1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
|
/****************************************************************************
*
* 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.c
* 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>
void do_gyro_calibration(int mavlink_fd)
{
mavlink_log_info(mavlink_fd, "gyro calibration starting, hold still");
const int calibration_count = 5000;
int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined));
struct sensor_combined_s raw;
int 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);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
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++;
} 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;
}
}
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) {
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");
tune_positive();
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
|
