moved commander to C++, preparation for better gyro scale calibration respecting the current attitude for more accurate results

1 files changed, 279 insertions, 0 deletions

diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
new file mode 100644
index 000000000..9e6909db0
--- /dev/null
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -0,0 +1,279 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 gyro_calibration.cpp
+ * Gyroscope calibration routine
+ */
+
+#include "gyro_calibration.h"
+#include "commander_helper.h"
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <math.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>
+
+
+void do_gyro_calibration(int mavlink_fd)
+{
+	mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still");
+
+	const int calibration_count = 5000;
+
+	int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
+	struct sensor_combined_s raw;
+
+	int calibration_counter = 0;
+	float gyro_offset[3] = {0.0f, 0.0f, 0.0f};
+
+	/* set offsets to zero */
+	int fd = open(GYRO_DEVICE_PATH, 0);
+	struct gyro_scale gscale_null = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+	};
+
+	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
+		warn("WARNING: failed to set scale / offsets for gyro");
+
+	close(fd);
+
+	while (calibration_counter < calibration_count) {
+
+		/* 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) {
+			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
+			gyro_offset[0] += raw.gyro_rad_s[0];
+			gyro_offset[1] += raw.gyro_rad_s[1];
+			gyro_offset[2] += raw.gyro_rad_s[2];
+			calibration_counter++;
+
+		} 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;
+		}
+	}
+
+	gyro_offset[0] = gyro_offset[0] / calibration_count;
+	gyro_offset[1] = gyro_offset[1] / calibration_count;
+	gyro_offset[2] = gyro_offset[2] / calibration_count;
+
+
+	if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
+
+		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))
+			|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))
+			|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
+			mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!");
+		}
+
+		/* set offsets to actual value */
+		fd = open(GYRO_DEVICE_PATH, 0);
+		struct gyro_scale gscale = {
+			gyro_offset[0],
+			1.0f,
+			gyro_offset[1],
+			1.0f,
+			gyro_offset[2],
+			1.0f,
+		};
+
+		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
+			warn("WARNING: failed to set scale / offsets for gyro");
+
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = param_save_default();
+
+		if (save_ret != 0) {
+			warnx("WARNING: auto-save of params to storage failed");
+			mavlink_log_critical(mavlink_fd, "gyro store failed");
+			// XXX negative tune
+			return;
+		}
+
+		mavlink_log_info(mavlink_fd, "gyro calibration done");
+
+		tune_positive();
+		/* third beep by cal end routine */
+
+	} else {
+		mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)");
+		return;
+	}
+
+
+	/*** --- SCALING --- ***/
+
+	mavlink_log_info(mavlink_fd, "offset calibration finished. Rotate for scale 130x");
+	mavlink_log_info(mavlink_fd, "or do not rotate and wait for 5 seconds to skip.");
+	warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip.");
+
+	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))
+			break;
+
+		/* 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", baseline_integral, 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;
+	float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale };
+	warnx("gyro scale: yaw (z): %6.4f", gyro_scale);
+	mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", gyro_scale);
+
+
+	if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) {
+
+		if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scales[0]))
+			|| param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scales[1]))
+			|| param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scales[2]))) {
+			mavlink_log_critical(mavlink_fd, "Setting gyro scale failed!");
+		}
+
+		/* set offsets to actual value */
+		fd = open(GYRO_DEVICE_PATH, 0);
+		struct gyro_scale gscale = {
+			gyro_offset[0],
+			gyro_scales[0],
+			gyro_offset[1],
+			gyro_scales[1],
+			gyro_offset[2],
+			gyro_scales[2],
+		};
+
+		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
+			warn("WARNING: failed to set scale / offsets for gyro");
+
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = param_save_default();
+
+		if (save_ret != 0) {
+			warn("WARNING: auto-save of params to storage failed");
+		}
+
+		// char buf[50];
+		// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
+		// mavlink_log_info(mavlink_fd, buf);
+		mavlink_log_info(mavlink_fd, "gyro calibration done");
+
+		tune_positive();
+		/* third beep by cal end routine */
+
+	} else {
+		mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
+	}
+
+	close(sub_sensor_combined);
+}