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accel and gyro calibration refactor and cleanup

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- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
 - sensor_accel and sensor_gyro are now always raw sensor data
 - calibration procedures no longer need to first clear existing values before starting
 - temperature calibration (TC) remove all scale (SCL) parameters
    - gyro and baro scale are completely unused
    - regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
This commit is contained in:
Daniel Agar
2020-06-17 22:50:09 -04:00
committed by GitHub
parent 588d551098
commit f55ed0992c
99 changed files with 933 additions and 2229 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+7 -8
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@@ -43,8 +43,7 @@ namespace sensors
VehicleAngularVelocity::VehicleAngularVelocity() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_corrections(this, SensorCorrections::SensorType::Gyroscope)
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
_lp_filter_velocity.set_cutoff_frequency(kInitialRateHz, _param_imu_gyro_cutoff.get());
_notch_filter_velocity.setParameters(kInitialRateHz, _param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get());
@@ -202,7 +201,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
// clear bias and corrections
_bias.zero();
_corrections.set_device_id(report.device_id);
_calibration.set_device_id(report.device_id);
// reset sample interval accumulator on sensor change
_timestamp_sample_last = 0;
@@ -232,7 +231,7 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
updateParams();
_corrections.ParametersUpdate();
_calibration.ParametersUpdate();
}
}
@@ -244,7 +243,7 @@ void VehicleAngularVelocity::Run()
// update corrections first to set _selected_sensor
bool selection_updated = SensorSelectionUpdate();
_corrections.SensorCorrectionsUpdate(selection_updated);
_calibration.SensorCorrectionsUpdate(selection_updated);
SensorBiasUpdate(selection_updated);
ParametersUpdate();
@@ -280,7 +279,7 @@ void VehicleAngularVelocity::Run()
const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};
// correct for in-run bias errors
const Vector3f angular_velocity_raw = _corrections.Correct(val) - _bias;
const Vector3f angular_velocity_raw = _calibration.Correct(val) - _bias;
// Gyro filtering:
// - Apply general notch filter (IMU_GYRO_NF_FREQ)
@@ -339,8 +338,8 @@ void VehicleAngularVelocity::PrintStatus()
{
PX4_INFO("selected sensor: %d (%d), rate: %.1f Hz",
_selected_sensor_device_id, _selected_sensor_sub_index, (double)_update_rate_hz);
PX4_INFO("estimated bias: [%.3f %.3f %.3f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
_corrections.PrintStatus();
PX4_INFO("estimated bias: [%.4f %.4f %.4f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
_calibration.PrintStatus();
}
} // namespace sensors