mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 15:33:33 +08:00
Daniel Agar
89b81b0bd6
- WelfordMeanVector now computes covariance
- use Kahan summation for Welford mean (but continue using float32 for actual mean, etc)
- WelfordMean and WelfordMeanVector handle initial value and count roll over
- Welford mean count rollover at 16 bit max to prevent numerical issues and shift weight to newer samples
- sensors/vehicle_imu: update Welford mean usage (now simplified with resets removed)
- fix vehicle_imu_status accel var, now properly rotated with full covariance matrix
- gyro_calibration: update Welford mean usage
115 lines
4.2 KiB
C++
115 lines
4.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <px4_platform_common/posix.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <lib/mathlib/math/WelfordMeanVector.hpp>
|
|
#include <lib/perf/perf_counter.h>
|
|
#include <lib/sensor_calibration/Gyroscope.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionInterval.hpp>
|
|
#include <uORB/SubscriptionMultiArray.hpp>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/sensor_accel.h>
|
|
#include <uORB/topics/sensor_gyro.h>
|
|
#include <uORB/topics/vehicle_status.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
class GyroCalibration : public ModuleBase<GyroCalibration>, public ModuleParams, public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
GyroCalibration();
|
|
~GyroCalibration() override;
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
bool init();
|
|
|
|
int print_status() override;
|
|
|
|
private:
|
|
static constexpr hrt_abstime INTERVAL_US = 20000_us;
|
|
static constexpr int MAX_SENSORS = 4;
|
|
|
|
void Run() override;
|
|
|
|
void Reset()
|
|
{
|
|
for (int gyro = 0; gyro < MAX_SENSORS; gyro++) {
|
|
_gyro_mean[gyro].reset();
|
|
_gyro_last_update[gyro] = 0;
|
|
}
|
|
|
|
_last_calibration_update = hrt_absolute_time();
|
|
}
|
|
|
|
// return the square of two floating point numbers
|
|
static constexpr float sq(float var) { return var * var; }
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status};
|
|
|
|
uORB::SubscriptionMultiArray<sensor_accel_s, MAX_SENSORS> _sensor_accel_subs{ORB_ID::sensor_accel};
|
|
uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS> _sensor_gyro_subs{ORB_ID::sensor_gyro};
|
|
|
|
calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
|
|
math::WelfordMeanVector<float, 3> _gyro_mean[MAX_SENSORS] {};
|
|
matrix::Vector3f _gyro_cal_variance[MAX_SENSORS] {};
|
|
float _temperature[MAX_SENSORS] {};
|
|
hrt_abstime _gyro_last_update[MAX_SENSORS] {};
|
|
|
|
matrix::Vector3f _acceleration[MAX_SENSORS] {};
|
|
|
|
hrt_abstime _last_calibration_update{0};
|
|
|
|
bool _armed{false};
|
|
bool _system_calibrating{false};
|
|
|
|
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
|
|
perf_counter_t _calibration_updated_perf{perf_alloc(PC_COUNT, MODULE_NAME": calibration updated")};
|
|
};
|