set_device_id(uint32_t device_id);
+	void set_external(bool external = true) { _external = external; }
+	void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
+	void set_scale(const matrix::Vector3f &scale) { _scale = scale; }
+
+	uint32_t device_id() const { return _device_id; }
+	bool enabled() const { return _enabled; }
+	bool external() const { return _external; }
+	const matrix::Dcmf &rotation() const { return _rotation; }
+
+	// apply offsets and scale
+	// rotate corrected measurements from sensor to body frame
+	inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
+	{
+		return _rotation * matrix::Vector3f{(data - _thermal_offset - _offset).emult(_scale)};
+	}
+
+	bool ParametersSave();
+	void ParametersUpdate();
+
+	void Reset();
+
+	void SensorCorrectionsUpdate(bool force = false);
+
+private:
+	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
+
+	matrix::Dcmf _rotation;
+	matrix::Vector3f _offset;
+	matrix::Vector3f _scale;
+	matrix::Vector3f _thermal_offset;
+
+	int8_t _calibration_index{-1};
+	uint32_t _device_id{0};
+
+	bool _enabled{true};
+	bool _external{false};
+};
+} // namespace calibration

src/lib/sensor_calibration/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(sensor_calibration
+	Accelerometer.cpp
+	Accelerometer.hpp
+	Gyroscope.cpp
+	Gyroscope.hpp
+	Utilities.cpp
+	Utilities.hpp
+)

src/lib/sensor_calibration/Gyroscope.cpp

@@ -0,0 +1,169 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "Gyroscope.hpp"
+
+#include "Utilities.hpp"
+
+#include <lib/parameters/param.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+namespace calibration
+{
+
+Gyroscope::Gyroscope()
+{
+	Reset();
+}
+
+Gyroscope::Gyroscope(uint32_t device_id)
+{
+	Reset();
+	set_device_id(device_id);
+}
+
+void Gyroscope::set_device_id(uint32_t device_id)
+{
+	if (_device_id != device_id) {
+		_device_id = device_id;
+		ParametersUpdate();
+		SensorCorrectionsUpdate(true);
+	}
+}
+
+void Gyroscope::SensorCorrectionsUpdate(bool force)
+{
+	// check if the selected sensor has updated
+	if (_sensor_correction_sub.updated() || force) {
+
+		// valid device id required
+		if (_device_id == 0) {
+			return;
+		}
+
+		sensor_correction_s corrections;
+
+		if (_sensor_correction_sub.copy(&corrections)) {
+			// find sensor_corrections index
+			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
+				if (corrections.gyro_device_ids[i] == _device_id) {
+					switch (i) {
+					case 0:
+						_thermal_offset = Vector3f{corrections.gyro_offset_0};
+						return;
+					case 1:
+						_thermal_offset = Vector3f{corrections.gyro_offset_1};
+						return;
+					case 2:
+						_thermal_offset = Vector3f{corrections.gyro_offset_2};
+						return;
+					}
+				}
+			}
+		}
+
+		// zero thermal offset if not found
+		_thermal_offset.zero();
+	}
+}
+
+void Gyroscope::ParametersUpdate()
+{
+	if (_device_id == 0) {
+		Reset();
+		return;
+	}
+
+	_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
+
+	if (_calibration_index >= 0) {
+
+		if (!_external) {
+			_rotation = GetBoardRotation();
+
+		} else {
+			// TODO: per sensor external rotation
+			_rotation.setIdentity();
+		}
+
+		// CAL_GYROx_EN
+		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_enabled = (enabled == 1);
+
+		// CAL_GYROx_OFF{X,Y,Z}
+		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
+
+	} else {
+		Reset();
+	}
+}
+
+void Gyroscope::Reset()
+{
+	_rotation.setIdentity();
+	_offset.zero();
+	_thermal_offset.zero();
+
+	_enabled = true;
+
+	_calibration_index = -1;
+}
+
+bool Gyroscope::ParametersSave()
+{
+	if (_calibration_index >= 0) {
+		// save calibration
+		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
+		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+
+		return true;
+	}
+
+	return false;
+}
+
+void Gyroscope::PrintStatus()
+{
+	PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(),
+		 (double)_offset(0), (double)_offset(1), (double)_offset(2));
+
+	if (_thermal_offset.norm() > 0.f) {
+		PX4_INFO("%s %d temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,
+			 (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
+	}
+}
+
+} // namespace calibration

src/lib/sensor_calibration/Gyroscope.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/conversion/rotation.h>
+#include <lib/matrix/matrix/math.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/sensor_correction.h>
+
+namespace calibration
+{
+class Gyroscope
+{
+public:
+	static constexpr int MAX_SENSOR_COUNT = 3;
+
+	static constexpr const char *SensorString() { return "GYRO"; }
+
+	Gyroscope();
+	explicit Gyroscope(uint32_t device_id);
+
+	~Gyroscope() = default;
+
+	void PrintStatus();
+
+	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
+	void set_device_id(uint32_t device_id);
+	void set_external(bool external = true) { _external = external; }
+	void set_offset(const matrix::Vector3f &offset) { _offset = offset; }
+
+	uint32_t device_id() const { return _device_id; }
+	bool enabled() const { return _enabled; }
+	bool external() const { return _external; }
+	const matrix::Dcmf &rotation() const { return _rotation; }
+
+	// apply offsets and scale
+	// rotate corrected measurements from sensor to body frame
+	inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
+	{
+		return _rotation * matrix::Vector3f{data - _thermal_offset - _offset};
+	}
+
+	bool ParametersSave();
+	void ParametersUpdate();
+
+	void Reset();
+
+	void SensorCorrectionsUpdate(bool force = false);
+
+private:
+	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
+
+	matrix::Dcmf _rotation;
+	matrix::Vector3f _offset;
+	matrix::Vector3f _thermal_offset;
+
+	int8_t _calibration_index{-1};
+	uint32_t _device_id{0};
+
+	bool _enabled{true};
+	bool _external{false};
+};
+} // namespace calibration

src/lib/sensor_calibration/Utilities.cpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <lib/conversion/rotation.h>
+#include <lib/parameters/param.h>
+
+using math::radians;
+using matrix::Eulerf;
+using matrix::Dcmf;
+using matrix::Vector3f;
+
+namespace calibration
+{
+
+int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id)
+{
+	if (device_id == 0) {
+		return -1;
+	}
+
+	for (unsigned i = 0; i < 4; ++i) {
+		char str[20] {};
+		sprintf(str, "CAL_%s%u_ID", sensor_type, i);
+
+		int32_t device_id_val = 0;
+
+		param_t param_handle = param_find_no_notification(str);
+
+		if (param_handle == PARAM_INVALID) {
+			continue;
+		}
+
+		// find again and get value, but this time mark it active
+		if (param_get(param_find(str), &device_id_val) != OK) {
+			continue;
+		}
+
+		if ((uint32_t)device_id_val == device_id) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
+int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance)
+{
+	// eg CAL_MAGn_ID/CAL_MAGn_ROT
+	char str[20] {};
+	sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);
+
+	int32_t value = 0;
+
+	if (param_get(param_find(str), &value) != 0) {
+		PX4_ERR("failed to get %s", str);
+	}
+
+	return value;
+}
+
+int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value)
+{
+	char str[20] {};
+
+	// eg CAL_MAGn_ID/CAL_MAGn_ROT
+	sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);
+
+	int ret = param_set_no_notification(param_find(str), &value);
+
+	if (ret != PX4_OK) {
+		PX4_ERR("failed to set %s = %d", str, value);
+	}
+
+	return ret;
+}
+
+Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance)
+{
+	Vector3f values{0.f, 0.f, 0.f};
+
+	char str[20] {};
+
+	for (int axis = 0; axis < 3; axis++) {
+		char axis_char = 'X' + axis;
+
+		// eg CAL_MAGn_{X,Y,Z}OFF
+		sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type);
+
+		if (param_get(param_find(str), &values(axis)) != 0) {
+			PX4_ERR("failed to get %s", str);
+		}
+	}
+
+	return values;
+}
+
+int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance, Vector3f values)
+{
+	int ret = PX4_OK;
+	char str[20] {};
+
+	for (int axis = 0; axis < 3; axis++) {
+		char axis_char = 'X' + axis;
+
+		// eg CAL_MAGn_{X,Y,Z}OFF
+		sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type);
+
+		if (param_set_no_notification(param_find(str), &values(axis)) != 0) {
+			PX4_ERR("failed to set %s = %.4f", str, (double)values(axis));
+			ret = PX4_ERROR;
+		}
+	}
+
+	return ret;
+}
+
+Dcmf GetBoardRotation()
+{
+	float x_offset = 0.f;
+	float y_offset = 0.f;
+	float z_offset = 0.f;
+	param_get(param_find("SENS_BOARD_X_OFF"), &x_offset);
+	param_get(param_find("SENS_BOARD_Y_OFF"), &y_offset);
+	param_get(param_find("SENS_BOARD_Z_OFF"), &z_offset);
+
+	const Dcmf board_rotation_offset(Eulerf(radians(x_offset), radians(y_offset), radians(z_offset)));
+
+	// get transformation matrix from sensor/board to body frame
+	int32_t board_rot = 0;
+	param_get(param_find("SENS_BOARD_ROT"), &board_rot);
+
+	return board_rotation_offset * get_rot_matrix((enum Rotation)board_rot);
+}
+
+} // namespace calibration

src/lib/sensor_calibration/Utilities.hpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace calibration
+{
+
+int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id);
+
+int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance);
+int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value);
+
+matrix::Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance);
+int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance,
+				 matrix::Vector3f values);
+
+matrix::Dcmf GetBoardRotation();
+
+
+} // namespace calibration