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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-20 19:36:42 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-20 19:36:42 +0200 |
| commit | ef6f1f6f808e49ff3aca68aa08001e37093b89ec (patch) | |
| tree | d4d0c9c432eddd98961fcf6f560e6798a3ab8c8c /src/modules/commander | |
| parent | 1a3845c66ab8d457a0227ddd4bd22f5053c7f6b6 (diff) | |
| download | px4-firmware-ef6f1f6f808e49ff3aca68aa08001e37093b89ec.tar.gz px4-firmware-ef6f1f6f808e49ff3aca68aa08001e37093b89ec.tar.bz2 px4-firmware-ef6f1f6f808e49ff3aca68aa08001e37093b89ec.zip | |
get_rot_matrix() moved to separate library, accel calibration of rotated board fixed
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 45 | ||||
| -rw-r--r-- | src/modules/commander/module.mk | 1 |
2 files changed, 32 insertions, 14 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index cfa7d9e8a..c9bfedbda 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -112,11 +112,13 @@ #include <fcntl.h> #include <sys/prctl.h> #include <math.h> +#include <mathlib/mathlib.h> #include <string.h> #include <drivers/drv_hrt.h> #include <uORB/topics/sensor_combined.h> #include <drivers/drv_accel.h> #include <geo/geo.h> +#include <conversion/rotation.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <mavlink/mavlink_log.h> @@ -144,24 +146,41 @@ int do_accel_calibration(int mavlink_fd) { int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale); if (res == OK) { - /* measurements complete successfully, set parameters */ - if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0])) - || param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1])) - || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2])) - || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0])) - || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1])) - || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) { + /* measurements complete successfully, rotate calibration values */ + param_t board_rotation_h = param_find("SENS_BOARD_ROT"); + enum Rotation board_rotation_id; + param_get(board_rotation_h, &(board_rotation_id)); + math::Matrix board_rotation(3, 3); + get_rot_matrix(board_rotation_id, &board_rotation); + board_rotation = board_rotation.transpose(); + math::Vector3 vect(3); + vect(0) = accel_offs[0]; + vect(1) = accel_offs[1]; + vect(2) = accel_offs[2]; + math::Vector3 accel_offs_rotated = board_rotation * vect; + vect(0) = accel_scale[0]; + vect(1) = accel_scale[1]; + vect(2) = accel_scale[2]; + math::Vector3 accel_scale_rotated = board_rotation * vect; + + /* set parameters */ + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs_rotated(0))) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1))) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2))) + || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale_rotated(0))) + || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale_rotated(1))) + || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale_rotated(2)))) { mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed"); } int fd = open(ACCEL_DEVICE_PATH, 0); struct accel_scale ascale = { - accel_offs[0], - accel_scale[0], - accel_offs[1], - accel_scale[1], - accel_offs[2], - accel_scale[2], + accel_offs_rotated(0), + accel_scale_rotated(0), + accel_offs_rotated(1), + accel_scale_rotated(1), + accel_offs_rotated(2), + accel_scale_rotated(2), }; if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 91d75121e..554dfcb08 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -47,4 +47,3 @@ SRCS = commander.cpp \ baro_calibration.cpp \ rc_calibration.cpp \ airspeed_calibration.cpp - |