1 files changed, 285 insertions, 0 deletions
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
new file mode 100644
index 000000000..4ebf266f4
--- /dev/null
+++ b/src/modules/commander/mag_calibration.cpp
@@ -0,0 +1,285 @@
+/****************************************************************************
+ *
+ *   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 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>
+#include <string.h>
+#include <poll.h>
+#include <math.h>
+#include <fcntl.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/sensor_combined.h>
+#include <drivers/drv_mag.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;
+
+static const char *sensor_name = "mag";
+
+int do_mag_calibration(int mavlink_fd)
+{
+	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 500 values */
+	const unsigned int calibration_maxcount = 500;
+	unsigned int calibration_counter;
+
+	struct mag_scale mscale_null = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+	};
+
+	int res = OK;
+
+	/* erase old calibration */
+	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
+
+	if (res != OK) {
+		mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
+	}
+
+	if (res == OK) {
+		/* calibrate range */
+		res = ioctl(fd, MAGIOCCALIBRATE, fd);
+
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, "Skipped scale calibration");
+			/* this is non-fatal - mark it accordingly */
+			res = OK;
+		}
+	}
+
+	close(fd);
+
+	float *x = NULL;
+	float *y = NULL;
+	float *z = NULL;
+
+	if (res == OK) {
+		/* allocate memory */
+		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
+
+		x = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		y = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		z = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+
+		if (x == NULL || y == NULL || z == NULL) {
+			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
+			res = ERROR;
+			return res;
+		}
+	} else {
+		/* exit */
+		return ERROR;
+	}
+
+	if (res == OK) {
+		int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
+		struct mag_report mag;
+
+		/* limit update rate to get equally spaced measurements over time (in ms) */
+		orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount);
+
+		/* calibrate offsets */
+		uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
+		unsigned poll_errcount = 0;
+
+		mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
+
+		calibration_counter = 0;
+
+		while (hrt_absolute_time() < calibration_deadline &&
+		       calibration_counter < calibration_maxcount) {
+
+			/* wait blocking for new data */
+			struct pollfd fds[1];
+			fds[0].fd = sub_mag;
+			fds[0].events = POLLIN;
+
+			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;
+
+				calibration_counter++;
+
+				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++;
+			}
+
+			if (poll_errcount > 1000) {
+				mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
+				res = ERROR;
+				break;
+			}
+		}
+
+		close(sub_mag);
+	}
+
+	float sphere_x;
+	float sphere_y;
+	float sphere_z;
+	float sphere_radius;
+
+	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);
+
+		if (!isfinite(sphere_x) || !isfinite(sphere_y) || !isfinite(sphere_z)) {
+			mavlink_log_critical(mavlink_fd, "ERROR: NaN in sphere fit");
+			res = ERROR;
+		}
+	}
+
+	if (x != NULL)
+		free(x);
+
+	if (y != NULL)
+		free(y);
+
+	if (z != NULL)
+		free(z);
+
+	if (res == OK) {
+		/* apply calibration and set parameters */
+		struct mag_scale mscale;
+
+		fd = open(MAG_DEVICE_PATH, 0);
+		res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale);
+
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, "ERROR: failed to get current calibration");
+		}
+
+		if (res == OK) {
+			mscale.x_offset = sphere_x;
+			mscale.y_offset = sphere_y;
+			mscale.z_offset = sphere_z;
+
+			res = ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale);
+
+			if (res != OK) {
+				mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
+			}
+		}
+
+		close(fd);
+
+		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_YOFF"), &(mscale.y_offset)))
+				res = ERROR;
+
+			if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset)))
+				res = ERROR;
+
+			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;
+
+			if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale)))
+				res = ERROR;
+
+			if (res != OK) {
+				mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
+			}
+
+			mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 90);
+		}
+
+		if (res == OK) {
+			/* auto-save to EEPROM */
+			res = param_save_default();
+
+			if (res != OK) {
+				mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
+			}
+		}
+
+		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);
+
+		if (res == OK) {
+			mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
+
+		} else {
+			mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+		}
+	}
+
+	return res;
+}