mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 08:17:35 +08:00
Daniel Agar
68026eadeb
* ekf2: make publishing of learned accel biases more robust * ekf2: reset accel bias if calibration updated * msg: add separate accel and gyro calibration counters * ekf2: use separate accel and gyro calibration counters * ekf2: rework logic to reset biases when calibration counters increment * sensors: add saving of learned accel biases * ekf2: generalized saving accel/gyro/mag in flight sensor calibration * boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
122 lines
4.3 KiB
C++
122 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/conversion/rotation.h>
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#include <lib/matrix/matrix/math.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_correction.h>
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namespace calibration
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{
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class Accelerometer
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{
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public:
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static constexpr int MAX_SENSOR_COUNT = 4;
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static constexpr uint8_t DEFAULT_PRIORITY = 50;
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static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 25;
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static constexpr const char *SensorString() { return "ACC"; }
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Accelerometer();
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explicit Accelerometer(uint32_t device_id, bool external = false);
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~Accelerometer() = default;
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void PrintStatus();
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void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
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void set_device_id(uint32_t device_id, bool external = false);
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void set_external(bool external = true);
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bool set_offset(const matrix::Vector3f &offset);
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bool set_scale(const matrix::Vector3f &scale);
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void set_rotation(Rotation rotation);
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void set_temperature(float temperature) { _temperature = temperature; };
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uint8_t calibration_count() const { return _calibration_count; }
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uint32_t device_id() const { return _device_id; }
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bool enabled() const { return (_priority > 0); }
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bool external() const { return _external; }
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const matrix::Vector3f &offset() const { return _offset; }
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const int32_t &priority() const { return _priority; }
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const matrix::Dcmf &rotation() const { return _rotation; }
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const Rotation &rotation_enum() const { return _rotation_enum; }
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const matrix::Vector3f &scale() const { return _scale; }
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// apply offsets and scale
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// rotate corrected measurements from sensor to body frame
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inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
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{
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return _rotation * matrix::Vector3f{(data - _thermal_offset - _offset).emult(_scale)};
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}
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// Compute sensor offset from bias (board frame)
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matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
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{
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return (_rotation.I() * bias).edivide(_scale) + _thermal_offset + _offset;
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}
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bool ParametersSave();
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void ParametersUpdate();
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void Reset();
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void SensorCorrectionsUpdate(bool force = false);
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private:
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static constexpr float TEMPERATURE_INVALID = -1000.f;
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uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
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Rotation _rotation_enum{ROTATION_NONE};
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matrix::Dcmf _rotation;
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matrix::Vector3f _offset;
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matrix::Vector3f _scale;
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matrix::Vector3f _thermal_offset;
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float _temperature{NAN};
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int8_t _calibration_index{-1};
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uint32_t _device_id{0};
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int32_t _priority{-1};
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bool _external{false};
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uint8_t _calibration_count{0};
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};
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} // namespace calibration
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