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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-15 01:50:35 +08:00
Daniel Agar
661eb2adb4
- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
124 lines
4.3 KiB
C++
124 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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 Gyroscope
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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 = 75;
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static constexpr const char *SensorString() { return "GYRO"; }
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Gyroscope();
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explicit Gyroscope(uint32_t device_id);
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~Gyroscope() = default;
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void PrintStatus();
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bool set_calibration_index(int calibration_index);
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void set_device_id(uint32_t device_id);
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bool set_offset(const matrix::Vector3f &offset);
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void set_rotation(Rotation rotation);
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bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
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uint8_t calibration_count() const { return _calibration_count; }
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int8_t calibration_index() const { return _calibration_index; }
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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 &thermal_offset() const { return _thermal_offset; }
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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};
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}
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inline matrix::Vector3f Uncorrect(const matrix::Vector3f &corrected_data) const
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{
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return (_rotation.I() * corrected_data) + _thermal_offset + _offset;
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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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// updated calibration offset = existing offset + bias rotated to sensor frame
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return _offset + (_rotation.I() * bias);
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}
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bool ParametersLoad();
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bool ParametersSave(int desired_calibration_index = -1, bool force = false);
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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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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 _thermal_offset;
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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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