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/****************************************************************************
*
* Copyright (c) 2015 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.
*
****************************************************************************/
/// @file calibration_routines.h
/// @authot Don Gagne <don@thegagnes.com>
/**
* Least-squares fit of a sphere to a set of points.
*
* Fits a sphere to a set of points on the sphere surface.
*
* @param x point coordinates on the X axis
* @param y point coordinates on the Y axis
* @param z point coordinates on the Z axis
* @param size number of points
* @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
* @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
* @param sphere_x coordinate of the sphere center on the X axis
* @param sphere_y coordinate of the sphere center on the Y axis
* @param sphere_z coordinate of the sphere center on the Z axis
* @param sphere_radius sphere radius
*
* @return 0 on success, 1 on failure
*/
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);
// FIXME: Change the name
static const unsigned max_accel_sens = 3;
// The order of these cannot change since the calibration calculations depend on them in this order
enum detect_orientation_return {
DETECT_ORIENTATION_TAIL_DOWN,
DETECT_ORIENTATION_NOSE_DOWN,
DETECT_ORIENTATION_LEFT,
DETECT_ORIENTATION_RIGHT,
DETECT_ORIENTATION_UPSIDE_DOWN,
DETECT_ORIENTATION_RIGHTSIDE_UP,
DETECT_ORIENTATION_ERROR
};
static const unsigned detect_orientation_side_count = 6;
/// Wait for vehicle to become still and detect it's orientation
/// @return Returns detect_orientation_return according to orientation when vehicle
/// and ready for measurements
enum detect_orientation_return detect_orientation(int mavlink_fd, ///< Mavlink fd to write output to
int cancel_sub, ///< Cancel subscription from calibration_cancel_subscribe
int accel_sub, ///< Orb subcription to accel sensor
bool lenient_still_detection); ///< true: Use more lenient still position detection
/// Returns the human readable string representation of the orientation
/// @param orientation Orientation to return string for, "error" if buffer is too small
const char* detect_orientation_str(enum detect_orientation_return orientation);
enum calibrate_return {
calibrate_return_ok,
calibrate_return_error,
calibrate_return_cancelled
};
typedef calibrate_return (*calibration_from_orientation_worker_t)(detect_orientation_return orientation, ///< Orientation which was detected
int cancel_sub, ///< Cancel subscription from calibration_cancel_subscribe
void* worker_data); ///< Opaque worker data
/// Perform calibration sequence which require a rest orientation detection prior to calibration.
/// @return OK: Calibration succeeded, ERROR: Calibration failed
calibrate_return calibrate_from_orientation(int mavlink_fd, ///< Mavlink fd to write output to
int cancel_sub, ///< Cancel subscription from calibration_cancel_subscribe
bool side_data_collected[detect_orientation_side_count], ///< Sides for which data still needs calibration
calibration_from_orientation_worker_t calibration_worker, ///< Worker routine which performs the actual calibration
void* worker_data, ///< Opaque data passed to worker routine
bool lenient_still_detection); ///< true: Use more lenient still position detection
/// Called at the beginning of calibration in order to subscribe to the cancel command
/// @return Handle to vehicle_command subscription
int calibrate_cancel_subscribe(void);
/// Called to cancel the subscription to the cancel command
/// @param cancel_sub Cancel subcription from calibration_cancel_subscribe
void calibrate_cancel_unsubscribe(int cancel_sub);
/// Used to periodically check for a cancel command
bool calibrate_cancel_check(int mavlink_fd, ///< Mavlink fd for output
int cancel_sub); ///< Cancel subcription fromcalibration_cancel_subscribe
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