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Code Issues Releases Activity

OP-975 Get rid of SIX_POINT_CAL_ACCEL, implemented

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separate cal for mag and accel
This commit is contained in:
Alessio Morale 2014-04-09 17:35:30 +02:00
parent 9e702a123a
commit 6c0851769e
2 changed files with 62 additions and 90 deletions
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145
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -56,7 +56,6 @@
#define sign(x) ((x < 0) ? -1 : 1)
// Uncomment this to enable 6 point calibration on the accels
#define SIX_POINT_CAL_ACCEL
#define SAMPLE_SIZE 40
const double ConfigRevoWidget::maxVarValue = 0.1;
@ -421,8 +420,10 @@ void ConfigRevoWidget::doStartSixPointCalibrationAccel(){
* accel) to compute the scale and bias of this sensor based on the current
* home location magnetic strength.
*/
void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool calibratemag)
void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag)
{
calibratingAccel = calibrateAccel;
calibratingMag = calibrateMag;
// Store and reset board rotation before calibration starts
isBoardRotationStored = false;
storeAndClearBoardRotation();
@ -448,7 +449,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali
return;
}
#ifdef SIX_POINT_CAL_ACCEL
// Calibration accel
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = 1;
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = 1;
@ -460,7 +460,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali
accel_accum_x.clear();
accel_accum_y.clear();
accel_accum_z.clear();
#endif
// Calibration mag
// Reset the transformation matrix to identity
@ -492,7 +491,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali
UAVObject::Metadata mdata;
#ifdef SIX_POINT_CAL_ACCEL
/* Need to get as many accel updates as possible */
AccelState *accelState = AccelState::GetInstance(getObjectManager());
Q_ASSERT(accelState);
@ -502,7 +500,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
accelState->setMetadata(mdata);
#endif
/* Need to get as many mag updates as possible */
MagState *mag = MagState::GetInstance(getObjectManager());
@ -566,14 +563,13 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
// This is necessary to prevent a race condition on disconnect signal and another update
if (collectingData == true) {
if (obj->getObjID() == AccelState::OBJID) {
#ifdef SIX_POINT_CAL_ACCEL
AccelState *accelState = AccelState::GetInstance(getObjectManager());
Q_ASSERT(accelState);
AccelState::DataFields accelStateData = accelState->getData();
accel_accum_x.append(accelStateData.x);
accel_accum_y.append(accelStateData.y);
accel_accum_z.append(accelStateData.z);
#endif
} else if (obj->getObjID() == MagState::OBJID) {
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
@ -586,16 +582,12 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
}
}
#ifdef SIX_POINT_CAL_ACCEL
if (accel_accum_x.size() >= SAMPLE_SIZE && mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) {
#else
if (mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) {
#endif
collectingData = false;
m_ui->sixPointsSave->setEnabled(true);
#ifdef SIX_POINT_CAL_ACCEL
// Store the mean for this position for the accel
AccelState *accelState = AccelState::GetInstance(getObjectManager());
Q_ASSERT(accelState);
@ -603,7 +595,6 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
accel_data_x[position] = listMean(accel_accum_x);
accel_data_y[position] = listMean(accel_accum_y);
accel_data_z[position] = listMean(accel_accum_z);
#endif
// Store the mean for this position for the mag
MagState *mag = MagState::GetInstance(getObjectManager());
@ -635,15 +626,14 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
displayPlane(m_ui->sixPointsHelp, "plane-down");
}
if (position == 0) {
computeScaleBias();
computeScaleBias(calibratingMag, calibratingAccel);
m_ui->sixPointsStartAccel->setEnabled(true);
m_ui->sixPointsStartMag->setEnabled(true);
m_ui->sixPointsSave->setEnabled(false);
/* Cleanup original settings */
#ifdef SIX_POINT_CAL_ACCEL
accelState->setMetadata(initialAccelStateMdata);
#endif
mag->setMetadata(initialMagStateMdata);
// Recall saved board rotation
@ -656,7 +646,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
* Computes the scale and bias for the magnetomer and (compile option)
* for the accel once all the data has been collected in 6 positions.
*/
void ConfigRevoWidget::computeScaleBias()
void ConfigRevoWidget::computeScaleBias(bool mag, bool accel)
{
double S[3], b[3];
double Be_length;
@ -670,96 +660,75 @@ void ConfigRevoWidget::computeScaleBias()
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
HomeLocation::DataFields homeLocationData = homeLocation->getData();
#ifdef SIX_POINT_CAL_ACCEL
// Calibration accel
SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]);
if(accel) {
SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]);
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]);
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0];
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1];
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2];
#endif
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0];
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1];
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2];
}
// Calibration mag
Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2));
SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]);
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
if(mag){
Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2));
SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]);
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]);
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
}
// Restore the previous setting
revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate;
#ifdef SIX_POINT_CAL_ACCEL
bool good_calibration = true;
// Check the mag calibration is good
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0];
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1];
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z];
if(mag){
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0];
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1];
good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] ==
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z];
}
// Check the accel calibration is good
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X];
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y];
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z];
if(accel){
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X];
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y];
good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] ==
accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y];
good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] ==
accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z];
}
if (good_calibration) {
revoCalibration->setData(revoCalibrationData);
accelGyroSettings->setData(accelGyroSettingsData);
m_ui->sixPointCalibInstructions->append("Computed accel and mag scale and bias...");
m_ui->sixPointCalibInstructions->append("Computed sensor scale and bias...");
} else {
revoCalibrationData = revoCalibration->getData();
accelGyroSettingsData = accelGyroSettings->getData();
m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
}
#else // ifdef SIX_POINT_CAL_ACCEL
bool good_calibration = true;
good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] ==
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X];
good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] ==
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y];
good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] ==
revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y];
good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] ==
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z];
if (good_calibration) {
revoCalibration->setData(revoCalibrationData);
accelGyroSettings->setData(accelGyroSettingsData);
m_ui->sixPointCalibInstructions->append("Computed mag scale and bias...");
} else {
revoCalibrationData = revoCalibration->getData();
accelGyroSettingsData = accelGyroSettings->getData();
m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
}
#endif // ifdef SIX_POINT_CAL_ACCEL
position = -1; // set to run again
}

7
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -54,7 +54,7 @@ private:
void displayPlane(QGraphicsView *view, QString elementID);
// ! Computes the scale and bias of the mag based on collected data
void computeScaleBias();
void computeScaleBias(bool mag, bool accel);
OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel;
Ui_RevoSensorsWidget *m_ui;
@ -79,6 +79,9 @@ private:
double accel_data_x[6], accel_data_y[6], accel_data_z[6];
double mag_data_x[6], mag_data_y[6], mag_data_z[6];
bool calibratingMag = false;
bool calibratingAccel = false;
UAVObject::Metadata initialAccelStateMdata;
UAVObject::Metadata initialGyroStateMdata;
UAVObject::Metadata initialMagStateMdata;
@ -103,7 +106,7 @@ private slots:
// Slots for calibrating the mags
void doStartSixPointCalibrationMag();
void doStartSixPointCalibrationAccel();
void doStartSixPointCalibration(bool calibrateaccel, bool calibratemag);
void doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag);
void doGetSixPointCalibrationMeasurement(UAVObject *obj);
void savePositionData();