accel & gyro calibration helpers

src/lib/sensor_calibration/Accelerometer.hpp

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+/****************************************************************************
+ *
+ *   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