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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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fa614a3cc1
The reason for this change is that RPi2 and RPi3 are compatible, and hopefully all differences coming up can be resolved without ifdefs but at runtime.
395 lines
12 KiB
C++
395 lines
12 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2016 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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/**
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* @file gyro_calibration.cpp
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*
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* Gyroscope calibration routine
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*/
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#include "gyro_calibration.h"
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#include "calibration_messages.h"
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#include "calibration_routines.h"
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#include "commander_helper.h"
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#include <px4_posix.h>
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#include <px4_time.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <cmath>
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#include <string.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/sensor_combined.h>
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#include <drivers/drv_gyro.h>
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#include <systemlib/mavlink_log.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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#include <systemlib/mcu_version.h>
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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static const char *sensor_name = "gyro";
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static const unsigned max_gyros = 3;
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/// Data passed to calibration worker routine
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typedef struct {
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orb_advert_t *mavlink_log_pub;
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int32_t device_id[max_gyros];
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int gyro_sensor_sub[max_gyros];
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struct gyro_calibration_s gyro_scale[max_gyros];
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struct gyro_report gyro_report_0;
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} gyro_worker_data_t;
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static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
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{
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gyro_worker_data_t* worker_data = (gyro_worker_data_t*)(data);
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unsigned calibration_counter[max_gyros] = { 0 };
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const unsigned calibration_count = 5000;
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struct gyro_report gyro_report;
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unsigned poll_errcount = 0;
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px4_pollfd_struct_t fds[max_gyros];
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for (unsigned s = 0; s < max_gyros; s++) {
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fds[s].fd = worker_data->gyro_sensor_sub[s];
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fds[s].events = POLLIN;
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}
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memset(&worker_data->gyro_report_0, 0, sizeof(worker_data->gyro_report_0));
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/* use first gyro to pace, but count correctly per-gyro for statistics */
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while (calibration_counter[0] < calibration_count) {
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if (calibrate_cancel_check(worker_data->mavlink_log_pub, cancel_sub)) {
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return calibrate_return_cancelled;
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}
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int poll_ret = px4_poll(&fds[0], max_gyros, 1000);
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if (poll_ret > 0) {
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for (unsigned s = 0; s < max_gyros; s++) {
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bool changed;
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orb_check(worker_data->gyro_sensor_sub[s], &changed);
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if (changed) {
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orb_copy(ORB_ID(sensor_gyro), worker_data->gyro_sensor_sub[s], &gyro_report);
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if (s == 0) {
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orb_copy(ORB_ID(sensor_gyro), worker_data->gyro_sensor_sub[s], &worker_data->gyro_report_0);
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}
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worker_data->gyro_scale[s].x_offset += gyro_report.x;
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worker_data->gyro_scale[s].y_offset += gyro_report.y;
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worker_data->gyro_scale[s].z_offset += gyro_report.z;
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calibration_counter[s]++;
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}
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if (s == 0 && calibration_counter[0] % (calibration_count / 20) == 0) {
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calibration_log_info(worker_data->mavlink_log_pub, CAL_QGC_PROGRESS_MSG, (calibration_counter[0] * 100) / calibration_count);
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}
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}
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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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calibration_log_critical(worker_data->mavlink_log_pub, CAL_ERROR_SENSOR_MSG);
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return calibrate_return_error;
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}
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}
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for (unsigned s = 0; s < max_gyros; s++) {
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if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 2) {
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calibration_log_critical(worker_data->mavlink_log_pub, "[cal] ERROR: missing data, sensor %d", s)
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return calibrate_return_error;
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}
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worker_data->gyro_scale[s].x_offset /= calibration_counter[s];
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worker_data->gyro_scale[s].y_offset /= calibration_counter[s];
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worker_data->gyro_scale[s].z_offset /= calibration_counter[s];
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}
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return calibrate_return_ok;
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}
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int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
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{
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int res = OK;
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gyro_worker_data_t worker_data = {};
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calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);
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worker_data.mavlink_log_pub = mavlink_log_pub;
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struct gyro_calibration_s gyro_scale_zero;
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gyro_scale_zero.x_offset = 0.0f;
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gyro_scale_zero.x_scale = 1.0f;
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gyro_scale_zero.y_offset = 0.0f;
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gyro_scale_zero.y_scale = 1.0f;
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gyro_scale_zero.z_offset = 0.0f;
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gyro_scale_zero.z_scale = 1.0f;
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int device_prio_max = 0;
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int32_t device_id_primary = 0;
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for (unsigned s = 0; s < max_gyros; s++) {
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char str[30];
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// Reset gyro ids to unavailable.
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worker_data.device_id[s] = 0;
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// And set default subscriber values.
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worker_data.gyro_sensor_sub[s] = -1;
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(void)sprintf(str, "CAL_GYRO%u_ID", s);
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res = param_set_no_notification(param_find(str), &(worker_data.device_id[s]));
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if (res != OK) {
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calibration_log_critical(mavlink_log_pub, "[cal] Unable to reset CAL_GYRO%u_ID", s);
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return ERROR;
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}
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// Reset all offsets to 0 and scales to 1
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(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
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#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
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sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
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int fd = px4_open(str, 0);
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if (fd >= 0) {
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worker_data.device_id[s] = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
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res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero);
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px4_close(fd);
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if (res != OK) {
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calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, s);
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return ERROR;
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}
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}
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#else
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(void)sprintf(str, "CAL_GYRO%u_XOFF", s);
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res = param_set(param_find(str), &gyro_scale_zero.x_offset);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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(void)sprintf(str, "CAL_GYRO%u_YOFF", s);
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res = param_set(param_find(str), &gyro_scale_zero.y_offset);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
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res = param_set(param_find(str), &gyro_scale_zero.z_offset);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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(void)sprintf(str, "CAL_GYRO%u_XSCALE", s);
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res = param_set(param_find(str), &gyro_scale_zero.x_scale);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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(void)sprintf(str, "CAL_GYRO%u_YSCALE", s);
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res = param_set(param_find(str), &gyro_scale_zero.y_scale);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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(void)sprintf(str, "CAL_GYRO%u_ZSCALE", s);
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res = param_set(param_find(str), &gyro_scale_zero.z_scale);
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if (res != OK) {
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PX4_ERR("unable to reset %s", str);
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}
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#endif
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}
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// We should not try to subscribe if the topic doesn't actually exist and can be counted.
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const unsigned gyro_count = orb_group_count(ORB_ID(sensor_gyro));
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for (unsigned s = 0; s < gyro_count; s++) {
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worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
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#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI)
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// For QURT respectively the driver framework, we need to get the device ID by copying one report.
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struct gyro_report gyro_report;
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orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
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worker_data.device_id[s] = gyro_report.device_id;
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#endif
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if (worker_data.device_id[s] != 0) {
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// Get priority
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int32_t prio;
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orb_priority(worker_data.gyro_sensor_sub[s], &prio);
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if (prio > device_prio_max) {
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device_prio_max = prio;
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device_id_primary = worker_data.device_id[s];
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}
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} else {
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calibration_log_critical(mavlink_log_pub, "[cal] Gyro #%u no device id, abort", s);
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}
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}
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int cancel_sub = calibrate_cancel_subscribe();
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unsigned try_count = 0;
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unsigned max_tries = 20;
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res = ERROR;
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do {
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// Calibrate gyro and ensure user didn't move
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calibrate_return cal_return = gyro_calibration_worker(cancel_sub, &worker_data);
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if (cal_return == calibrate_return_cancelled) {
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// Cancel message already sent, we are done here
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res = ERROR;
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break;
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} else if (cal_return == calibrate_return_error) {
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res = ERROR;
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} else {
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/* check offsets */
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float xdiff = worker_data.gyro_report_0.x - worker_data.gyro_scale[0].x_offset;
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float ydiff = worker_data.gyro_report_0.y - worker_data.gyro_scale[0].y_offset;
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float zdiff = worker_data.gyro_report_0.z - worker_data.gyro_scale[0].z_offset;
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/* maximum allowable calibration error in radians */
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const float maxoff = 0.01f;
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if (!PX4_ISFINITE(worker_data.gyro_scale[0].x_offset) ||
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!PX4_ISFINITE(worker_data.gyro_scale[0].y_offset) ||
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!PX4_ISFINITE(worker_data.gyro_scale[0].z_offset) ||
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fabsf(xdiff) > maxoff ||
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fabsf(ydiff) > maxoff ||
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fabsf(zdiff) > maxoff) {
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calibration_log_critical(mavlink_log_pub, "[cal] motion, retrying..");
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res = ERROR;
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} else {
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res = OK;
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}
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}
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try_count++;
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} while (res == ERROR && try_count <= max_tries);
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if (try_count >= max_tries) {
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calibration_log_critical(mavlink_log_pub, "[cal] ERROR: Motion during calibration");
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res = ERROR;
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}
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calibrate_cancel_unsubscribe(cancel_sub);
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for (unsigned s = 0; s < max_gyros; s++) {
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px4_close(worker_data.gyro_sensor_sub[s]);
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}
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if (res == OK) {
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/* set offset parameters to new values */
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bool failed = false;
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failed = failed || (OK != param_set_no_notification(param_find("CAL_GYRO_PRIME"), &(device_id_primary)));
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for (unsigned s = 0; s < max_gyros; s++) {
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if (worker_data.device_id[s] != 0) {
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char str[30];
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(void)sprintf(str, "CAL_GYRO%u_XOFF", s);
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failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].x_offset)));
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(void)sprintf(str, "CAL_GYRO%u_YOFF", s);
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failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset)));
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(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
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failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset)));
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(void)sprintf(str, "CAL_GYRO%u_ID", s);
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failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
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#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
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/* apply new scaling and offsets */
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(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
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int fd = px4_open(str, 0);
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if (fd < 0) {
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failed = true;
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continue;
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}
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res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&worker_data.gyro_scale[s]);
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px4_close(fd);
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if (res != OK) {
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calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, 1);
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}
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#endif
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}
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}
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if (failed) {
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calibration_log_critical(mavlink_log_pub, "[cal] ERROR: failed to set offset params");
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res = ERROR;
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}
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}
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/* store board ID */
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uint32_t mcu_id[3];
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mcu_unique_id(&mcu_id[0]);
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/* store last 32bit number - not unique, but unique in a given set */
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(void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]);
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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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calibration_log_critical(mavlink_log_pub, CAL_ERROR_SAVE_PARAMS_MSG);
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}
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}
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/* if there is a any preflight-check system response, let the barrage of messages through */
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usleep(200000);
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if (res == OK) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
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} else {
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calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);
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}
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/* give this message enough time to propagate */
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usleep(600000);
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return res;
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}
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