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/**
* @file gyro_calibration.cpp
*
* Gyroscope calibration routine
*/
#include "gyro_calibration.h"
#include "calibration_messages.h"
#include "commander_helper.h"
#include <stdio.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_gyro.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/mcu_version.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static const char *sensor_name = "gyro";
int do_gyro_calibration(int mavlink_fd)
{
const unsigned max_gyros = 3;
int32_t device_id[3];
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "HOLD STILL");
/* wait for the user to respond */
sleep(2);
struct gyro_scale gyro_scale_zero = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
struct gyro_scale gyro_scale[max_gyros];
int res = OK;
/* store board ID */
uint32_t mcu_id[3];
mcu_unique_id(&mcu_id[0]);
/* store last 32bit number - not unique, but unique in a given set */
(void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]);
char str[30];
for (unsigned s = 0; s < max_gyros; s++) {
/* ensure all scale fields are initialized tha same as the first struct */
(void)memcpy(&gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale[0]));
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
int fd = open(str, 0);
if (fd < 0) {
continue;
}
device_id[s] = ioctl(fd, DEVIOCGDEVICEID, 0);
res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero);
close(fd);
if (res != OK) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
}
}
unsigned calibration_counter[max_gyros] = { 0 };
const unsigned calibration_count = 5000;
struct gyro_report gyro_report_0 = {};
if (res == OK) {
/* determine gyro mean values */
unsigned poll_errcount = 0;
/* subscribe to gyro sensor topic */
int sub_sensor_gyro[max_gyros];
struct pollfd fds[max_gyros];
for (unsigned s = 0; s < max_gyros; s++) {
sub_sensor_gyro[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
fds[s].fd = sub_sensor_gyro[s];
fds[s].events = POLLIN;
}
struct gyro_report gyro_report;
/* use first gyro to pace, but count correctly per-gyro for statistics */
while (calibration_counter[0] < calibration_count) {
/* wait blocking for new data */
int poll_ret = poll(&fds[0], max_gyros, 1000);
if (poll_ret > 0) {
for (unsigned s = 0; s < max_gyros; s++) {
bool changed;
orb_check(sub_sensor_gyro[s], &changed);
if (changed) {
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro[s], &gyro_report);
if (s == 0) {
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro[s], &gyro_report_0);
}
gyro_scale[s].x_offset += gyro_report.x;
gyro_scale[s].y_offset += gyro_report.y;
gyro_scale[s].z_offset += gyro_report.z;
calibration_counter[s]++;
}
if (s == 0 && calibration_counter[0] % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter[0] * 100) / calibration_count);
}
}
} else {
poll_errcount++;
}
if (poll_errcount > 1000) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
res = ERROR;
break;
}
}
for (unsigned s = 0; s < max_gyros; s++) {
close(sub_sensor_gyro[s]);
gyro_scale[s].x_offset /= calibration_counter[s];
gyro_scale[s].y_offset /= calibration_counter[s];
gyro_scale[s].z_offset /= calibration_counter[s];
}
}
if (res == OK) {
/* check offsets */
float xdiff = gyro_report_0.x - gyro_scale[0].x_offset;
float ydiff = gyro_report_0.y - gyro_scale[0].y_offset;
float zdiff = gyro_report_0.z - gyro_scale[0].z_offset;
/* maximum allowable calibration error in radians */
const float maxoff = 0.01f;
if (!isfinite(gyro_scale[0].x_offset) ||
!isfinite(gyro_scale[0].y_offset) ||
!isfinite(gyro_scale[0].z_offset) ||
fabsf(xdiff) > maxoff ||
fabsf(ydiff) > maxoff ||
fabsf(zdiff) > maxoff) {
mavlink_log_critical(mavlink_fd, "ERROR: Calibration failed");
res = ERROR;
}
}
if (res == OK) {
/* set offset parameters to new values */
bool failed = false;
for (unsigned s = 0; s < max_gyros; s++) {
/* if any reasonable amount of data is missing, skip */
if (calibration_counter[s] < calibration_count / 2) {
continue;
}
(void)sprintf(str, "CAL_GYRO%u_XOFF", s);
failed |= (OK != param_set(param_find(str), &(gyro_scale[s].x_offset)));
(void)sprintf(str, "CAL_GYRO%u_YOFF", s);
failed |= (OK != param_set(param_find(str), &(gyro_scale[s].y_offset)));
(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
failed |= (OK != param_set(param_find(str), &(gyro_scale[s].z_offset)));
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (OK != param_set(param_find(str), &(device_id[s])));
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = open(str, 0);
if (fd < 0) {
failed = true;
continue;
}
res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale[s]);
close(fd);
if (res != OK) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
}
}
if (failed) {
mavlink_and_console_log_critical(mavlink_fd, "ERROR: failed to set offset params");
res = ERROR;
}
}
#if 0
/* beep on offset calibration end */
mavlink_log_info(mavlink_fd, "gyro offset calibration done");
tune_neutral();
/* scale calibration */
/* this was only a proof of concept and is currently not working. scaling will be set to 1.0 for now. */
mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip.");
/* apply new offsets */
fd = open(GYRO_DEVICE_PATH, 0);
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) {
warn("WARNING: failed to apply new offsets for gyro");
}
close(fd);
unsigned rotations_count = 30;
float gyro_integral = 0.0f;
float baseline_integral = 0.0f;
// XXX change to mag topic
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; }
if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; }
uint64_t last_time = hrt_absolute_time();
uint64_t start_time = hrt_absolute_time();
while ((int)fabsf(baseline_integral / (2.0f * M_PI_F)) < rotations_count) {
/* abort this loop if not rotated more than 180 degrees within 5 seconds */
if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f)
&& (hrt_absolute_time() - start_time > 5 * 1e6)) {
mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done");
close(sub_sensor_combined);
return OK;
}
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = sub_sensor_combined;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
float dt_ms = (hrt_absolute_time() - last_time) / 1e3f;
last_time = hrt_absolute_time();
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
// XXX this is just a proof of concept and needs world / body
// transformation and more
//math::Vector2f magNav(raw.magnetometer_ga);
// calculate error between estimate and measurement
// apply declination correction for true heading as well.
//float mag = -atan2f(magNav(1),magNav(0));
float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
if (mag > M_PI_F) { mag -= 2 * M_PI_F; }
if (mag < -M_PI_F) { mag += 2 * M_PI_F; }
float diff = mag - mag_last;
if (diff > M_PI_F) { diff -= 2 * M_PI_F; }
if (diff < -M_PI_F) { diff += 2 * M_PI_F; }
baseline_integral += diff;
mag_last = mag;
// Jump through some timing scale hoops to avoid
// operating near the 1e6/1e8 max sane resolution of float.
gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f;
// warnx("dbg: b: %6.4f, g: %6.4f", (double)baseline_integral, (double)gyro_integral);
// } else if (poll_ret == 0) {
// /* any poll failure for 1s is a reason to abort */
// mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
// return;
}
}
float gyro_scale = baseline_integral / gyro_integral;
warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
if (!isfinite(gyro_scale.x_scale) || !isfinite(gyro_scale.y_scale) || !isfinite(gyro_scale.z_scale)) {
mavlink_log_info(mavlink_fd, "gyro scale calibration FAILED (NaN)");
close(sub_sensor_gyro);
mavlink_log_critical(mavlink_fd, "gyro calibration failed");
return ERROR;
}
/* beep on calibration end */
mavlink_log_info(mavlink_fd, "gyro scale calibration done");
tune_neutral();
if (res == OK) {
/* set scale parameters to new values */
if (param_set(param_find("CAL_GYRO0_XSCALE"), &(gyro_scale.x_scale))
|| param_set(param_find("CAL_GYRO0_YSCALE"), &(gyro_scale.y_scale))
|| param_set(param_find("CAL_GYRO0_ZSCALE"), &(gyro_scale.z_scale))) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params");
res = ERROR;
}
}
#endif
if (res == OK) {
/* auto-save to EEPROM */
res = param_save_default();
if (res != OK) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
}
}
if (res == OK) {
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
} else {
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
}
return res;
}