1 files changed, 139 insertions, 131 deletions

diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 369e6da62..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>
@@ -56,21 +58,14 @@
 #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.");
-
-	const unsigned calibration_count = 5000;
-
-	int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
-	struct sensor_combined_s raw;
+	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
+	mavlink_log_info(mavlink_fd, "don't move system");
 
-	unsigned 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 = {
+	struct gyro_scale gyro_scale = {
 		0.0f,
 		1.0f,
 		0.0f,
@@ -79,97 +74,100 @@ int do_gyro_calibration(int mavlink_fd)
 		1.0f,
 	};
 
-	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null))
-		warn("WARNING: failed to set scale / offsets for gyro");
+	int res = OK;
 
+	/* reset all offsets to zero and all scales to one */
+	int fd = open(GYRO_DEVICE_PATH, 0);
+	res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale);
 	close(fd);
 
-	unsigned poll_errcount = 0;
-
-	while (calibration_counter < calibration_count) {
+	if (res != OK) {
+		mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
+	}
 
-		/* wait blocking for new data */
-		struct pollfd fds[1];
-		fds[0].fd = sub_sensor_combined;
-		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_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++;
-			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_combined);
-			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_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!");
+	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;
 		}
+	}
 
-		/* 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);
+#if 0
+	/* beep on offset calibration end */
+	mavlink_log_info(mavlink_fd, "gyro offset calibration done");
+	tune_neutral();
 
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
+	/* scale calibration */
+	/* this was only a proof of concept and is currently not working. scaling will be set to 1.0 for now. */
 
-		if (save_ret != 0) {
-			warnx("WARNING: auto-save of params to storage failed");
-			mavlink_log_critical(mavlink_fd, "gyro store failed");
-			close(sub_sensor_combined);
-			return ERROR;
-		}
+	mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
+	warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip.");
 
-		tune_neutral();
-		/* third beep by cal end routine */
+	/* apply new offsets */
+	fd = open(GYRO_DEVICE_PATH, 0);
 
-	} else {
-		mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)");
-		close(sub_sensor_combined);
-		return ERROR;
-	}
+	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
+		warn("WARNING: failed to apply new offsets for gyro");
 
-	mavlink_log_info(mavlink_fd, "offset calibration done.");
+	close(fd);
 
-#if 0
-	/*** --- SCALING --- ***/
-
-	mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s 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;
@@ -178,9 +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();
@@ -190,7 +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;
@@ -218,14 +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;
@@ -235,63 +238,68 @@ 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);
-#else
-	float gyro_scales[] = { 1.0f, 1.0f, 1.0f };
-#endif
 
-	
 
+	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;
+	}
 
-	if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) {
+	/* beep on calibration end */
+	mavlink_log_info(mavlink_fd, "gyro scale calibration done");
+	tune_neutral();
 
-		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!");
+#endif
+
+	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;
 		}
+	}
 
-		/* set offsets to actual value */
+	if (res == OK) {
+		/* apply new scaling and offsets */
 		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");
-
+		res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_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);
 		}
+	}
 
-		mavlink_log_info(mavlink_fd, "gyro calibration done");
+	if (res == OK) {
+		mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
 
-		/* third beep by cal end routine */
-		close(sub_sensor_combined);
-		return OK;
 	} else {
-		mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
-		close(sub_sensor_combined);
-		return ERROR;
+		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 	}
+
+	return res;
 }