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/**
* @file calibration_routines.cpp
* Calibration routines implementations.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <stdio.h>
#include <math.h>
#include <float.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <mavlink/mavlink_log.h>
#include <geo/geo.h>
#include <string.h>
#include <uORB/topics/vehicle_command.h>
#include "calibration_routines.h"
#include "calibration_messages.h"
#include "commander_helper.h"
// FIXME: Fix return codes
static const int ERROR = -1;
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
float *sphere_radius)
{
float x_sumplain = 0.0f;
float x_sumsq = 0.0f;
float x_sumcube = 0.0f;
float y_sumplain = 0.0f;
float y_sumsq = 0.0f;
float y_sumcube = 0.0f;
float z_sumplain = 0.0f;
float z_sumsq = 0.0f;
float z_sumcube = 0.0f;
float xy_sum = 0.0f;
float xz_sum = 0.0f;
float yz_sum = 0.0f;
float x2y_sum = 0.0f;
float x2z_sum = 0.0f;
float y2x_sum = 0.0f;
float y2z_sum = 0.0f;
float z2x_sum = 0.0f;
float z2y_sum = 0.0f;
for (unsigned int i = 0; i < size; i++) {
float x2 = x[i] * x[i];
float y2 = y[i] * y[i];
float z2 = z[i] * z[i];
x_sumplain += x[i];
x_sumsq += x2;
x_sumcube += x2 * x[i];
y_sumplain += y[i];
y_sumsq += y2;
y_sumcube += y2 * y[i];
z_sumplain += z[i];
z_sumsq += z2;
z_sumcube += z2 * z[i];
xy_sum += x[i] * y[i];
xz_sum += x[i] * z[i];
yz_sum += y[i] * z[i];
x2y_sum += x2 * y[i];
x2z_sum += x2 * z[i];
y2x_sum += y2 * x[i];
y2z_sum += y2 * z[i];
z2x_sum += z2 * x[i];
z2y_sum += z2 * y[i];
}
//
//Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data
//
// P is a structure that has been computed with the data earlier.
// P.npoints is the number of elements; the length of X,Y,Z are identical.
// P's members are logically named.
//
// X[n] is the x component of point n
// Y[n] is the y component of point n
// Z[n] is the z component of point n
//
// A is the x coordiante of the sphere
// B is the y coordiante of the sphere
// C is the z coordiante of the sphere
// Rsq is the radius squared of the sphere.
//
//This method should converge; maybe 5-100 iterations or more.
//
float x_sum = x_sumplain / size; //sum( X[n] )
float x_sum2 = x_sumsq / size; //sum( X[n]^2 )
float x_sum3 = x_sumcube / size; //sum( X[n]^3 )
float y_sum = y_sumplain / size; //sum( Y[n] )
float y_sum2 = y_sumsq / size; //sum( Y[n]^2 )
float y_sum3 = y_sumcube / size; //sum( Y[n]^3 )
float z_sum = z_sumplain / size; //sum( Z[n] )
float z_sum2 = z_sumsq / size; //sum( Z[n]^2 )
float z_sum3 = z_sumcube / size; //sum( Z[n]^3 )
float XY = xy_sum / size; //sum( X[n] * Y[n] )
float XZ = xz_sum / size; //sum( X[n] * Z[n] )
float YZ = yz_sum / size; //sum( Y[n] * Z[n] )
float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] )
float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] )
float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] )
float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] )
float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] )
float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] )
//Reduction of multiplications
float F0 = x_sum2 + y_sum2 + z_sum2;
float F1 = 0.5f * F0;
float F2 = -8.0f * (x_sum3 + Y2X + Z2X);
float F3 = -8.0f * (X2Y + y_sum3 + Z2Y);
float F4 = -8.0f * (X2Z + Y2Z + z_sum3);
//Set initial conditions:
float A = x_sum;
float B = y_sum;
float C = z_sum;
//First iteration computation:
float A2 = A * A;
float B2 = B * B;
float C2 = C * C;
float QS = A2 + B2 + C2;
float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
//Set initial conditions:
float Rsq = F0 + QB + QS;
//First iteration computation:
float Q0 = 0.5f * (QS - Rsq);
float Q1 = F1 + Q0;
float Q2 = 8.0f * (QS - Rsq + QB + F0);
float aA, aB, aC, nA, nB, nC, dA, dB, dC;
//Iterate N times, ignore stop condition.
unsigned int n = 0;
while (n < max_iterations) {
n++;
//Compute denominator:
aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA;
aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB;
aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC;
//Compute next iteration
nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB);
nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC);
//Check for stop condition
dA = (nA - A);
dB = (nB - B);
dC = (nC - C);
if ((dA * dA + dB * dB + dC * dC) <= delta) { break; }
//Compute next iteration's values
A = nA;
B = nB;
C = nC;
A2 = A * A;
B2 = B * B;
C2 = C * C;
QS = A2 + B2 + C2;
QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum);
Rsq = F0 + QB + QS;
Q0 = 0.5f * (QS - Rsq);
Q1 = F1 + Q0;
Q2 = 8.0f * (QS - Rsq + QB + F0);
}
*sphere_x = A;
*sphere_y = B;
*sphere_z = C;
*sphere_radius = sqrtf(Rsq);
return 0;
}
enum detect_orientation_return detect_orientation(int mavlink_fd, int cancel_sub, int accel_sub, bool lenient_still_position)
{
const unsigned ndim = 3;
struct accel_report sensor;
float accel_ema[ndim] = { 0.0f }; // exponential moving average of accel
float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; // max-hold dispersion of accel
float ema_len = 0.5f; // EMA time constant in seconds
const float normal_still_thr = 0.25; // normal still threshold
float still_thr2 = powf(lenient_still_position ? (normal_still_thr * 3) : normal_still_thr, 2);
float accel_err_thr = 5.0f; // set accel error threshold to 5m/s^2
hrt_abstime still_time = lenient_still_position ? 1000000 : 1500000; // still time required in us
struct pollfd fds[1];
fds[0].fd = accel_sub;
fds[0].events = POLLIN;
hrt_abstime t_start = hrt_absolute_time();
/* set timeout to 30s */
hrt_abstime timeout = 30000000;
hrt_abstime t_timeout = t_start + timeout;
hrt_abstime t = t_start;
hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0;
unsigned poll_errcount = 0;
while (true) {
/* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_accel), accel_sub, &sensor);
t = hrt_absolute_time();
float dt = (t - t_prev) / 1000000.0f;
t_prev = t;
float w = dt / ema_len;
for (unsigned i = 0; i < ndim; i++) {
float di = 0.0f;
switch (i) {
case 0:
di = sensor.x;
break;
case 1:
di = sensor.y;
break;
case 2:
di = sensor.z;
break;
}
float d = di - accel_ema[i];
accel_ema[i] += d * w;
d = d * d;
accel_disp[i] = accel_disp[i] * (1.0f - w);
if (d > still_thr2 * 8.0f) {
d = still_thr2 * 8.0f;
}
if (d > accel_disp[i]) {
accel_disp[i] = d;
}
}
/* still detector with hysteresis */
if (accel_disp[0] < still_thr2 &&
accel_disp[1] < still_thr2 &&
accel_disp[2] < still_thr2) {
/* is still now */
if (t_still == 0) {
/* first time */
mavlink_and_console_log_info(mavlink_fd, "[cal] detected rest position, hold still...");
t_still = t;
t_timeout = t + timeout;
} else {
/* still since t_still */
if (t > t_still + still_time) {
/* vehicle is still, exit from the loop to detection of its orientation */
break;
}
}
} else if (accel_disp[0] > still_thr2 * 4.0f ||
accel_disp[1] > still_thr2 * 4.0f ||
accel_disp[2] > still_thr2 * 4.0f) {
/* not still, reset still start time */
if (t_still != 0) {
mavlink_and_console_log_info(mavlink_fd, "[cal] detected motion, hold still...");
usleep(500000);
t_still = 0;
}
}
} else if (poll_ret == 0) {
poll_errcount++;
}
if (t > t_timeout) {
poll_errcount++;
}
if (poll_errcount > 1000) {
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SENSOR_MSG);
return DETECT_ORIENTATION_ERROR;
}
}
if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr) {
return DETECT_ORIENTATION_TAIL_DOWN; // [ g, 0, 0 ]
}
if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr) {
return DETECT_ORIENTATION_NOSE_DOWN; // [ -g, 0, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr) {
return DETECT_ORIENTATION_LEFT; // [ 0, g, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
fabsf(accel_ema[2]) < accel_err_thr) {
return DETECT_ORIENTATION_RIGHT; // [ 0, -g, 0 ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) {
return DETECT_ORIENTATION_UPSIDE_DOWN; // [ 0, 0, g ]
}
if (fabsf(accel_ema[0]) < accel_err_thr &&
fabsf(accel_ema[1]) < accel_err_thr &&
fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) {
return DETECT_ORIENTATION_RIGHTSIDE_UP; // [ 0, 0, -g ]
}
mavlink_and_console_log_critical(mavlink_fd, "[cal] ERROR: invalid orientation");
return DETECT_ORIENTATION_ERROR; // Can't detect orientation
}
const char* detect_orientation_str(enum detect_orientation_return orientation)
{
static const char* rgOrientationStrs[] = {
"back", // tail down
"front", // nose down
"left",
"right",
"up", // upside-down
"down", // right-side up
"error"
};
return rgOrientationStrs[orientation];
}
calibrate_return calibrate_from_orientation(int mavlink_fd,
int cancel_sub,
bool side_data_collected[detect_orientation_side_count],
calibration_from_orientation_worker_t calibration_worker,
void* worker_data,
bool lenient_still_position)
{
calibrate_return result = calibrate_return_ok;
// Setup subscriptions to onboard accel sensor
int sub_accel = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
if (sub_accel < 0) {
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "No onboard accel");
return calibrate_return_error;
}
unsigned orientation_failures = 0;
// Rotate through all requested orientation
while (true) {
if (calibrate_cancel_check(mavlink_fd, cancel_sub)) {
result = calibrate_return_cancelled;
break;
}
if (orientation_failures > 4) {
result = calibrate_return_error;
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "timeout: no motion");
break;
}
unsigned int side_complete_count = 0;
// Update the number of completed sides
for (unsigned i = 0; i < detect_orientation_side_count; i++) {
if (side_data_collected[i]) {
side_complete_count++;
}
}
if (side_complete_count == detect_orientation_side_count) {
// We have completed all sides, move on
break;
}
/* inform user which orientations are still needed */
char pendingStr[256];
pendingStr[0] = 0;
for (unsigned int cur_orientation=0; cur_orientation<detect_orientation_side_count; cur_orientation++) {
if (!side_data_collected[cur_orientation]) {
strcat(pendingStr, " ");
strcat(pendingStr, detect_orientation_str((enum detect_orientation_return)cur_orientation));
}
}
mavlink_and_console_log_info(mavlink_fd, "[cal] pending:%s", pendingStr);
mavlink_and_console_log_info(mavlink_fd, "[cal] hold vehicle still on a pending side");
enum detect_orientation_return orient = detect_orientation(mavlink_fd, cancel_sub, sub_accel, lenient_still_position);
if (orient == DETECT_ORIENTATION_ERROR) {
orientation_failures++;
mavlink_and_console_log_info(mavlink_fd, "[cal] detected motion, hold still...");
continue;
}
/* inform user about already handled side */
if (side_data_collected[orient]) {
orientation_failures++;
mavlink_and_console_log_info(mavlink_fd, "[cal] %s side completed or not needed", detect_orientation_str(orient));
mavlink_and_console_log_info(mavlink_fd, "[cal] rotate to a pending side");
continue;
}
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
orientation_failures = 0;
// Call worker routine
result = calibration_worker(orient, cancel_sub, worker_data);
if (result != calibrate_return_ok ) {
break;
}
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
// Note that this side is complete
side_data_collected[orient] = true;
tune_neutral(true);
usleep(500000);
}
if (sub_accel >= 0) {
close(sub_accel);
}
return result;
}
int calibrate_cancel_subscribe(void)
{
return orb_subscribe(ORB_ID(vehicle_command));
}
void calibrate_cancel_unsubscribe(int cmd_sub)
{
orb_unsubscribe(cmd_sub);
}
static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "command denied during calibration: %u", cmd.command);
tune_negative(true);
break;
default:
break;
}
}
bool calibrate_cancel_check(int mavlink_fd, int cancel_sub)
{
struct pollfd fds[1];
fds[0].fd = cancel_sub;
fds[0].events = POLLIN;
if (poll(&fds[0], 1, 0) > 0) {
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
if (cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_ACCEPTED);
mavlink_log_critical(mavlink_fd, CAL_QGC_CANCELLED_MSG);
return true;
} else {
calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_DENIED);
}
}
return false;
}