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OP-1149 Move accel/gyro calibration setting to a separate object, to be reused also for CC3D
This commit is contained in:
Alessio Morale
parent
558e2e1437
commit
7ac2f9f87f
@ -55,6 +55,7 @@
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#include <attitudestate.h>
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#include <attitudesettings.h>
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#include <revocalibration.h>
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#include <accelgyrosettings.h>
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#include <flightstatus.h>
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#include <taskinfo.h>
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@ -78,6 +79,7 @@ static void settingsUpdatedCb(UAVObjEvent *objEv);
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// Private variables
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static xTaskHandle sensorsTaskHandle;
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RevoCalibrationData cal;
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AccelGyroSettingsData agcal;
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// These values are initialized by settings but can be updated by the attitude algorithm
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@ -116,12 +118,13 @@ int32_t SensorsInitialize(void)
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MagSensorInitialize();
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RevoCalibrationInitialize();
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AttitudeSettingsInitialize();
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AccelGyroSettingsInitialize();
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rotate = 0;
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RevoCalibrationConnectCallback(&settingsUpdatedCb);
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AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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AccelGyroSettingsConnectCallback(&settingsUpdatedCb);
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return 0;
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}
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@ -437,32 +440,32 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
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static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
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{
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RevoCalibrationGet(&cal);
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AccelGyroSettingsGet(&agcal);
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mag_bias[0] = cal.mag_bias.X;
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mag_bias[1] = cal.mag_bias.Y;
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mag_bias[2] = cal.mag_bias.Z;
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mag_scale[0] = cal.mag_scale.X;
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mag_scale[1] = cal.mag_scale.Y;
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mag_scale[2] = cal.mag_scale.Z;
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accel_bias[0] = cal.accel_bias.X;
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accel_bias[1] = cal.accel_bias.Y;
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accel_bias[2] = cal.accel_bias.Z;
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accel_scale[0] = cal.accel_scale.X;
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accel_scale[1] = cal.accel_scale.Y;
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accel_scale[2] = cal.accel_scale.Z;
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gyro_staticbias[0] = cal.gyro_bias.X;
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gyro_staticbias[1] = cal.gyro_bias.Y;
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gyro_staticbias[2] = cal.gyro_bias.Z;
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gyro_scale[0] = cal.gyro_scale.X;
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gyro_scale[1] = cal.gyro_scale.Y;
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gyro_scale[2] = cal.gyro_scale.Z;
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gyro_temp_coeff[0] = cal.gyro_temp_coeff.X;
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gyro_temp_coeff[1] = cal.gyro_temp_coeff.Y;
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gyro_temp_coeff[2] = cal.gyro_temp_coeff.Z;
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gyro_temp_coeff[3] = cal.gyro_temp_coeff.Z2;
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accel_temp_coeff[0] = cal.accel_temp_coeff.X;
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accel_temp_coeff[1] = cal.accel_temp_coeff.Y;
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accel_temp_coeff[2] = cal.accel_temp_coeff.Z;
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accel_bias[0] = agcal.accel_bias.X;
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accel_bias[1] = agcal.accel_bias.Y;
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accel_bias[2] = agcal.accel_bias.Z;
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accel_scale[0] = agcal.accel_scale.X;
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accel_scale[1] = agcal.accel_scale.Y;
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accel_scale[2] = agcal.accel_scale.Z;
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gyro_staticbias[0] = agcal.gyro_bias.X;
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gyro_staticbias[1] = agcal.gyro_bias.Y;
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gyro_staticbias[2] = agcal.gyro_bias.Z;
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gyro_scale[0] = agcal.gyro_scale.X;
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gyro_scale[1] = agcal.gyro_scale.Y;
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gyro_scale[2] = agcal.gyro_scale.Z;
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gyro_temp_coeff[0] = agcal.gyro_temp_coeff.X;
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gyro_temp_coeff[1] = agcal.gyro_temp_coeff.Y;
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gyro_temp_coeff[2] = agcal.gyro_temp_coeff.Z;
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gyro_temp_coeff[3] = agcal.gyro_temp_coeff.Z2;
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accel_temp_coeff[0] = agcal.accel_temp_coeff.X;
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accel_temp_coeff[1] = agcal.accel_temp_coeff.Y;
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accel_temp_coeff[2] = agcal.accel_temp_coeff.Z;
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AttitudeSettingsData attitudeSettings;
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AttitudeSettingsGet(&attitudeSettings);
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@ -19,6 +19,7 @@
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# These are the UAVObjects supposed to be build as part of the OpenPilot target
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# (all architectures)
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UAVOBJSRCFILENAMES =
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UAVOBJSRCFILENAMES += accelgyrosettings
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UAVOBJSRCFILENAMES += accessorydesired
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UAVOBJSRCFILENAMES += actuatorcommand
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UAVOBJSRCFILENAMES += actuatordesired
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@ -24,6 +24,7 @@
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# (all architectures)
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UAVOBJSRCFILENAMES =
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UAVOBJSRCFILENAMES += accelgyrosettings
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UAVOBJSRCFILENAMES += accessorydesired
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UAVOBJSRCFILENAMES += actuatorcommand
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UAVOBJSRCFILENAMES += actuatordesired
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16
shared/uavobjectdefinition/accelgyrosettings.xml
Normal file
16
shared/uavobjectdefinition/accelgyrosettings.xml
Normal file
@ -0,0 +1,16 @@
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<xml>
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<object name="AccelGyroSettings" singleinstance="true" settings="true" category="Sensors">
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<description>Settings for Accelerometer and Gyroscope calibration </description>
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<!-- Sensor calibration -->
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<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="accel_temp_coeff" units="" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
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<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="gyro_temp_coeff" units="" type="float" elementnames="X,Y,Z,Z2" defaultvalue="0"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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<logging updatemode="manual" period="0"/>
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</object>
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</xml>
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@ -1,23 +1,12 @@
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<xml>
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<object name="RevoCalibration" singleinstance="true" settings="true" category="Sensors">
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<description>Settings for the INS to control the algorithm and what is updated</description>
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<!-- Sensor calibration -->
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<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="accel_temp_coeff" units="" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
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<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
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<field name="gyro_temp_coeff" units="" type="float" elementnames="X,Y,Z,Z2" defaultvalue="0"/>
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<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
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<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
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<!-- These settings are related to how the sensors are post processed -->
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<!-- TODO: reimplement, put elsewhere (later) -->
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<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
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<!-- These settings are related to how the sensors are post processed -->
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<!-- TODO: reimplement, put elsewhere (later) -->
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<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
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<field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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