diff options
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.c')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.c | 50 |
1 files changed, 42 insertions, 8 deletions
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c index d79dd93dd..48a36ac26 100644 --- a/src/modules/commander/accelerometer_calibration.c +++ b/src/modules/commander/accelerometer_calibration.c @@ -1,12 +1,45 @@ -/* - * accelerometer_calibration.c +/**************************************************************************** + * + * 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: * - * Copyright (C) 2013 Anton Babushkin. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * 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. * - * Transform acceleration vector to true orientation and scale + * 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 accelerometer_calibration.c * - * * * * Model * * * + * Implementation of accelerometer calibration. + * + * Transform acceleration vector to true orientation, scale and offset + * + * ===== Model ===== * accel_corr = accel_T * (accel_raw - accel_offs) * * accel_corr[3] - fully corrected acceleration vector in body frame @@ -14,7 +47,7 @@ * accel_raw[3] - raw acceleration vector * accel_offs[3] - acceleration offset vector * - * * * * Calibration * * * + * ===== Calibration ===== * * Reference vectors * accel_corr_ref[6][3] = [ g 0 0 ] // nose up @@ -34,7 +67,6 @@ * * accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2 * - * * Find accel_T * * 9 unknown constants @@ -67,6 +99,8 @@ * * accel_T = A^-1 * g * g = 9.80665 + * + * @author Anton Babushkin <anton.babushkin@me.com> */ #include "accelerometer_calibration.h" |