From ea89f23c917733f8a682c82e24e1e4f223f79843 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 21 Oct 2013 20:07:47 +0200 Subject: calibration: bugs fixed, mavlink messages cleanup --- .../commander/accelerometer_calibration.cpp | 181 ++++++++++-------- src/modules/commander/commander.cpp | 54 +++--- src/modules/commander/gyro_calibration.cpp | 211 ++++++++++++--------- 3 files changed, 251 insertions(+), 195 deletions(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 4880af907..d11d7eb5d 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -100,6 +100,24 @@ * accel_T = A^-1 * g * g = 9.80665 * + * ===== Rotation ===== + * + * Calibrating using model: + * accel_corr = accel_T_r * (rot * accel_raw - accel_offs_r) + * + * Actual correction: + * accel_corr = rot * accel_T * (accel_raw - accel_offs) + * + * Known: accel_T_r, accel_offs_r, rot + * Unknown: accel_T, accel_offs + * + * Solution: + * accel_T_r * (rot * accel_raw - accel_offs_r) = rot * accel_T * (accel_raw - accel_offs) + * rot^-1 * accel_T_r * (rot * accel_raw - accel_offs_r) = accel_T * (accel_raw - accel_offs) + * rot^-1 * accel_T_r * rot * accel_raw - rot^-1 * accel_T_r * accel_offs_r = accel_T * accel_raw - accel_T * accel_offs) + * => accel_T = rot^-1 * accel_T_r * rot + * => accel_offs = rot^-1 * accel_offs_r + * * @author Anton Babushkin */ @@ -137,72 +155,97 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo int do_accel_calibration(int mavlink_fd) { - /* announce change */ - mavlink_log_info(mavlink_fd, "accel calibration started"); - mavlink_log_info(mavlink_fd, "accel cal progress <0> percent"); + mavlink_log_info(mavlink_fd, "accel calibration: started"); + mavlink_log_info(mavlink_fd, "accel calibration: progress <0>"); + + struct accel_scale accel_scale = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + int res = OK; + + /* reset all offsets to zero and all scales to one */ + int fd = open(ACCEL_DEVICE_PATH, 0); + res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); + close(fd); + + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to reset scale / offsets"); + } /* measure and calculate offsets & scales */ float accel_offs[3]; float accel_T[3][3]; - int res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T); + res = do_accel_calibration_measurements(mavlink_fd, accel_offs, accel_T); if (res == OK) { - /* measurements complete successfully, rotate calibration values */ + /* measurements completed successfully, rotate calibration values */ param_t board_rotation_h = param_find("SENS_BOARD_ROT"); - enum Rotation board_rotation_id; - param_get(board_rotation_h, &(board_rotation_id)); + int32_t board_rotation_int; + param_get(board_rotation_h, &(board_rotation_int)); + enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; math::Matrix board_rotation(3, 3); get_rot_matrix(board_rotation_id, &board_rotation); - board_rotation = board_rotation.transpose(); + math::Matrix board_rotation_t = board_rotation.transpose(); math::Vector3 accel_offs_vec; accel_offs_vec.set(&accel_offs[0]); - math::Vector3 accel_offs_rotated = board_rotation * accel_offs_vec; + math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec; math::Matrix accel_T_mat(3, 3); accel_T_mat.set(&accel_T[0][0]); - math::Matrix accel_T_rotated = board_rotation.transpose() * accel_T_mat * board_rotation; + math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; + + accel_scale.x_offset = accel_offs_rotated(0); + accel_scale.x_scale = accel_T_rotated(0, 0); + accel_scale.y_offset = accel_offs_rotated(1); + accel_scale.y_scale = accel_T_rotated(1, 1); + accel_scale.z_offset = accel_offs_rotated(2); + accel_scale.z_scale = accel_T_rotated(2, 2); /* set parameters */ - if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs_rotated(0))) - || param_set(param_find("SENS_ACC_YOFF"), &(accel_offs_rotated(1))) - || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs_rotated(2))) - || param_set(param_find("SENS_ACC_XSCALE"), &(accel_T_rotated(0, 0))) - || param_set(param_find("SENS_ACC_YSCALE"), &(accel_T_rotated(1, 1))) - || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_T_rotated(2, 2)))) { - mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed"); + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset)) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset)) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset)) + || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale)) + || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale)) + || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) { + mavlink_log_critical(mavlink_fd, "ERROR: setting accel params failed"); + res = ERROR; } + } + if (res == OK) { + /* apply new scaling and offsets */ int fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale = { - accel_offs_rotated(0), - accel_T_rotated(0, 0), - accel_offs_rotated(1), - accel_T_rotated(1, 1), - accel_offs_rotated(2), - accel_T_rotated(2, 2), - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) - warn("WARNING: failed to set scale / offsets for accel"); - + res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for accel"); + } + } + + 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, "ERROR: failed to save parameters"); } + } - mavlink_log_info(mavlink_fd, "accel calibration done"); - return OK; + if (res == OK) { + mavlink_log_info(mavlink_fd, "accel calibration: done"); } else { - /* measurements error */ - mavlink_log_info(mavlink_fd, "accel calibration aborted"); - return ERROR; + mavlink_log_info(mavlink_fd, "accel calibration: failed"); } - /* exit accel calibration mode */ + return res; } int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_T[3][3]) @@ -212,27 +255,10 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float bool data_collected[6] = { false, false, false, false, false, false }; const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; - /* reset existing calibration */ - int fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null); - close(fd); - - if (OK != ioctl_res) { - warn("ERROR: failed to set scale / offsets for accel"); - return ERROR; - } - int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); unsigned done_count = 0; + int res = OK; while (true) { bool done = true; @@ -245,6 +271,12 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float } } + if (old_done_count != done_count) + mavlink_log_info(mavlink_fd, "accel calibration: progress <%u>", 17 * done_count); + + if (done) + break; + mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s", (!data_collected[0]) ? "x+ " : "", (!data_collected[1]) ? "x- " : "", @@ -253,17 +285,11 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float (!data_collected[4]) ? "z+ " : "", (!data_collected[5]) ? "z- " : ""); - if (old_done_count != done_count) - mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count); - - if (done) - break; - int orient = detect_orientation(mavlink_fd, sensor_combined_sub); if (orient < 0) { - close(sensor_combined_sub); - return ERROR; + res = ERROR; + break; } if (data_collected[orient]) { @@ -284,15 +310,16 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float close(sensor_combined_sub); - /* calculate offsets and transform matrix */ - int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); + if (res == OK) { + /* calculate offsets and transform matrix */ + res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); - if (res != 0) { - mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); - return ERROR; + if (res != OK) { + mavlink_log_info(mavlink_fd, "ERROR: calibration values calculation error"); + } } - return OK; + return res; } /* @@ -309,7 +336,7 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) /* max-hold dispersion of accel */ float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; /* EMA time constant in seconds*/ - float ema_len = 0.2f; + float ema_len = 0.5f; /* set "still" threshold to 0.25 m/s^2 */ float still_thr2 = pow(0.25f, 2); /* set accel error threshold to 5m/s^2 */ @@ -342,8 +369,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) float w = dt / ema_len; for (int i = 0; i < 3; i++) { - accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w; - float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i]; + float d = sensor.accelerometer_m_s2[i] - accel_ema[i]; + accel_ema[i] += d * w; d = d * d; accel_disp[i] = accel_disp[i] * (1.0f - w); @@ -389,8 +416,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) } if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: Failed reading sensor"); - return -1; + mavlink_log_critical(mavlink_fd, "ERROR: failed reading sensor"); + return ERROR; } } @@ -424,9 +451,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) return 5; // [ 0, 0, -g ] - mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); + mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation"); - return -2; // Can't detect orientation + return ERROR; // Can't detect orientation } /* diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 2ef509980..9545ef171 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -369,8 +369,10 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (hil_ret == OK && control_mode->flag_system_hil_enabled) { /* reset the arming mode to disarmed */ arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_STANDBY, armed); + if (arming_res != TRANSITION_DENIED) { mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); + } else { mavlink_log_info(mavlink_fd, "[cmd] HIL: FAILED resetting armed state"); } @@ -481,27 +483,28 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe break; } - case VEHICLE_CMD_COMPONENT_ARM_DISARM: - { - transition_result_t arming_res = TRANSITION_NOT_CHANGED; - if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { - if (safety->safety_switch_available && !safety->safety_off) { - print_reject_arm("NOT ARMING: Press safety switch first."); - arming_res = TRANSITION_DENIED; + case VEHICLE_CMD_COMPONENT_ARM_DISARM: { + transition_result_t arming_res = TRANSITION_NOT_CHANGED; - } else { - arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); - } + if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) { + if (safety->safety_switch_available && !safety->safety_off) { + print_reject_arm("NOT ARMING: Press safety switch first."); + arming_res = TRANSITION_DENIED; - if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); - result = VEHICLE_CMD_RESULT_ACCEPTED; - } else { - mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); - result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } else { + arming_res = arming_state_transition(status, safety, control_mode, ARMING_STATE_ARMED, armed); + } + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } } } - } break; default: @@ -940,7 +943,7 @@ int commander_thread_main(int argc, char *argv[]) last_idle_time = system_load.tasks[0].total_runtime; /* check if board is connected via USB */ - struct stat statbuf; + //struct stat statbuf; //on_usb_power = (stat("/dev/ttyACM0", &statbuf) == 0); } @@ -970,6 +973,7 @@ int commander_thread_main(int argc, char *argv[]) if (armed.armed) { arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED_ERROR, &armed); + } else { arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY_ERROR, &armed); } @@ -1244,12 +1248,14 @@ int commander_thread_main(int argc, char *argv[]) counter++; int blink_state = blink_msg_state(); + if (blink_state > 0) { /* blinking LED message, don't touch LEDs */ if (blink_state == 2) { /* blinking LED message completed, restore normal state */ control_status_leds(&status, &armed, true); } + } else { /* normal state */ control_status_leds(&status, &armed, status_changed); @@ -1264,7 +1270,7 @@ int commander_thread_main(int argc, char *argv[]) ret = pthread_join(commander_low_prio_thread, NULL); if (ret) { - warn("join failed", ret); + warn("join failed: %d", ret); } rgbled_set_mode(RGBLED_MODE_OFF); @@ -1308,6 +1314,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan /* driving rgbled */ if (changed) { bool set_normal_color = false; + /* set mode */ if (status->arming_state == ARMING_STATE_ARMED) { rgbled_set_mode(RGBLED_MODE_ON); @@ -1332,6 +1339,7 @@ control_status_leds(vehicle_status_s *status, actuator_armed_s *armed, bool chan if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW) { rgbled_set_color(RGBLED_COLOR_AMBER); } + /* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */ } else { @@ -1694,11 +1702,10 @@ void *commander_low_prio_loop(void *arg) fds[0].events = POLLIN; while (!thread_should_exit) { - - /* wait for up to 100ms for data */ + /* wait for up to 200ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200); - /* timed out - periodic check for _task_should_exit, etc. */ + /* timed out - periodic check for thread_should_exit, etc. */ if (pret == 0) continue; @@ -1773,7 +1780,7 @@ void *commander_low_prio_loop(void *arg) } else if ((int)(cmd.param4) == 1) { /* RC calibration */ - answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_rc_calibration(mavlink_fd); } else if ((int)(cmd.param5) == 1) { @@ -1854,7 +1861,6 @@ void *commander_low_prio_loop(void *arg) /* send acknowledge command */ // XXX TODO } - } close(cmd_sub); diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index e1d6e8340..219ae6cb2 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -58,7 +58,7 @@ static const int ERROR = -1; int do_gyro_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "Gyro calibration starting, do not move unit."); + mavlink_log_info(mavlink_fd, "gyro calibration: started"); struct gyro_scale gyro_scale = { 0.0f, @@ -69,79 +69,85 @@ 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, "ERROR: failed to reset scale / offsets"); + } - /*** --- 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; - - int poll_ret = poll(fds, 1, 1000); + /* subscribe to gyro sensor topic */ + int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro)); + struct gyro_report gyro_report; - 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++; + if (res == OK) { + /* 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; + + 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, "gyro calibration: progress <%u>", (calibration_counter * 100) / calibration_count); + + } else { + poll_errcount++; + } + + if (poll_errcount > 1000) { + mavlink_log_critical(mavlink_fd, "ERROR: failed reading gyro sensor"); + res = ERROR; + break; + } } - if (poll_errcount > 1000) { - mavlink_log_info(mavlink_fd, "ERROR: Failed reading gyro sensor"); - close(sub_sensor_gyro); - return ERROR; - } + gyro_scale.x_offset /= calibration_count; + gyro_scale.y_offset /= calibration_count; + gyro_scale.z_offset /= calibration_count; } - 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) { + /* 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; + } } - /* beep on 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!"); + 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: setting gyro offs params failed"); + res = ERROR; + } } - - /*** --- SCALING --- ***/ #if 0 + /* beep on offset calibration end */ + mavlink_log_info(mavlink_fd, "gyro offset calibration done"); + tune_neutral(); + + /* 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 +169,11 @@ 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 +183,7 @@ 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 +211,17 @@ 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 +231,15 @@ 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); @@ -236,42 +247,54 @@ 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, "gyro 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!"); - } + close(sub_sensor_gyro); - /* apply new scaling and offsets */ - fd = open(GYRO_DEVICE_PATH, 0); + 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: setting gyro scale params failed"); + res = ERROR; + } + } - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) - warn("WARNING: failed to apply new scale for gyro"); + 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); - close(fd); + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to apply new params for gyro"); + } + } - /* auto-save to EEPROM */ - int save_ret = param_save_default(); + if (res == OK) { + /* auto-save to EEPROM */ + res = 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_gyro); - return ERROR; + if (res != OK) { + mavlink_log_critical(mavlink_fd, "ERROR: failed to save parameters"); + } } - mavlink_log_info(mavlink_fd, "gyro calibration done."); + if (res == OK) { + mavlink_log_info(mavlink_fd, "gyro calibration: done"); - close(sub_sensor_gyro); - return OK; + } else { + mavlink_log_info(mavlink_fd, "gyro calibration: failed"); + } + + return res; } -- cgit v1.2.3