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accel & gyro calibration helpers
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Daniel Agar
@@ -0,0 +1,174 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "level_calibration.h"
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#include "calibration_messages.h"
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#include "calibration_routines.h"
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#include "commander_helper.h"
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/time.h>
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/ecl/geo/geo.h>
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#include <matrix/math.hpp>
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#include <lib/conversion/rotation.h>
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#include <lib/parameters/param.h>
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#include <systemlib/err.h>
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#include <systemlib/mavlink_log.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionBlocking.hpp>
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using namespace time_literals;
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using namespace matrix;
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using math::radians;
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int do_level_calibration(orb_advert_t *mavlink_log_pub)
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{
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bool success = false;
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calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level");
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param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF");
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param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");
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// get old values
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float roll_offset_current = 0.f;
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float pitch_offset_current = 0.f;
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param_get(roll_offset_handle, &roll_offset_current);
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param_get(pitch_offset_handle, &pitch_offset_current);
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int32_t board_rot_current = 0;
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param_get(param_find("SENS_BOARD_ROT"), &board_rot_current);
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const Dcmf board_rotation_offset{Eulerf{radians(roll_offset_current), radians(pitch_offset_current), 0.f}};
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float roll_mean = 0.f;
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float pitch_mean = 0.f;
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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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uORB::SubscriptionBlocking<vehicle_attitude_s> att_sub{ORB_ID(vehicle_attitude)};
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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) < calibration_duration) {
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vehicle_attitude_s att{};
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if (!att_sub.updateBlocking(att, 100000)) {
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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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int progress = 100 * hrt_elapsed_time(&start) / calibration_duration;
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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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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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// 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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roll_mean /= counter;
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pitch_mean /= counter;
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if (had_motion) {
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calibration_log_critical(mavlink_log_pub, "motion during calibration");
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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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calibration_log_critical(mavlink_log_pub, "excess pitch angle");
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} else {
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float roll_mean_degrees = math::degrees(roll_mean);
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float pitch_mean_degrees = math::degrees(pitch_mean);
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param_set_no_notification(roll_offset_handle, &roll_mean_degrees);
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param_set_no_notification(pitch_offset_handle, &pitch_mean_degrees);
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param_notify_changes();
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success = true;
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}
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out:
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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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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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}
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