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calibration: bugs fixed, mavlink messages cleanup
This commit is contained in:
Anton Babushkin
@@ -100,6 +100,24 @@
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* accel_T = A^-1 * g
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* g = 9.80665
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*
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* ===== Rotation =====
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*
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* Calibrating using model:
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* accel_corr = accel_T_r * (rot * accel_raw - accel_offs_r)
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*
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* Actual correction:
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* accel_corr = rot * accel_T * (accel_raw - accel_offs)
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*
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* Known: accel_T_r, accel_offs_r, rot
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* Unknown: accel_T, accel_offs
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*
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* Solution:
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* accel_T_r * (rot * accel_raw - accel_offs_r) = rot * accel_T * (accel_raw - accel_offs)
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* rot^-1 * accel_T_r * (rot * accel_raw - accel_offs_r) = accel_T * (accel_raw - accel_offs)
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* rot^-1 * accel_T_r * rot * accel_raw - rot^-1 * accel_T_r * accel_offs_r = accel_T * accel_raw - accel_T * accel_offs)
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* => accel_T = rot^-1 * accel_T_r * rot
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* => accel_offs = rot^-1 * accel_offs_r
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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@@ -137,72 +155,97 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
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int do_accel_calibration(int mavlink_fd)
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{
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/* announce change */
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mavlink_log_info(mavlink_fd, "accel calibration started");
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mavlink_log_info(mavlink_fd, "accel cal progress <0> percent");
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mavlink_log_info(mavlink_fd, "accel calibration: started");
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mavlink_log_info(mavlink_fd, "accel calibration: progress <0>");
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struct accel_scale accel_scale = {
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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};
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int res = OK;
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/* reset all offsets to zero and all scales to one */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
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close(fd);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to reset scale / offsets");
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}
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/* measure and calculate offsets & scales */
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float accel_offs[3];
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float accel_T[3][3];
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int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
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res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T);
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if (res == OK) {
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/* measurements complete successfully, rotate calibration values */
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/* measurements completed successfully, rotate calibration values */
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param_t board_rotation_h = param_find("SENS_BOARD_ROT");
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enum Rotation board_rotation_id;
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param_get(board_rotation_h, &(board_rotation_id));
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int32_t board_rotation_int;
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param_get(board_rotation_h, &(board_rotation_int));
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enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
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math::Matrix board_rotation(3, 3);
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get_rot_matrix(board_rotation_id, &board_rotation);
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board_rotation = board_rotation.transpose();
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math::Matrix board_rotation_t = board_rotation.transpose();
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math::Vector3 accel_offs_vec;
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accel_offs_vec.set(&accel_offs[0]);
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math::Vector3 accel_offs_rotated = board_rotation * accel_offs_vec;
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math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec;
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math::Matrix accel_T_mat(3, 3);
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accel_T_mat.set(&accel_T[0][0]);
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math::Matrix accel_T_rotated = board_rotation.transpose() * accel_T_mat * board_rotation;
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math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
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accel_scale.x_offset = accel_offs_rotated(0);
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accel_scale.x_scale = accel_T_rotated(0, 0);
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accel_scale.y_offset = accel_offs_rotated(1);
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accel_scale.y_scale = accel_T_rotated(1, 1);
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accel_scale.z_offset = accel_offs_rotated(2);
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accel_scale.z_scale = accel_T_rotated(2, 2);
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/* set parameters */
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if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs_rotated(0)))
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|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1)))
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|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2)))
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|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_T_rotated(0, 0)))
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|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_T_rotated(1, 1)))
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|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_T_rotated(2, 2)))) {
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mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
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if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset))
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|| param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset))
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|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset))
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|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale))
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|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale))
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|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) {
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mavlink_log_critical(mavlink_fd, "ERROR: setting accel params failed");
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res = ERROR;
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}
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int fd = open(ACCEL_DEVICE_PATH, 0);
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struct accel_scale ascale = {
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accel_offs_rotated(0),
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accel_T_rotated(0, 0),
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accel_offs_rotated(1),
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accel_T_rotated(1, 1),
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accel_offs_rotated(2),
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accel_T_rotated(2, 2),
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};
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if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
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warn("WARNING: failed to set scale / offsets for accel");
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close(fd);
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/* auto-save to EEPROM */
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int save_ret = param_save_default();
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if (save_ret != 0) {
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warn("WARNING: auto-save of params to storage failed");
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}
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mavlink_log_info(mavlink_fd, "accel calibration done");
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return OK;
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} else {
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/* measurements error */
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mavlink_log_info(mavlink_fd, "accel calibration aborted");
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return ERROR;
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}
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/* exit accel calibration mode */
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if (res == OK) {
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/* apply new scaling and offsets */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
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close(fd);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for accel");
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}
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}
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if (res == OK) {
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/* auto-save to EEPROM */
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res = param_save_default();
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to save parameters");
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}
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}
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if (res == OK) {
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mavlink_log_info(mavlink_fd, "accel calibration: done");
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} else {
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mavlink_log_info(mavlink_fd, "accel calibration: failed");
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}
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return res;
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}
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int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3])
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@@ -212,27 +255,10 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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bool data_collected[6] = { false, false, false, false, false, false };
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const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
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/* reset existing calibration */
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int fd = open(ACCEL_DEVICE_PATH, 0);
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struct accel_scale ascale_null = {
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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0.0f,
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1.0f,
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};
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int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
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close(fd);
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if (OK != ioctl_res) {
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warn("ERROR: failed to set scale / offsets for accel");
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return ERROR;
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}
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int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
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unsigned done_count = 0;
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int res = OK;
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while (true) {
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bool done = true;
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@@ -245,6 +271,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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}
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}
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if (old_done_count != done_count)
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mavlink_log_info(mavlink_fd, "accel calibration: progress <%u>", 17 * done_count);
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if (done)
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break;
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mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
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(!data_collected[0]) ? "x+ " : "",
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(!data_collected[1]) ? "x- " : "",
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@@ -253,17 +285,11 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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(!data_collected[4]) ? "z+ " : "",
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(!data_collected[5]) ? "z- " : "");
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if (old_done_count != done_count)
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mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
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if (done)
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break;
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int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
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if (orient < 0) {
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close(sensor_combined_sub);
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return ERROR;
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res = ERROR;
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break;
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}
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if (data_collected[orient]) {
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@@ -284,15 +310,16 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
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close(sensor_combined_sub);
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/* calculate offsets and transform matrix */
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int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
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if (res == OK) {
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/* calculate offsets and transform matrix */
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res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
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if (res != 0) {
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mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error");
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return ERROR;
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if (res != OK) {
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mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error");
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}
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}
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return OK;
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return res;
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}
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/*
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@@ -309,7 +336,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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/* max-hold dispersion of accel */
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float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
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/* EMA time constant in seconds*/
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float ema_len = 0.2f;
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float ema_len = 0.5f;
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/* set "still" threshold to 0.25 m/s^2 */
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float still_thr2 = pow(0.25f, 2);
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/* set accel error threshold to 5m/s^2 */
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@@ -342,8 +369,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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float w = dt / ema_len;
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for (int i = 0; i < 3; i++) {
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accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
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float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
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float d = sensor.accelerometer_m_s2[i] - accel_ema[i];
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accel_ema[i] += d * w;
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d = d * d;
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accel_disp[i] = accel_disp[i] * (1.0f - w);
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@@ -389,8 +416,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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}
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if (poll_errcount > 1000) {
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mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor");
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return -1;
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mavlink_log_critical(mavlink_fd, "ERROR: failed reading sensor");
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return ERROR;
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}
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}
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@@ -424,9 +451,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
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fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
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return 5; // [ 0, 0, -g ]
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mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
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mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
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return -2; // Can't detect orientation
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return ERROR; // Can't detect orientation
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}
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/*
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