diff options
Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
-rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 214 |
1 files changed, 122 insertions, 92 deletions
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; } |