mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-11 01:54:14 +01:00
83 lines
3.2 KiB
C
83 lines
3.2 KiB
C
|
/**
|
||
|
|
******************************************************************************
|
||
|
|
*
|
||
|
|
* @file thermalcalibration.c
|
||
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||
|
|
*
|
||
|
|
* @brief Barometer, Gyroscope and Accelerometer thermal calibration algorithms
|
||
|
|
* @see The GNU Public License (GPL) Version 3
|
||
|
|
* @defgroup
|
||
|
|
* @{
|
||
|
|
*
|
||
|
|
*****************************************************************************/
|
||
|
|
/*
|
||
|
|
* This program is free software; you can redistribute it and/or modify
|
||
|
|
* it under the terms of the GNU General Public License as published by
|
||
|
|
* the Free Software Foundation; either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This program is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
|
|
* for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
*/
|
||
|
|
#ifndef THERMALCALIBRATION_H
|
||
|
|
#define THERMALCALIBRATION_H
|
||
|
|
#include "calibrationutils.h"
|
||
|
|
|
||
|
|
namespace OpenPilot {
|
||
|
|
class ThermalCalibration {
|
||
|
|
|
||
|
|
static const int GYRO_X_POLY_DEGREE = 1;
|
||
|
|
static const int GYRO_Y_POLY_DEGREE = 1;
|
||
|
|
static const int GYRO_Z_POLY_DEGREE = 2;
|
||
|
|
|
||
|
|
static const int ACCEL_X_POLY_DEGREE = 1;
|
||
|
|
static const int ACCEL_Y_POLY_DEGREE = 1;
|
||
|
|
static const int ACCEL_Z_POLY_DEGREE = 1;
|
||
|
|
|
||
|
|
static const int BARO_PRESSURE_POLY_DEGREE = 3;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief produce the calibration polinomial coefficients from pressure and temperature samples
|
||
|
|
* @param pressure Pressure samples
|
||
|
|
* @param temperature Temperature samples
|
||
|
|
* @param result Polinomial coefficients to be sent to board (x0, x1, x2, x3)
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
static bool BarometerCalibration(Eigen::VectorXf pressure, Eigen::VectorXf temperature, float *result);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief AccelerometerCalibration produce the calibration polinomial coefficients from accelerometer axis and temperature samples
|
||
|
|
* @param pressure
|
||
|
|
* @param temperature
|
||
|
|
* @param result a float[3] array containing value to populate calibration settings (x,y,z)
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
static bool AccelerometerCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result);
|
||
|
|
/**
|
||
|
|
* @brief GyroscopeCalibration produce the calibration polinomial coefficients from gyroscopes axis and temperature samples
|
||
|
|
* @param samplesX
|
||
|
|
* @param samplesY
|
||
|
|
* @param samplesZ
|
||
|
|
* @param temperature
|
||
|
|
* @param result a float[4] array containing value to populate calibration settings (x,y,z1, z2)
|
||
|
|
* @return
|
||
|
|
*/
|
||
|
|
static bool GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
private:
|
||
|
|
static void copyToArray(float *result, Eigen::VectorXf solution, int elements);
|
||
|
|
ThermalCalibration();
|
||
|
|
static int searchReferenceValue(float value, Eigen::VectorXf values);
|
||
|
|
};
|
||
|
|
}
|
||
|
|
#endif // THERMALCALIBRATION_H
|