get_rot_matrix() moved to separate library, accel calibration of rotated board fixed

makefiles/config_px4fmu-v1_default.mk

@@ -115,6 +115,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps

makefiles/config_px4fmu-v2_default.mk

@@ -111,6 +111,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps

src/lib/conversion/module.mk

@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (C) 2013 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.
+#
+############################################################################
+
+#
+# Rotation library
+#
+
+SRCS		 = rotation.cpp

src/lib/conversion/rotation.cpp

@@ -0,0 +1,30 @@
+/*
+ * rotation.cpp
+ *
+ *  Created on: 20.10.2013
+ *      Author: ton
+ */
+
+#include "math.h"
+#include "rotation.h"
+
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
+{
+	/* first set to zero */
+	rot_matrix->Matrix::zero(3, 3);
+
+	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
+	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
+	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
+
+	math::EulerAngles euler(roll, pitch, yaw);
+
+	math::Dcm R(euler);
+
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			(*rot_matrix)(i, j) = R(i, j);
+		}
+	}
+}

src/lib/conversion/rotation.h

@@ -0,0 +1,89 @@
+/*
+ * rotation.h
+ *
+ *  Created on: 20.10.2013
+ *      Author: ton
+ */
+
+#ifndef ROTATION_H_
+#define ROTATION_H_
+
+#include <unistd.h>
+#include <mathlib/mathlib.h>
+
+/**
+ * Enum for board and external compass rotations.
+ * This enum maps from board attitude to airframe attitude.
+ */
+enum Rotation {
+	ROTATION_NONE                = 0,
+	ROTATION_YAW_45              = 1,
+	ROTATION_YAW_90              = 2,
+	ROTATION_YAW_135             = 3,
+	ROTATION_YAW_180             = 4,
+	ROTATION_YAW_225             = 5,
+	ROTATION_YAW_270             = 6,
+	ROTATION_YAW_315             = 7,
+	ROTATION_ROLL_180            = 8,
+	ROTATION_ROLL_180_YAW_45     = 9,
+	ROTATION_ROLL_180_YAW_90     = 10,
+	ROTATION_ROLL_180_YAW_135    = 11,
+	ROTATION_PITCH_180           = 12,
+	ROTATION_ROLL_180_YAW_225    = 13,
+	ROTATION_ROLL_180_YAW_270    = 14,
+	ROTATION_ROLL_180_YAW_315    = 15,
+	ROTATION_ROLL_90             = 16,
+	ROTATION_ROLL_90_YAW_45      = 17,
+	ROTATION_ROLL_90_YAW_90      = 18,
+	ROTATION_ROLL_90_YAW_135     = 19,
+	ROTATION_ROLL_270            = 20,
+	ROTATION_ROLL_270_YAW_45     = 21,
+	ROTATION_ROLL_270_YAW_90     = 22,
+	ROTATION_ROLL_270_YAW_135    = 23,
+	ROTATION_PITCH_90            = 24,
+	ROTATION_PITCH_270           = 25,
+	ROTATION_MAX
+};
+
+typedef struct {
+	uint16_t roll;
+	uint16_t pitch;
+	uint16_t yaw;
+} rot_lookup_t;
+
+const rot_lookup_t rot_lookup[] = {
+	{  0,   0,   0 },
+	{  0,   0,  45 },
+	{  0,   0,  90 },
+	{  0,   0, 135 },
+	{  0,   0, 180 },
+	{  0,   0, 225 },
+	{  0,   0, 270 },
+	{  0,   0, 315 },
+	{180,   0,   0 },
+	{180,   0,  45 },
+	{180,   0,  90 },
+	{180,   0, 135 },
+	{  0, 180,   0 },
+	{180,   0, 225 },
+	{180,   0, 270 },
+	{180,   0, 315 },
+	{ 90,   0,   0 },
+	{ 90,   0,  45 },
+	{ 90,   0,  90 },
+	{ 90,   0, 135 },
+	{270,   0,   0 },
+	{270,   0,  45 },
+	{270,   0,  90 },
+	{270,   0, 135 },
+	{  0,  90,   0 },
+	{  0, 270,   0 }
+};
+
+/**
+ * Get the rotation matrix
+ */
+__EXPORT void
+get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix);
+
+#endif /* ROTATION_H_ */

src/modules/commander/accelerometer_calibration.cpp

@@ -112,11 +112,13 @@
 #include <fcntl.h>
 #include <sys/prctl.h>
 #include <math.h>
+#include <mathlib/mathlib.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_accel.h>
 #include <geo/geo.h>
+#include <conversion/rotation.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <mavlink/mavlink_log.h>
@@ -144,24 +146,41 @@ int do_accel_calibration(int mavlink_fd) {
 	int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale);
 
 	if (res == OK) {
-		/* measurements complete successfully, set parameters */
+		/* measurements complete successfully, rotate calibration values */
-		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
+		param_t board_rotation_h = param_find("SENS_BOARD_ROT");
-			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
+		enum Rotation board_rotation_id;
-			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
+		param_get(board_rotation_h, &(board_rotation_id));
-			|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
+		math::Matrix board_rotation(3, 3);
-			|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
+		get_rot_matrix(board_rotation_id, &board_rotation);
-			|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
+		board_rotation = board_rotation.transpose();
+		math::Vector3 vect(3);
+		vect(0) = accel_offs[0];
+		vect(1) = accel_offs[1];
+		vect(2) = accel_offs[2];
+		math::Vector3 accel_offs_rotated = board_rotation * vect;
+		vect(0) = accel_scale[0];
+		vect(1) = accel_scale[1];
+		vect(2) = accel_scale[2];
+		math::Vector3 accel_scale_rotated = board_rotation * vect;
+
+		/* set parameters */
+		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs_rotated(0)))
+			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1)))
+			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2)))
+			|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale_rotated(0)))
+			|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale_rotated(1)))
+			|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale_rotated(2)))) {
 			mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
 		}
 
 		int fd = open(ACCEL_DEVICE_PATH, 0);
 		struct accel_scale ascale = {
-			accel_offs[0],
+			accel_offs_rotated(0),
-			accel_scale[0],
+			accel_scale_rotated(0),
-			accel_offs[1],
+			accel_offs_rotated(1),
-			accel_scale[1],
+			accel_scale_rotated(1),
-			accel_offs[2],
+			accel_offs_rotated(2),
-			accel_scale[2],
+			accel_scale_rotated(2),
 		};
 
 		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))

src/modules/commander/module.mk

@@ -47,4 +47,3 @@ SRCS		 	= commander.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
 			airspeed_calibration.cpp
-

src/modules/sensors/sensors.cpp

@@ -67,6 +67,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
+#include <conversion/rotation.h>
 
 #include <systemlib/airspeed.h>
 
@@ -135,75 +136,6 @@
 
 #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
 
-/**
- * Enum for board and external compass rotations.
- * This enum maps from board attitude to airframe attitude.
- */
-enum Rotation {
-	ROTATION_NONE                = 0,
-	ROTATION_YAW_45              = 1,
-	ROTATION_YAW_90              = 2,
-	ROTATION_YAW_135             = 3,
-	ROTATION_YAW_180             = 4,
-	ROTATION_YAW_225             = 5,
-	ROTATION_YAW_270             = 6,
-	ROTATION_YAW_315             = 7,
-	ROTATION_ROLL_180            = 8,
-	ROTATION_ROLL_180_YAW_45     = 9,
-	ROTATION_ROLL_180_YAW_90     = 10,
-	ROTATION_ROLL_180_YAW_135    = 11,
-	ROTATION_PITCH_180           = 12,
-	ROTATION_ROLL_180_YAW_225    = 13,
-	ROTATION_ROLL_180_YAW_270    = 14,
-	ROTATION_ROLL_180_YAW_315    = 15,
-	ROTATION_ROLL_90             = 16,
-	ROTATION_ROLL_90_YAW_45      = 17,
-	ROTATION_ROLL_90_YAW_90      = 18,
-	ROTATION_ROLL_90_YAW_135     = 19,
-	ROTATION_ROLL_270            = 20,
-	ROTATION_ROLL_270_YAW_45     = 21,
-	ROTATION_ROLL_270_YAW_90     = 22,
-	ROTATION_ROLL_270_YAW_135    = 23,
-	ROTATION_PITCH_90            = 24,
-	ROTATION_PITCH_270           = 25,
-	ROTATION_MAX
-};
-
-typedef struct {
-	uint16_t roll;
-	uint16_t pitch;
-	uint16_t yaw;
-} rot_lookup_t;
-
-const rot_lookup_t rot_lookup[] = {
-	{  0,   0,   0 },
-	{  0,   0,  45 },
-	{  0,   0,  90 },
-	{  0,   0, 135 },
-	{  0,   0, 180 },
-	{  0,   0, 225 },
-	{  0,   0, 270 },
-	{  0,   0, 315 },
-	{180,   0,   0 },
-	{180,   0,  45 },
-	{180,   0,  90 },
-	{180,   0, 135 },
-	{  0, 180,   0 },
-	{180,   0, 225 },
-	{180,   0, 270 },
-	{180,   0, 315 },
-	{ 90,   0,   0 },
-	{ 90,   0,  45 },
-	{ 90,   0,  90 },
-	{ 90,   0, 135 },
-	{270,   0,   0 },
-	{270,   0,  45 },
-	{270,   0,  90 },
-	{270,   0, 135 },
-	{  0,  90,   0 },
-	{  0, 270,   0 }
-};
-
 /**
  * Sensor app start / stop handling function
  *
@@ -384,11 +316,6 @@ private:
 	 */
 	int		parameters_update();
 
-	/**
-	 * Get the rotation matrices
-	 */
-	void		get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix);
-
 	/**
 	 * Do accel-related initialisation.
 	 */
@@ -803,24 +730,6 @@ Sensors::parameters_update()
 	return OK;
 }
 
-void
-Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
-{
-	/* first set to zero */
-	rot_matrix->Matrix::zero(3, 3);
-
-	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
-	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
-	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
-
-	math::EulerAngles euler(roll, pitch, yaw);
-
-	math::Dcm R(euler);
-
-	for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-			(*rot_matrix)(i, j) = R(i, j);
-}
-
 void
 Sensors::accel_init()
 {