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87 lines
3.4 KiB
C++
87 lines
3.4 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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/**
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* @file MagnetometerBiasEstimator.hpp
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*
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* Runs the FieldSensorBiasEstimator with PX4 magnetometer and gyroscope data and saves the result to the calibration parameters.
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <lib/conversion/rotation.h>
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#include <px4_module_params.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/vehicle_magnetometer.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/actuator_armed.h>
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#include <FieldSensorBiasEstimator.hpp>
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class MagnetometerBiasEstimator : public ModuleParams
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{
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public:
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MagnetometerBiasEstimator(const matrix::Dcmf &board_rotation);
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~MagnetometerBiasEstimator() = default;
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/**
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* Update the estimator and extract updated magnetometer biases.
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* @param mag_raw struct containing the magnetometer data to operate on (gets adjusted with current estimate)
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* @param raw struct containing the gyroscope data to use
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*/
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void extractBias(vehicle_magnetometer_s &mag_raw, const sensor_combined_s &gyro_raw);
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private:
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void updateEstimate(const matrix::Vector3f &gyro, const matrix::Vector3f &mag, const float dt);
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void saveBias(const matrix::Vector3f &bias);
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FieldSensorBiasEstimator _field_sensor_bias_estimator{};
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const matrix::Dcmf &_board_rotation;
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hrt_abstime _time_stamp_last_loop{0};
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hrt_abstime _time_stamp_last_save{0};
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uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::CAL_MAG0_XOFF>) _param_cal_mag0_xoff,
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(ParamFloat<px4::params::CAL_MAG0_YOFF>) _param_cal_mag0_yoff,
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(ParamFloat<px4::params::CAL_MAG0_ZOFF>) _param_cal_mag0_zoff
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)
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};
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