diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-19 13:07:51 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-19 13:07:51 +0200 |
commit | da1bf69ce249f22df16e7ccb21d17c08bcbbbedf (patch) | |
tree | a60cedd2fa5119dc05a650d4d6c57a0eda763037 /src/modules/commander | |
parent | 1575da4390ade717e1fa43a3f18f2348bd494205 (diff) | |
download | px4-firmware-da1bf69ce249f22df16e7ccb21d17c08bcbbbedf.tar.gz px4-firmware-da1bf69ce249f22df16e7ccb21d17c08bcbbbedf.tar.bz2 px4-firmware-da1bf69ce249f22df16e7ccb21d17c08bcbbbedf.zip |
Added gyro scale estimation (but param is NOT written)
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/gyro_calibration.c | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/src/modules/commander/gyro_calibration.c b/src/modules/commander/gyro_calibration.c index f452910c9..865f74ab4 100644 --- a/src/modules/commander/gyro_calibration.c +++ b/src/modules/commander/gyro_calibration.c @@ -104,6 +104,86 @@ void do_gyro_calibration(int mavlink_fd) gyro_offset[1] = gyro_offset[1] / calibration_count; gyro_offset[2] = gyro_offset[2] / calibration_count; + + + + /*** --- 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] = { { .fd = sub_sensor_combined, .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; + 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_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) |