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Diffstat (limited to 'src/modules/commander/gyro_calibration.cpp')
-rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 293 |
1 files changed, 293 insertions, 0 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp new file mode 100644 index 000000000..82a0349c9 --- /dev/null +++ b/src/modules/commander/gyro_calibration.cpp @@ -0,0 +1,293 @@ +/**************************************************************************** + * + * 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 gyro_calibration.cpp + * Gyroscope calibration routine + */ + +#include "gyro_calibration.h" +#include "commander_helper.h" + +#include <stdio.h> +#include <fcntl.h> +#include <poll.h> +#include <math.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <drivers/drv_gyro.h> +#include <mavlink/mavlink_log.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +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; + + 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 = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + unsigned poll_errcount = 0; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + 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++; + } + + if (poll_errcount > 1000) { + mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor"); + close(sub_sensor_combined); + return 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!"); + } + + /* 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); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + 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; + } + + tune_neutral(); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "offset cal FAILED (NaN)"); + close(sub_sensor_combined); + return ERROR; + } + + + /*** --- 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; + float baseline_integral = 0.0f; + + // 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; + + + uint64_t last_time = hrt_absolute_time(); + uint64_t start_time = hrt_absolute_time(); + + while ((int)fabsf(baseline_integral / (2.0f * M_PI_F)) < rotations_count) { + + /* 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)) { + mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done"); + close(sub_sensor_combined); + return OK; + } + + /* wait blocking for new data */ + struct pollfd fds[1]; + fds[0].fd = sub_sensor_combined; + fds[0].events = POLLIN; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + + float dt_ms = (hrt_absolute_time() - last_time) / 1e3f; + last_time = hrt_absolute_time(); + + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + + // XXX this is just a proof of concept and needs world / body + // transformation and more + + //math::Vector2f magNav(raw.magnetometer_ga); + + // 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 diff = mag - mag_last; + + 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; + // Jump through some timing scale hoops to avoid + // operating near the 1e6/1e8 max sane resolution of float. + gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f; + +// 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; + } + } + + float gyro_scale = baseline_integral / gyro_integral; + float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale }; + warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale); + mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale); + + + if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) { + + 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!"); + } + + /* set offsets to actual value */ + 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"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + // char buf[50]; + // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); + // mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + /* 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; + } +} |