path: root/src/modules/commander/airspeed_calibration.cpp

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/**
 * @file airspeed_calibration.cpp
 * Airspeed sensor calibration routine
 */

#include "airspeed_calibration.h"
#include "calibration_messages.h"
#include "commander_helper.h"

#include <stdio.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_airspeed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>

/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

static const char *sensor_name = "dpress";

int do_airspeed_calibration(int mavlink_fd)
{
	/* give directions */
	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);

	const unsigned calibration_count = 2000;

	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
	struct differential_pressure_s diff_pres;

	float diff_pres_offset = 0.0f;

	/* Reset sensor parameters */
	struct airspeed_scale airscale = {
		diff_pres_offset,
		1.0f,
	};

	bool paramreset_successful = false;
	int  fd = open(AIRSPEED_DEVICE_PATH, 0);

	if (fd > 0) {
		if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
			paramreset_successful = true;

		} else {
			mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
		}

		close(fd);
	}

	if (!paramreset_successful) {
		warn("FAILED to reset - assuming analog");
		mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");

		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
			mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
			close(diff_pres_sub);
			return ERROR;
		}
	}

	for (unsigned i = 0; i < (sizeof(diff_pres_offset) / sizeof(diff_pres_offset[0])); i++) {

		unsigned calibration_counter = 0;

		if (i == 0) {
			mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
			usleep(500 * 1000);
		}

		float diff_pres_offset = 0.0f;

		while (calibration_counter < calibration_count) {

			/* wait blocking for new data */
			struct pollfd fds[1];
			fds[0].fd = diff_pres_sub;
			fds[0].events = POLLIN;

			int poll_ret = poll(fds, 1, 1000);

			if (poll_ret) {
				orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);

				if (i > 0) {

					if (calc_indicated_airspeed(fabsf(diff_pres.differential_pressure_raw_pa)) < 10.0f) {
						mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot");
						usleep(5000 * 1000);
						continue;
					}

					/* do not log negative values in the second go */
					if ((diff_pres_offset / calibration_counter) < calc_indicated_airspeed(-5.0f)) {
						mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
						close(diff_pres_sub);
						return ERROR;
					}
				}

				diff_pres_offset += diff_pres.differential_pressure_raw_pa;
				calibration_counter++;

				if (calibration_counter % (calibration_count / 20) == 0) {
					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count / 2);
				}

			} else if (poll_ret == 0) {
				/* any poll failure for 1s is a reason to abort */
				mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
				close(diff_pres_sub);
				return ERROR;
			}
		}
	}

	diff_pres_offset = diff_pres_offset / calibration_count;

	if (isfinite(diff_pres_offset)) {

		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
			mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
			close(diff_pres_sub);
			return ERROR;
		}

		/* auto-save to EEPROM */
		int save_ret = param_save_default();

		if (save_ret != 0) {
			warn("WARNING: auto-save of params to storage failed");
			mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
			close(diff_pres_sub);
			return ERROR;
		}

	} else {
		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
		close(diff_pres_sub);
		return ERROR;
	}

	/* wait 500 ms to ensure parameter propagated through the system */
	usleep(500 * 1000);

	calibration_counter = 0;
	diff_pres_offset = 0.0f;

	/* just take a few samples and make sure pitot tubes are not reversed */
	while (calibration_counter < 50) {

		/* wait blocking for new data */
		struct pollfd fds[1];
		fds[0].fd = diff_pres_sub;
		fds[0].events = POLLIN;

		int poll_ret = poll(fds, 1, 1000);

		if (poll_ret) {
			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);

			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
			calibration_counter++;

			float curr_avg = (diff_pres_offset / calibration_counter);

			if (calc_indicated_airspeed(fabsf(curr_avg)) < 10.0f) {
				mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot");
				usleep(5000 * 1000);
				continue;
			}

			/* do not log negative values in the second go */
			if (curr_avg < calc_indicated_airspeed(-5.0f)) {
				mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
				close(diff_pres_sub);

				/* the user setup is wrong, wipe the calibration to force a proper re-calibration */

				diff_pres_offset = 0.0f;
				if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
					mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
					close(diff_pres_sub);
					return ERROR;
				}

				/* save */
				(void)param_save_default();

				return ERROR;
			}

		} else if (poll_ret == 0) {
			/* any poll failure for 1s is a reason to abort */
			mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
			close(diff_pres_sub);
			return ERROR;
		}
	}

	mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
	tune_neutral(true);
	close(diff_pres_sub);
	return OK;
}