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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 14:33:35 +08:00
accel/gyro/mag calibration: big cleanup, use common messages
This commit is contained in:
Anton Babushkin
@@ -33,12 +33,14 @@
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/**
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* @file mag_calibration.cpp
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*
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* Magnetometer calibration routine
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*/
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#include "mag_calibration.h"
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#include "commander_helper.h"
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#include "calibration_routines.h"
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#include "calibration_messages.h"
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#include <stdio.h>
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#include <stdlib.h>
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@@ -59,26 +61,20 @@
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#endif
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static const int ERROR = -1;
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static const char *sensor_name = "mag";
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int do_mag_calibration(int mavlink_fd)
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{
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mavlink_log_info(mavlink_fd, "please put the system in a rest position and wait.");
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int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
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struct mag_report mag;
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mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
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mavlink_log_info(mavlink_fd, "don't move system");
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/* 45 seconds */
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uint64_t calibration_interval = 45 * 1000 * 1000;
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/* maximum 2000 values */
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/* maximum 500 values */
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const unsigned int calibration_maxcount = 500;
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unsigned int calibration_counter = 0;
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/* limit update rate to get equally spaced measurements over time (in ms) */
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orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
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int fd = open(MAG_DEVICE_PATH, O_RDONLY);
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/* erase old calibration */
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struct mag_scale mscale_null = {
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0.0f,
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1.0f,
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@@ -88,97 +84,92 @@ int do_mag_calibration(int mavlink_fd)
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1.0f,
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};
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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
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warn("WARNING: failed to set scale / offsets for mag");
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mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag");
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int res = OK;
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/* erase old calibration */
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int fd = open(MAG_DEVICE_PATH, O_RDONLY);
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res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
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}
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/* calibrate range */
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if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) {
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warnx("failed to calibrate scale");
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if (res == OK) {
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/* calibrate range */
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res = ioctl(fd, MAGIOCCALIBRATE, fd);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to calibrate scale");
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}
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}
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close(fd);
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mavlink_log_info(mavlink_fd, "mag cal progress <20> percent");
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float *x;
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float *y;
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float *z;
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/* calibrate offsets */
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if (res == OK) {
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/* allocate memory */
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mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
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// uint64_t calibration_start = hrt_absolute_time();
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x = (float *)malloc(sizeof(float) * calibration_maxcount);
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y = (float *)malloc(sizeof(float) * calibration_maxcount);
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z = (float *)malloc(sizeof(float) * calibration_maxcount);
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uint64_t axis_deadline = hrt_absolute_time();
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uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
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const char axislabels[3] = { 'X', 'Y', 'Z'};
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int axis_index = -1;
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float *x = (float *)malloc(sizeof(float) * calibration_maxcount);
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float *y = (float *)malloc(sizeof(float) * calibration_maxcount);
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float *z = (float *)malloc(sizeof(float) * calibration_maxcount);
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if (x == NULL || y == NULL || z == NULL) {
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warnx("mag cal failed: out of memory");
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mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
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warnx("x:%p y:%p z:%p\n", x, y, z);
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return ERROR;
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if (x == NULL || y == NULL || z == NULL) {
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mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
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res = ERROR;
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}
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}
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mavlink_log_info(mavlink_fd, "scale calibration completed, dynamic calibration starting..");
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if (res == OK) {
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int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
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struct mag_report mag;
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unsigned poll_errcount = 0;
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/* limit update rate to get equally spaced measurements over time (in ms) */
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orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
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while (hrt_absolute_time() < calibration_deadline &&
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calibration_counter < calibration_maxcount) {
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/* calibrate offsets */
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uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
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unsigned poll_errcount = 0;
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/* wait blocking for new data */
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struct pollfd fds[1];
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fds[0].fd = sub_mag;
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fds[0].events = POLLIN;
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mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
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/* user guidance */
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if (hrt_absolute_time() >= axis_deadline &&
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axis_index < 3) {
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while (hrt_absolute_time() < calibration_deadline &&
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calibration_counter < calibration_maxcount) {
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axis_index++;
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/* wait blocking for new data */
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struct pollfd fds[1];
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fds[0].fd = sub_mag;
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fds[0].events = POLLIN;
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mavlink_log_info(mavlink_fd, "please rotate in a figure 8 or around %c axis.", axislabels[axis_index]);
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tune_neutral();
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int poll_ret = poll(fds, 1, 1000);
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axis_deadline += calibration_interval / 3;
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if (poll_ret > 0) {
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orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
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x[calibration_counter] = mag.x;
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y[calibration_counter] = mag.y;
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z[calibration_counter] = mag.z;
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calibration_counter++;
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if (calibration_counter % (calibration_maxcount / 20) == 0)
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mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount);
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} else {
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poll_errcount++;
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}
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if (poll_errcount > 1000) {
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mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
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res = ERROR;
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break;
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}
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}
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if (!(axis_index < 3)) {
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break;
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}
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int poll_ret = poll(fds, 1, 1000);
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if (poll_ret > 0) {
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orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
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x[calibration_counter] = mag.x;
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y[calibration_counter] = mag.y;
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z[calibration_counter] = mag.z;
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calibration_counter++;
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if (calibration_counter % (calibration_maxcount / 20) == 0)
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mavlink_log_info(mavlink_fd, "mag cal progress <%u> percent", 20 + (calibration_counter * 50) / calibration_maxcount);
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} else {
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poll_errcount++;
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}
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if (poll_errcount > 1000) {
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mavlink_log_info(mavlink_fd, "ERROR: Failed reading mag sensor");
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close(sub_mag);
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free(x);
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free(y);
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free(z);
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return ERROR;
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}
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close(sub_mag);
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}
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float sphere_x;
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@@ -186,93 +177,100 @@ int do_mag_calibration(int mavlink_fd)
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float sphere_z;
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float sphere_radius;
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mavlink_log_info(mavlink_fd, "mag cal progress <70> percent");
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sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
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mavlink_log_info(mavlink_fd, "mag cal progress <80> percent");
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if (res == OK) {
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/* sphere fit */
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mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70);
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sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
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mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 80);
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free(x);
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free(y);
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free(z);
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if (!isfinite(sphere_x) || !isfinite(sphere_y) || !isfinite(sphere_z)) {
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mavlink_log_critical(mavlink_fd, "ERROR: NaN in sphere fit");
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res = ERROR;
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}
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}
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if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) {
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if (x != NULL)
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free(x);
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fd = open(MAG_DEVICE_PATH, 0);
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if (y != NULL)
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free(y);
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if (z != NULL)
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free(z);
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if (res == OK) {
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/* apply calibration and set parameters */
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struct mag_scale mscale;
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if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale))
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warn("WARNING: failed to get scale / offsets for mag");
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fd = open(MAG_DEVICE_PATH, 0);
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res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale);
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mscale.x_offset = sphere_x;
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mscale.y_offset = sphere_y;
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mscale.z_offset = sphere_z;
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, "ERROR: failed to get current calibration");
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}
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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
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warn("WARNING: failed to set scale / offsets for mag");
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if (res == OK) {
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mscale.x_offset = sphere_x;
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mscale.y_offset = sphere_y;
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mscale.z_offset = sphere_z;
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res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale);
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
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}
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}
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close(fd);
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/* announce and set new offset */
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if (res == OK) {
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/* set parameters */
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if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset)))
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res = ERROR;
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if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
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warnx("Setting X mag offset failed!\n");
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if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset)))
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res = ERROR;
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if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset)))
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res = ERROR;
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if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale)))
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res = ERROR;
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if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale)))
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res = ERROR;
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if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale)))
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res = ERROR;
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if (res != OK) {
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mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
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}
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mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 90);
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}
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if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
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warnx("Setting Y mag offset failed!\n");
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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, CAL_FAILED_SAVE_PARAMS_MSG);
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}
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}
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if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
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warnx("Setting Z mag offset failed!\n");
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mavlink_log_info(mavlink_fd, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
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(double)mscale.y_offset, (double)mscale.z_offset);
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mavlink_log_info(mavlink_fd, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
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(double)mscale.y_scale, (double)mscale.z_scale);
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if (res == OK) {
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mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
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} else {
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mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
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}
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if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
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warnx("Setting X mag scale failed!\n");
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}
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if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
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warnx("Setting Y mag scale failed!\n");
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}
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if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
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warnx("Setting Z mag scale failed!\n");
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}
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mavlink_log_info(mavlink_fd, "mag cal progress <90> percent");
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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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mavlink_log_info(mavlink_fd, "FAILED storing calibration");
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close(sub_mag);
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return ERROR;
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}
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warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
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(double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale,
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(double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius);
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char buf[52];
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sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset,
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(double)mscale.y_offset, (double)mscale.z_offset);
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mavlink_log_info(mavlink_fd, buf);
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sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale,
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(double)mscale.y_scale, (double)mscale.z_scale);
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mavlink_log_info(mavlink_fd, buf);
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mavlink_log_info(mavlink_fd, "magnetometer calibration completed");
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mavlink_log_info(mavlink_fd, "mag cal progress <100> percent");
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close(sub_mag);
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return OK;
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/* third beep by cal end routine */
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} else {
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mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
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close(sub_mag);
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return ERROR;
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return res;
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}
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}
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