diff options
| -rw-r--r-- | makefiles/config_px4fmu-v1_default.mk | 1 | ||||
| -rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 1 | ||||
| -rw-r--r-- | src/drivers/drv_accel.h | 2 | ||||
| -rw-r--r-- | src/lib/conversion/module.mk | 38 | ||||
| -rw-r--r-- | src/lib/conversion/rotation.cpp | 62 | ||||
| -rw-r--r-- | src/lib/conversion/rotation.h | 121 | ||||
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 322 | ||||
| -rw-r--r-- | src/modules/commander/calibration_messages.h | 57 | ||||
| -rw-r--r-- | src/modules/commander/commander.cpp | 54 | ||||
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 214 | ||||
| -rw-r--r-- | src/modules/commander/mag_calibration.cpp | 276 | ||||
| -rw-r--r-- | src/modules/commander/module.mk | 1 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 93 |
13 files changed, 770 insertions, 472 deletions
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 85ac3f546..f9061c110 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -115,6 +115,7 @@ MODULES += lib/mathlib/math/filter MODULES += lib/ecl MODULES += lib/external_lgpl MODULES += lib/geo +MODULES += lib/conversion # # Demo apps diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index c0972be9e..ed2f2da5e 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -112,6 +112,7 @@ MODULES += lib/mathlib/math/filter MODULES += lib/ecl MODULES += lib/external_lgpl MODULES += lib/geo +MODULES += lib/conversion # # Demo apps diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h index eff5e7349..8a4f68428 100644 --- a/src/drivers/drv_accel.h +++ b/src/drivers/drv_accel.h @@ -66,7 +66,7 @@ struct accel_report { int16_t temperature_raw; }; -/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */ +/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */ struct accel_scale { float x_offset; float x_scale; diff --git a/src/lib/conversion/module.mk b/src/lib/conversion/module.mk new file mode 100644 index 000000000..f5f59a2dc --- /dev/null +++ b/src/lib/conversion/module.mk @@ -0,0 +1,38 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Conversion library +# + +SRCS = rotation.cpp diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp new file mode 100644 index 000000000..b078562c2 --- /dev/null +++ b/src/lib/conversion/rotation.cpp @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * 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 rotation.cpp + * + * Vector rotation library + */ + +#include "math.h" +#include "rotation.h" + +__EXPORT void +get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) +{ + /* first set to zero */ + rot_matrix->Matrix::zero(3, 3); + + float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; + float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; + float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; + + math::EulerAngles euler(roll, pitch, yaw); + + math::Dcm R(euler); + + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + (*rot_matrix)(i, j) = R(i, j); + } + } +} diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h new file mode 100644 index 000000000..85c63c0fc --- /dev/null +++ b/src/lib/conversion/rotation.h @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * 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 rotation.h + * + * Vector rotation library + */ + +#ifndef ROTATION_H_ +#define ROTATION_H_ + +#include <unistd.h> +#include <mathlib/mathlib.h> + +/** + * Enum for board and external compass rotations. + * This enum maps from board attitude to airframe attitude. + */ +enum Rotation { + ROTATION_NONE = 0, + ROTATION_YAW_45 = 1, + ROTATION_YAW_90 = 2, + ROTATION_YAW_135 = 3, + ROTATION_YAW_180 = 4, + ROTATION_YAW_225 = 5, + ROTATION_YAW_270 = 6, + ROTATION_YAW_315 = 7, + ROTATION_ROLL_180 = 8, + ROTATION_ROLL_180_YAW_45 = 9, + ROTATION_ROLL_180_YAW_90 = 10, + ROTATION_ROLL_180_YAW_135 = 11, + ROTATION_PITCH_180 = 12, + ROTATION_ROLL_180_YAW_225 = 13, + ROTATION_ROLL_180_YAW_270 = 14, + ROTATION_ROLL_180_YAW_315 = 15, + ROTATION_ROLL_90 = 16, + ROTATION_ROLL_90_YAW_45 = 17, + ROTATION_ROLL_90_YAW_90 = 18, + ROTATION_ROLL_90_YAW_135 = 19, + ROTATION_ROLL_270 = 20, + ROTATION_ROLL_270_YAW_45 = 21, + ROTATION_ROLL_270_YAW_90 = 22, + ROTATION_ROLL_270_YAW_135 = 23, + ROTATION_PITCH_90 = 24, + ROTATION_PITCH_270 = 25, + ROTATION_MAX +}; + +typedef struct { + uint16_t roll; + uint16_t pitch; + uint16_t yaw; +} rot_lookup_t; + +const rot_lookup_t rot_lookup[] = { + { 0, 0, 0 }, + { 0, 0, 45 }, + { 0, 0, 90 }, + { 0, 0, 135 }, + { 0, 0, 180 }, + { 0, 0, 225 }, + { 0, 0, 270 }, + { 0, 0, 315 }, + {180, 0, 0 }, + {180, 0, 45 }, + {180, 0, 90 }, + {180, 0, 135 }, + { 0, 180, 0 }, + {180, 0, 225 }, + {180, 0, 270 }, + {180, 0, 315 }, + { 90, 0, 0 }, + { 90, 0, 45 }, + { 90, 0, 90 }, + { 90, 0, 135 }, + {270, 0, 0 }, + {270, 0, 45 }, + {270, 0, 90 }, + {270, 0, 135 }, + { 0, 90, 0 }, + { 0, 270, 0 } +}; + +/** + * Get the rotation matrix + */ +__EXPORT void +get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix); + +#endif /* ROTATION_H_ */ diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index cfa7d9e8a..5eeca5a1a 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -100,10 +100,29 @@ * accel_T = A^-1 * g * g = 9.80665 * + * ===== Rotation ===== + * + * Calibrating using model: + * accel_corr = accel_T_r * (rot * accel_raw - accel_offs_r) + * + * Actual correction: + * accel_corr = rot * accel_T * (accel_raw - accel_offs) + * + * Known: accel_T_r, accel_offs_r, rot + * Unknown: accel_T, accel_offs + * + * Solution: + * accel_T_r * (rot * accel_raw - accel_offs_r) = rot * accel_T * (accel_raw - accel_offs) + * rot^-1 * accel_T_r * (rot * accel_raw - accel_offs_r) = accel_T * (accel_raw - accel_offs) + * rot^-1 * accel_T_r * rot * accel_raw - rot^-1 * accel_T_r * accel_offs_r = accel_T * accel_raw - accel_T * accel_offs) + * => accel_T = rot^-1 * accel_T_r * rot + * => accel_offs = rot^-1 * accel_offs_r + * * @author Anton Babushkin <anton.babushkin@me.com> */ #include "accelerometer_calibration.h" +#include "calibration_messages.h" #include "commander_helper.h" #include <unistd.h> @@ -112,11 +131,13 @@ #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> @@ -127,93 +148,122 @@ #endif static const int ERROR = -1; -int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); +static const char *sensor_name = "accel"; + +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]); int detect_orientation(int mavlink_fd, int sub_sensor_combined); int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num); int mat_invert3(float src[3][3], float dst[3][3]); int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g); -int do_accel_calibration(int mavlink_fd) { - /* announce change */ - mavlink_log_info(mavlink_fd, "accel calibration started"); - mavlink_log_info(mavlink_fd, "accel cal progress <0> percent"); +int do_accel_calibration(int mavlink_fd) +{ + mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + + struct accel_scale accel_scale = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + int res = OK; + + /* reset all offsets to zero and all scales to one */ + int fd = open(ACCEL_DEVICE_PATH, 0); + res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); + close(fd); + + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG); + } - /* measure and calculate offsets & scales */ float accel_offs[3]; - float accel_scale[3]; - int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_scale); + float accel_T[3][3]; 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]))) { - mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed"); + /* measure and calculate offsets & scales */ + res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T); + } + + if (res == OK) { + /* measurements completed successfully, rotate calibration values */ + param_t board_rotation_h = param_find("SENS_BOARD_ROT"); + int32_t board_rotation_int; + param_get(board_rotation_h, &(board_rotation_int)); + enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; + math::Matrix board_rotation(3, 3); + get_rot_matrix(board_rotation_id, &board_rotation); + math::Matrix board_rotation_t = board_rotation.transpose(); + math::Vector3 accel_offs_vec; + accel_offs_vec.set(&accel_offs[0]); + math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec; + math::Matrix accel_T_mat(3, 3); + accel_T_mat.set(&accel_T[0][0]); + math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; + + accel_scale.x_offset = accel_offs_rotated(0); + accel_scale.x_scale = accel_T_rotated(0, 0); + accel_scale.y_offset = accel_offs_rotated(1); + accel_scale.y_scale = accel_T_rotated(1, 1); + accel_scale.z_offset = accel_offs_rotated(2); + accel_scale.z_scale = accel_T_rotated(2, 2); + + /* set parameters */ + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset)) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset)) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset)) + || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale)) + || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale)) + || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG); + res = ERROR; } + } + if (res == OK) { + /* apply new scaling and offsets */ 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], - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) - warn("WARNING: failed to set scale / offsets for accel"); - + res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG); + } + } + + if (res == OK) { /* auto-save to EEPROM */ - int save_ret = param_save_default(); + res = param_save_default(); - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); + 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); - mavlink_log_info(mavlink_fd, "accel calibration done"); - return OK; } else { - /* measurements error */ - mavlink_log_info(mavlink_fd, "accel calibration aborted"); - return ERROR; + mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); } - /* exit accel calibration mode */ + return res; } -int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { +int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]) +{ const int samples_num = 2500; float accel_ref[6][3]; bool data_collected[6] = { false, false, false, false, false, false }; const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; - /* reset existing calibration */ - int fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null); - close(fd); - - if (OK != ioctl_res) { - warn("ERROR: failed to set scale / offsets for accel"); - return ERROR; - } - int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); unsigned done_count = 0; + int res = OK; while (true) { bool done = true; @@ -221,64 +271,63 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float done_count = 0; for (int i = 0; i < 6; i++) { - if (!data_collected[i]) { + if (data_collected[i]) { + done_count++; + + } else { done = false; } } - mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", - (!data_collected[0]) ? "x+ " : "", - (!data_collected[1]) ? "x- " : "", - (!data_collected[2]) ? "y+ " : "", - (!data_collected[3]) ? "y- " : "", - (!data_collected[4]) ? "z+ " : "", - (!data_collected[5]) ? "z- " : ""); - if (old_done_count != done_count) - mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count); + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count); if (done) break; + mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", + (!data_collected[0]) ? "x+ " : "", + (!data_collected[1]) ? "x- " : "", + (!data_collected[2]) ? "y+ " : "", + (!data_collected[3]) ? "y- " : "", + (!data_collected[4]) ? "z+ " : "", + (!data_collected[5]) ? "z- " : ""); + int orient = detect_orientation(mavlink_fd, sensor_combined_sub); + if (orient < 0) { - close(sensor_combined_sub); - return ERROR; + res = ERROR; + break; } if (data_collected[orient]) { - mavlink_log_info(mavlink_fd, "%s done, please rotate to a different axis", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, "%s done, rotate to a different axis", orientation_strs[orient]); continue; } mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]); read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient], - (double)accel_ref[orient][0], - (double)accel_ref[orient][1], - (double)accel_ref[orient][2]); + (double)accel_ref[orient][0], + (double)accel_ref[orient][1], + (double)accel_ref[orient][2]); data_collected[orient] = true; tune_neutral(); } + close(sensor_combined_sub); - /* calculate offsets and rotation+scale matrix */ - float accel_T[3][3]; - int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); - if (res != 0) { - mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); - return ERROR; - } + if (res == OK) { + /* calculate offsets and transform matrix */ + res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); - /* convert accel transform matrix to scales, - * rotation part of transform matrix is not used by now - */ - for (int i = 0; i < 3; i++) { - accel_scale[i] = accel_T[i][i]; + if (res != OK) { + mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); + } } - return OK; + return res; } /* @@ -287,14 +336,15 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float * @return 0..5 according to orientation when vehicle is still and ready for measurements, * ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2 */ -int detect_orientation(int mavlink_fd, int sub_sensor_combined) { +int detect_orientation(int mavlink_fd, int sub_sensor_combined) +{ struct sensor_combined_s sensor; /* exponential moving average of accel */ float accel_ema[3] = { 0.0f, 0.0f, 0.0f }; /* max-hold dispersion of accel */ float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; /* EMA time constant in seconds*/ - float ema_len = 0.2f; + float ema_len = 0.5f; /* set "still" threshold to 0.25 m/s^2 */ float still_thr2 = pow(0.25f, 2); /* set accel error threshold to 5m/s^2 */ @@ -318,30 +368,38 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { while (true) { /* wait blocking for new data */ int poll_ret = poll(fds, 1, 1000); + if (poll_ret) { orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor); t = hrt_absolute_time(); float dt = (t - t_prev) / 1000000.0f; t_prev = t; float w = dt / ema_len; + for (int i = 0; i < 3; i++) { - accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w; - float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i]; + float d = sensor.accelerometer_m_s2[i] - accel_ema[i]; + accel_ema[i] += d * w; d = d * d; accel_disp[i] = accel_disp[i] * (1.0f - w); + + if (d > still_thr2 * 8.0f) + d = still_thr2 * 8.0f; + if (d > accel_disp[i]) accel_disp[i] = d; } + /* still detector with hysteresis */ - if ( accel_disp[0] < still_thr2 && - accel_disp[1] < still_thr2 && - accel_disp[2] < still_thr2 ) { + if (accel_disp[0] < still_thr2 && + accel_disp[1] < still_thr2 && + accel_disp[2] < still_thr2) { /* is still now */ if (t_still == 0) { /* first time */ mavlink_log_info(mavlink_fd, "detected rest position, waiting..."); t_still = t; t_timeout = t + timeout; + } else { /* still since t_still */ if (t > t_still + still_time) { @@ -349,62 +407,71 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { break; } } - } else if ( accel_disp[0] > still_thr2 * 2.0f || - accel_disp[1] > still_thr2 * 2.0f || - accel_disp[2] > still_thr2 * 2.0f) { + + } else if (accel_disp[0] > still_thr2 * 4.0f || + accel_disp[1] > still_thr2 * 4.0f || + accel_disp[2] > still_thr2 * 4.0f) { /* not still, reset still start time */ if (t_still != 0) { - mavlink_log_info(mavlink_fd, "detected motion, please hold still..."); + mavlink_log_info(mavlink_fd, "detected motion, hold still..."); t_still = 0; } } + } else if (poll_ret == 0) { poll_errcount++; } + if (t > t_timeout) { poll_errcount++; } if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor"); - return -1; + mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG); + return ERROR; } } - if ( fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr ) + if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr) return 0; // [ g, 0, 0 ] - if ( fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr ) + + if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr) return 1; // [ -g, 0, 0 ] - if ( fabsf(accel_ema[0]) < accel_err_thr && - fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr ) + + if (fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr) return 2; // [ 0, g, 0 ] - if ( fabsf(accel_ema[0]) < accel_err_thr && - fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && - fabsf(accel_ema[2]) < accel_err_thr ) + + if (fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && + fabsf(accel_ema[2]) < accel_err_thr) return 3; // [ 0, -g, 0 ] - if ( fabsf(accel_ema[0]) < accel_err_thr && - fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) + + if (fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) return 4; // [ 0, 0, g ] - if ( fabsf(accel_ema[0]) < accel_err_thr && - fabsf(accel_ema[1]) < accel_err_thr && - fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) + + if (fabsf(accel_ema[0]) < accel_err_thr && + fabsf(accel_ema[1]) < accel_err_thr && + fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) return 5; // [ 0, 0, -g ] - mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); + mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation"); - return -2; // Can't detect orientation + return ERROR; // Can't detect orientation } /* * Read specified number of accelerometer samples, calculate average and dispersion. */ -int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) { +int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) +{ struct pollfd fds[1]; fds[0].fd = sensor_combined_sub; fds[0].events = POLLIN; @@ -415,12 +482,16 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp while (count < samples_num) { int poll_ret = poll(fds, 1, 1000); + if (poll_ret == 1) { struct sensor_combined_s sensor; orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); + for (int i = 0; i < 3; i++) accel_sum[i] += sensor.accelerometer_m_s2[i]; + count++; + } else { errcount++; continue; @@ -437,10 +508,12 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp return OK; } -int mat_invert3(float src[3][3], float dst[3][3]) { +int mat_invert3(float src[3][3], float dst[3][3]) +{ float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) - - src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + - src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); + src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); + if (det == 0.0f) return ERROR; // Singular matrix @@ -457,7 +530,8 @@ int mat_invert3(float src[3][3], float dst[3][3]) { return OK; } -int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) { +int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) +{ /* calculate offsets */ for (int i = 0; i < 3; i++) { accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2; @@ -466,6 +540,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo /* fill matrix A for linear equations system*/ float mat_A[3][3]; memset(mat_A, 0, sizeof(mat_A)); + for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { float a = accel_ref[i * 2][j] - accel_offs[j]; @@ -475,6 +550,7 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo /* calculate inverse matrix for A */ float mat_A_inv[3][3]; + if (mat_invert3(mat_A, mat_A_inv) != OK) return ERROR; diff --git a/src/modules/commander/calibration_messages.h b/src/modules/commander/calibration_messages.h new file mode 100644 index 000000000..fd8b8564d --- /dev/null +++ b/src/modules/commander/calibration_messages.h @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin <anton.babushkin@me.com> + * + * 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 calibration_messages.h + * + * Common calibration messages. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#ifndef CALIBRATION_MESSAGES_H_ +#define CALIBRATION_MESSAGES_H_ + +#define CAL_STARTED_MSG "%s calibration: started" +#define CAL_DONE_MSG "%s calibration: done" +#define CAL_FAILED_MSG "%s calibration: failed" +#define CAL_PROGRESS_MSG "%s calibration: progress <%u>" + +#define CAL_FAILED_SENSOR_MSG "ERROR: failed reading sensor" +#define CAL_FAILED_RESET_CAL_MSG "ERROR: failed to reset calibration" +#define CAL_FAILED_APPLY_CAL_MSG "ERROR: failed to apply calibration" +#define CAL_FAILED_SET_PARAMS_MSG "ERROR: failed to set parameters" +#define CAL_FAILED_SAVE_PARAMS_MSG "ERROR: failed to save parameters" + +#endif /* CALIBRATION_MESSAGES_H_ */ diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index db758c386..9814a7bcc 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -369,8 +369,10 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (hil_ret == OK && control_mode->flag_system_hil_enabled) { /* reset the arming mode to disarmed */ arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed); + if (arming_res != TRANSITION_DENIED) { mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); + } else { mavlink_log_info(mavlink_fd, "[cmd] HIL: FAILED resetting armed state"); } @@ -481,27 +483,28 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - case VEHICLE_CMD_COMPONENT_ARM_DISARM: - { - transition_result_t arming_res = TRANSITION_NOT_CHANGED; - if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; + case VEHICLE_CMD_COMPONENT_ARM_DISARM: { + transition_result_t arming_res = TRANSITION_NOT_CHANGED; - } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); - } + if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { + if (safety->safety_switch_available && !safety->safety_off) { + print_reject_arm("NOT ARMING: Press safety switch first."); + arming_res = TRANSITION_DENIED; - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { - mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } else { + arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + } + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } } } - } break; default: @@ -940,7 +943,7 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; /* check if board is connected via USB */ - struct stat statbuf; + //struct stat statbuf; //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } @@ -970,6 +973,7 @@ int commander_thread_main(int argc, char *argv[]) if (armed.armed) { arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed); + } else { arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed); } @@ -1244,12 +1248,14 @@ int commander_thread_main(int argc, char *argv[]) counter++; int blink_state = blink_msg_state(); + if (blink_state > 0) { /* blinking LED message, don't touch LEDs */ if (blink_state == 2) { /* blinking LED message completed, restore normal state */ control_status_leds(&status, &armed, true); } + } else { /* normal state */ control_status_leds(&status, &armed, status_changed); @@ -1264,7 +1270,7 @@ int commander_thread_main(int argc, char *argv[]) ret = pthread_join(commander_low_prio_thread, NULL); if (ret) { - warn("join failed", ret); + warn("join failed: %d", ret); } rgbled_set_mode(RGBLED_MODE_OFF); @@ -1308,6 +1314,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan /* driving rgbled */ if (changed) { bool set_normal_color = false; + /* set mode */ if (status->arming_state == ARMING_STATE_ARMED) { rgbled_set_mode(RGBLED_MODE_ON); @@ -1332,6 +1339,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) { rgbled_set_color(RGBLED_COLOR_AMBER); } + /* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */ } else { @@ -1694,11 +1702,10 @@ void *commander_low_prio_loop(void *arg) fds[0].events = POLLIN; while (!thread_should_exit) { - - /* wait for up to 100ms for data */ + /* wait for up to 200ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200); - /* timed out - periodic check for _task_should_exit, etc. */ + /* timed out - periodic check for thread_should_exit, etc. */ if (pret == 0) continue; @@ -1773,7 +1780,7 @@ void *commander_low_prio_loop(void *arg) } else if ((int)(cmd.param4) == 1) { /* RC calibration */ - answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_rc_calibration(mavlink_fd); } else if ((int)(cmd.param5) == 1) { @@ -1854,7 +1861,6 @@ void *commander_low_prio_loop(void *arg) /* send acknowledge command */ // XXX TODO } - } close(cmd_sub); diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index b6de5141f..30cd0d48d 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -33,10 +33,12 @@ /** * @file gyro_calibration.cpp + * * Gyroscope calibration routine */ #include "gyro_calibration.h" +#include "calibration_messages.h" #include "commander_helper.h" #include <stdio.h> @@ -56,9 +58,12 @@ #endif static const int ERROR = -1; +static const char *sensor_name = "gyro"; + int do_gyro_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "Gyro calibration starting, do not move unit."); + mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + mavlink_log_info(mavlink_fd, "don't move system"); struct gyro_scale gyro_scale = { 0.0f, @@ -69,79 +74,87 @@ int do_gyro_calibration(int mavlink_fd) 1.0f, }; - /* subscribe to gyro sensor topic */ - int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro)); - struct gyro_report gyro_report; + int res = OK; /* reset all offsets to zero and all scales to one */ int fd = open(GYRO_DEVICE_PATH, 0); - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) - warn("WARNING: failed to reset scale / offsets for gyro"); - + res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale); close(fd); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG); + } - /*** --- OFFSETS --- ***/ - - /* determine gyro mean values */ - const unsigned calibration_count = 5000; - unsigned calibration_counter = 0; - unsigned poll_errcount = 0; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1]; - fds[0].fd = sub_sensor_gyro; - fds[0].events = POLLIN; + if (res == OK) { + /* determine gyro mean values */ + const unsigned calibration_count = 5000; + unsigned calibration_counter = 0; + unsigned poll_errcount = 0; + + /* subscribe to gyro sensor topic */ + int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro)); + struct gyro_report gyro_report; + + while (calibration_counter < calibration_count) { + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_gyro; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret > 0) { + orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report); + gyro_scale.x_offset += gyro_report.x; + gyro_scale.y_offset += gyro_report.y; + gyro_scale.z_offset += gyro_report.z; + calibration_counter++; + + if (calibration_counter % (calibration_count / 20) == 0) + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count); + + } else { + poll_errcount++; + } + + if (poll_errcount > 1000) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG); + res = ERROR; + break; + } + } - int poll_ret = poll(fds, 1, 1000); + close(sub_sensor_gyro); - if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report); - gyro_scale.x_offset += gyro_report.x; - gyro_scale.y_offset += gyro_report.y; - gyro_scale.z_offset += gyro_report.z; - calibration_counter++; - if (calibration_counter % (calibration_count / 20) == 0) - mavlink_log_info(mavlink_fd, "gyro cal progress <%u> percent", (calibration_counter * 100) / calibration_count); - - } else { - poll_errcount++; - } + gyro_scale.x_offset /= calibration_count; + gyro_scale.y_offset /= calibration_count; + gyro_scale.z_offset /= calibration_count; + } - if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor"); - close(sub_sensor_gyro); - return ERROR; + if (res == OK) { + /* check offsets */ + if (!isfinite(gyro_scale.x_offset) || !isfinite(gyro_scale.y_offset) || !isfinite(gyro_scale.z_offset)) { + mavlink_log_critical(mavlink_fd, "ERROR: offset is NaN"); + res = ERROR; } } - gyro_scale.x_offset /= calibration_count; - gyro_scale.y_offset /= calibration_count; - gyro_scale.z_offset /= calibration_count; - - if (!isfinite(gyro_scale.x_offset) || !isfinite(gyro_scale.y_offset) || !isfinite(gyro_scale.z_offset)) { - mavlink_log_info(mavlink_fd, "gyro offset calibration FAILED (NaN)"); - close(sub_sensor_gyro); - return ERROR; + if (res == OK) { + /* set offset parameters to new values */ + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset)) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset)) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to set offset params"); + res = ERROR; + } } - /* beep on calibration end */ - mavlink_log_info(mavlink_fd, "offset calibration done."); +#if 0 + /* beep on offset calibration end */ + mavlink_log_info(mavlink_fd, "gyro offset calibration done"); tune_neutral(); - /* set offset parameters to new values */ - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset)) - || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset)) - || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) { - mavlink_log_critical(mavlink_fd, "Setting gyro offset parameters failed!"); - } - - - /*** --- SCALING --- ***/ -#if 0 + /* 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."); @@ -163,9 +176,11 @@ int do_gyro_calibration(int mavlink_fd) // 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; + 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(); @@ -175,7 +190,7 @@ int do_gyro_calibration(int mavlink_fd) /* 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)) { + && (hrt_absolute_time() - start_time > 5 * 1e6)) { mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done"); close(sub_sensor_combined); return OK; @@ -203,14 +218,17 @@ int do_gyro_calibration(int mavlink_fd) // 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 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; + 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; @@ -220,15 +238,15 @@ int do_gyro_calibration(int mavlink_fd) // 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; + // } 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); @@ -236,40 +254,52 @@ int do_gyro_calibration(int mavlink_fd) 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, "scale calibration done."); + mavlink_log_info(mavlink_fd, "gyro scale calibration done"); tune_neutral(); #endif - /* set scale parameters to new values */ - if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale)) - || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale)) - || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) { - mavlink_log_critical(mavlink_fd, "Setting gyro scale parameters failed!"); + if (res == OK) { + /* set scale parameters to new values */ + if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale)) + || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale)) + || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params"); + res = ERROR; + } } - /* apply new scaling and offsets */ - fd = open(GYRO_DEVICE_PATH, 0); + if (res == OK) { + /* apply new scaling and offsets */ + fd = open(GYRO_DEVICE_PATH, 0); + res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale); + close(fd); - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) - warn("WARNING: failed to apply new scale for gyro"); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG); + } + } - close(fd); + if (res == OK) { + /* auto-save to EEPROM */ + res = param_save_default(); - /* auto-save to EEPROM */ - int save_ret = param_save_default(); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG); + } + } - if (save_ret != 0) { - warnx("WARNING: auto-save of params to storage failed"); - mavlink_log_critical(mavlink_fd, "gyro store failed"); - close(sub_sensor_gyro); - return ERROR; + if (res == OK) { + mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name); + + } else { + mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); } - close(sub_sensor_gyro); - return OK; + return res; } diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index b0d4266be..09f4104f8 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -33,12 +33,14 @@ /** * @file mag_calibration.cpp + * * Magnetometer calibration routine */ #include "mag_calibration.h" #include "commander_helper.h" #include "calibration_routines.h" +#include "calibration_messages.h" #include <stdio.h> #include <stdlib.h> @@ -59,26 +61,20 @@ #endif static const int ERROR = -1; +static const char *sensor_name = "mag"; + int do_mag_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "please put the system in a rest position and wait."); - - int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); - struct mag_report mag; + mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); + mavlink_log_info(mavlink_fd, "don't move system"); /* 45 seconds */ uint64_t calibration_interval = 45 * 1000 * 1000; - /* maximum 2000 values */ + /* maximum 500 values */ const unsigned int calibration_maxcount = 500; unsigned int calibration_counter = 0; - /* limit update rate to get equally spaced measurements over time (in ms) */ - orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - /* erase old calibration */ struct mag_scale mscale_null = { 0.0f, 1.0f, @@ -88,97 +84,92 @@ int do_mag_calibration(int mavlink_fd) 1.0f, }; - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set scale / offsets for mag"); - mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); - } + int res = OK; - /* calibrate range */ - if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { - warnx("failed to calibrate scale"); - } + /* erase old calibration */ + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null); - close(fd); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG); + } - mavlink_log_info(mavlink_fd, "mag cal progress <20> percent"); + if (res == OK) { + /* calibrate range */ + res = ioctl(fd, MAGIOCCALIBRATE, fd); - /* calibrate offsets */ + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to calibrate scale"); + } + } - // uint64_t calibration_start = hrt_absolute_time(); + close(fd); - uint64_t axis_deadline = hrt_absolute_time(); - uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + float *x; + float *y; + float *z; - const char axislabels[3] = { 'X', 'Y', 'Z'}; - int axis_index = -1; + if (res == OK) { + /* allocate memory */ + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20); - float *x = (float *)malloc(sizeof(float) * calibration_maxcount); - float *y = (float *)malloc(sizeof(float) * calibration_maxcount); - float *z = (float *)malloc(sizeof(float) * calibration_maxcount); + x = (float *)malloc(sizeof(float) * calibration_maxcount); + y = (float *)malloc(sizeof(float) * calibration_maxcount); + z = (float *)malloc(sizeof(float) * calibration_maxcount); - if (x == NULL || y == NULL || z == NULL) { - warnx("mag cal failed: out of memory"); - mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); - warnx("x:%p y:%p z:%p\n", x, y, z); - return ERROR; + if (x == NULL || y == NULL || z == NULL) { + mavlink_log_critical(mavlink_fd, "ERROR: out of memory"); + res = ERROR; + } } - mavlink_log_info(mavlink_fd, "scale calibration completed, dynamic calibration starting.."); + if (res == OK) { + int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); + struct mag_report mag; - unsigned poll_errcount = 0; + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - while (hrt_absolute_time() < calibration_deadline && - calibration_counter < calibration_maxcount) { + /* calibrate offsets */ + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + unsigned poll_errcount = 0; - /* wait blocking for new data */ - struct pollfd fds[1]; - fds[0].fd = sub_mag; - fds[0].events = POLLIN; + mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis"); - /* user guidance */ - if (hrt_absolute_time() >= axis_deadline && - axis_index < 3) { + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { - axis_index++; + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_mag; + fds[0].events = POLLIN; - mavlink_log_info(mavlink_fd, "please rotate in a figure 8 or around %c axis.", axislabels[axis_index]); - tune_neutral(); + int poll_ret = poll(fds, 1, 1000); - axis_deadline += calibration_interval / 3; - } + if (poll_ret > 0) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); - if (!(axis_index < 3)) { - break; - } - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; - x[calibration_counter] = mag.x; - y[calibration_counter] = mag.y; - z[calibration_counter] = mag.z; + calibration_counter++; - calibration_counter++; - if (calibration_counter % (calibration_maxcount / 20) == 0) - mavlink_log_info(mavlink_fd, "mag cal progress <%u> percent", 20 + (calibration_counter * 50) / calibration_maxcount); + if (calibration_counter % (calibration_maxcount / 20) == 0) + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount); + } else { + poll_errcount++; + } - } else { - poll_errcount++; - } - - if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: Failed reading mag sensor"); - close(sub_mag); - free(x); - free(y); - free(z); - return ERROR; + if (poll_errcount > 1000) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG); + res = ERROR; + break; + } } - + close(sub_mag); } float sphere_x; @@ -186,93 +177,100 @@ int do_mag_calibration(int mavlink_fd) float sphere_z; float sphere_radius; - mavlink_log_info(mavlink_fd, "mag cal progress <70> percent"); - sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); - mavlink_log_info(mavlink_fd, "mag cal progress <80> percent"); + if (res == OK) { + /* sphere fit */ + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70); + sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 80); - free(x); - free(y); - free(z); + if (!isfinite(sphere_x) || !isfinite(sphere_y) || !isfinite(sphere_z)) { + mavlink_log_critical(mavlink_fd, "ERROR: NaN in sphere fit"); + res = ERROR; + } + } - if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { + if (x != NULL) + free(x); - fd = open(MAG_DEVICE_PATH, 0); + if (y != NULL) + free(y); - struct mag_scale mscale; + if (z != NULL) + free(z); - if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to get scale / offsets for mag"); + if (res == OK) { + /* apply calibration and set parameters */ + struct mag_scale mscale; - mscale.x_offset = sphere_x; - mscale.y_offset = sphere_y; - mscale.z_offset = sphere_z; + fd = open(MAG_DEVICE_PATH, 0); + res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale); - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to set scale / offsets for mag"); + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to get current calibration"); + } - close(fd); + if (res == OK) { + mscale.x_offset = sphere_x; + mscale.y_offset = sphere_y; + mscale.z_offset = sphere_z; - /* announce and set new offset */ + res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale); - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { - warnx("Setting X mag offset failed!\n"); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG); + } } - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { - warnx("Setting Y mag offset failed!\n"); - } + close(fd); - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { - warnx("Setting Z mag offset failed!\n"); - } + if (res == OK) { + /* set parameters */ + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) + res = ERROR; - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { - warnx("Setting X mag scale failed!\n"); - } + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) + res = ERROR; - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { - warnx("Setting Y mag scale failed!\n"); - } + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) + res = ERROR; - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { - warnx("Setting Z mag scale failed!\n"); - } + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) + res = ERROR; + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) + res = ERROR; - mavlink_log_info(mavlink_fd, "mag cal progress <90> percent"); + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) + res = ERROR; - /* auto-save to EEPROM */ - int save_ret = param_save_default(); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG); + } - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - mavlink_log_info(mavlink_fd, "FAILED storing calibration"); - close(sub_mag); - return ERROR; + mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 90); } - warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", - (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, - (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); + if (res == OK) { + /* auto-save to EEPROM */ + res = param_save_default(); - char buf[52]; - sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, - (double)mscale.y_offset, (double)mscale.z_offset); - mavlink_log_info(mavlink_fd, buf); + if (res != OK) { + mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG); + } + } - sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, - (double)mscale.y_scale, (double)mscale.z_scale); - mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, + (double)mscale.y_offset, (double)mscale.z_offset); + mavlink_log_info(mavlink_fd, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, + (double)mscale.y_scale, (double)mscale.z_scale); - mavlink_log_info(mavlink_fd, "magnetometer calibration completed"); - mavlink_log_info(mavlink_fd, "mag cal progress <100> percent"); + if (res == OK) { + mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name); - close(sub_mag); - return OK; - /* third beep by cal end routine */ + } else { + mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); + } - } else { - mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); - close(sub_mag); - return ERROR; + return res; } } 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 - diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 3fcacaf8f..1b79de8fd 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -67,6 +67,7 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/perf_counter.h> +#include <conversion/rotation.h> #include <systemlib/airspeed.h> @@ -136,75 +137,6 @@ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) /** - * Enum for board and external compass rotations. - * This enum maps from board attitude to airframe attitude. - */ -enum Rotation { - ROTATION_NONE = 0, - ROTATION_YAW_45 = 1, - ROTATION_YAW_90 = 2, - ROTATION_YAW_135 = 3, - ROTATION_YAW_180 = 4, - ROTATION_YAW_225 = 5, - ROTATION_YAW_270 = 6, - ROTATION_YAW_315 = 7, - ROTATION_ROLL_180 = 8, - ROTATION_ROLL_180_YAW_45 = 9, - ROTATION_ROLL_180_YAW_90 = 10, - ROTATION_ROLL_180_YAW_135 = 11, - ROTATION_PITCH_180 = 12, - ROTATION_ROLL_180_YAW_225 = 13, - ROTATION_ROLL_180_YAW_270 = 14, - ROTATION_ROLL_180_YAW_315 = 15, - ROTATION_ROLL_90 = 16, - ROTATION_ROLL_90_YAW_45 = 17, - ROTATION_ROLL_90_YAW_90 = 18, - ROTATION_ROLL_90_YAW_135 = 19, - ROTATION_ROLL_270 = 20, - ROTATION_ROLL_270_YAW_45 = 21, - ROTATION_ROLL_270_YAW_90 = 22, - ROTATION_ROLL_270_YAW_135 = 23, - ROTATION_PITCH_90 = 24, - ROTATION_PITCH_270 = 25, - ROTATION_MAX -}; - -typedef struct { - uint16_t roll; - uint16_t pitch; - uint16_t yaw; -} rot_lookup_t; - -const rot_lookup_t rot_lookup[] = { - { 0, 0, 0 }, - { 0, 0, 45 }, - { 0, 0, 90 }, - { 0, 0, 135 }, - { 0, 0, 180 }, - { 0, 0, 225 }, - { 0, 0, 270 }, - { 0, 0, 315 }, - {180, 0, 0 }, - {180, 0, 45 }, - {180, 0, 90 }, - {180, 0, 135 }, - { 0, 180, 0 }, - {180, 0, 225 }, - {180, 0, 270 }, - {180, 0, 315 }, - { 90, 0, 0 }, - { 90, 0, 45 }, - { 90, 0, 90 }, - { 90, 0, 135 }, - {270, 0, 0 }, - {270, 0, 45 }, - {270, 0, 90 }, - {270, 0, 135 }, - { 0, 90, 0 }, - { 0, 270, 0 } -}; - -/** * Sensor app start / stop handling function * * @ingroup apps @@ -385,11 +317,6 @@ private: int parameters_update(); /** - * Get the rotation matrices - */ - void get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix); - - /** * Do accel-related initialisation. */ void accel_init(); @@ -804,24 +731,6 @@ Sensors::parameters_update() } void -Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) -{ - /* first set to zero */ - rot_matrix->Matrix::zero(3, 3); - - float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; - float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; - float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; - - math::EulerAngles euler(roll, pitch, yaw); - - math::Dcm R(euler); - - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - (*rot_matrix)(i, j) = R(i, j); -} - -void Sensors::accel_init() { int fd; |