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/**
* @file calibration_routines.h
* Calibration routines definitions.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/**
* 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.
*
* @param mavlink_fd the MAVLink file descriptor to print output to
* @param accel_sub Subscription to onboard accel
*
* @return detect_orientation)_return according to orientation when vehicle is still and ready for measurements,
* DETECT_ORIENTATION_ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
*/
enum detect_orientation_return detect_orientation(int mavlink_fd, int accel_sub);
/**
* Returns the human readable string representation of the orientation
*
* @param orientation Orientation to return string for, "error" if buffer is too small
*
* @return str Returned orientation string
*/
const char* detect_orientation_str(enum detect_orientation_return orientation);
typedef int (*calibration_from_orientation_worker_t)(detect_orientation_return orientation, void* worker_data);
int calibrate_from_orientation(int mavlink_fd,
bool side_data_collected[detect_orientation_side_count],
calibration_from_orientation_worker_t calibration_worker,
void* worker_data);