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accel/gyro/mag calibration: big cleanup, use common messages

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This commit is contained in:
Anton Babushkin
2013-10-21 22:24:59 +02:00
parent ea89f23c91
commit ef42ef15c6
4 changed files with 252 additions and 184 deletions
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src/modules/commander/accelerometer_calibration.cpp
+24 -16
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@@ -122,6 +122,7 @@
*/
#include "accelerometer_calibration.h"
#include "calibration_messages.h"
#include "commander_helper.h"
#include <unistd.h>
@@ -147,6 +148,8 @@
#endif
static const int ERROR = -1;
static const char *sensor_name = "accel";
int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]);
int detect_orientation(int mavlink_fd, int sub_sensor_combined);
int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
@@ -155,8 +158,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
int do_accel_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "accel calibration: started");
mavlink_log_info(mavlink_fd, "accel calibration: progress <0>");
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
struct accel_scale accel_scale = {
0.0f,
@@ -175,7 +177,7 @@ int do_accel_calibration(int mavlink_fd)
close(fd);
if (res != OK) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to reset scale / offsets");
mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
}
/* measure and calculate offsets & scales */
@@ -213,7 +215,7 @@ int do_accel_calibration(int mavlink_fd)
|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale))
|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) {
mavlink_log_critical(mavlink_fd, "ERROR: setting accel params failed");
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
res = ERROR;
}
}
@@ -225,7 +227,7 @@ int do_accel_calibration(int mavlink_fd)
close(fd);
if (res != OK) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for accel");
mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
}
}
@@ -234,15 +236,15 @@ int do_accel_calibration(int mavlink_fd)
res = param_save_default();
if (res != OK) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to save parameters");
mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
}
}
if (res == OK) {
mavlink_log_info(mavlink_fd, "accel calibration: done");
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
} else {
mavlink_log_info(mavlink_fd, "accel calibration: failed");
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
}
return res;
@@ -266,13 +268,16 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
done_count = 0;
for (int i = 0; i < 6; i++) {
if (!data_collected[i]) {
if (data_collected[i]) {
done_count++;
} else {
done = false;
}
}
if (old_done_count != done_count)
mavlink_log_info(mavlink_fd, "accel calibration: progress <%u>", 17 * done_count);
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count);
if (done)
break;
@@ -293,7 +298,7 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
}
if (data_collected[orient]) {
mavlink_log_info(mavlink_fd, "%s done, please rotate to a different axis", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]);
continue;
}
@@ -374,6 +379,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
d = d * d;
accel_disp[i] = accel_disp[i] * (1.0f - w);
if (d > still_thr2 * 8.0f)
d = still_thr2 * 8.0f;
if (d > accel_disp[i])
accel_disp[i] = d;
}
@@ -397,12 +405,12 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
}
}
} else if (accel_disp[0] > still_thr2 * 2.0f ||
accel_disp[1] > still_thr2 * 2.0f ||
accel_disp[2] > still_thr2 * 2.0f) {
} else if (accel_disp[0] > still_thr2 * 4.0f ||
accel_disp[1] > still_thr2 * 4.0f ||
accel_disp[2] > still_thr2 * 4.0f) {
/* not still, reset still start time */
if (t_still != 0) {
mavlink_log_info(mavlink_fd, "detected motion, please hold still...");
mavlink_log_info(mavlink_fd, "detected motion, hold still...");
t_still = 0;
}
}
@@ -416,7 +424,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
}
if (poll_errcount > 1000) {
mavlink_log_critical(mavlink_fd, "ERROR: failed reading sensor");
mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
return ERROR;
}
}