Checkpoint: Working, but non-verified full mag calibration

1 files changed, 21 insertions, 0 deletions

diff --git a/apps/commander/calibration_routines.h b/apps/commander/calibration_routines.h
new file mode 100644
index 000000000..c5a184341
--- /dev/null
+++ b/apps/commander/calibration_routines.h
@@ -0,0 +1,21 @@
+
+/**
+ * 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);
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