mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-16 08:29:15 +01:00
OP-1406 - Enable calibration of external mag from GCS
This commit is contained in:
Alessio Morale
parent
e511190ad3
commit
869515b349
@ -29,7 +29,7 @@
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "calibration/calibrationuiutils.h"
|
||||
|
||||
#include "math.h"
|
||||
#include <math.h>
|
||||
#include <QThread>
|
||||
#include "QDebug"
|
||||
|
||||
@ -45,6 +45,7 @@ namespace OpenPilot {
|
||||
SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
|
||||
QObject(parent),
|
||||
calibratingMag(false),
|
||||
externalMagAvailable(false),
|
||||
calibratingAccel(false),
|
||||
calibrationStepsMag(),
|
||||
calibrationStepsAccelOnly(),
|
||||
@ -68,6 +69,21 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
|
||||
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
|
||||
tr("Place with left side down, nose south and press Save Position..."));
|
||||
|
||||
// All mag calibration matrices have the same structure, this is also used when calculating bias/transforms
|
||||
// this is enforced using assert.
|
||||
Q_STATIC_ASSERT((int)RevoCalibration::MAG_TRANSFORM_R0C0 == (int)AuxMagSettings::MAG_TRANSFORM_R0C0 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R1C0 == (int)AuxMagSettings::MAG_TRANSFORM_R1C0 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R2C0 == (int)AuxMagSettings::MAG_TRANSFORM_R2C0 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R0C1 == (int)AuxMagSettings::MAG_TRANSFORM_R0C1 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R1C1 == (int)AuxMagSettings::MAG_TRANSFORM_R1C1 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R2C1 == (int)AuxMagSettings::MAG_TRANSFORM_R2C1 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R0C2 == (int)AuxMagSettings::MAG_TRANSFORM_R0C2 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R1C2 == (int)AuxMagSettings::MAG_TRANSFORM_R1C2 &&
|
||||
(int)RevoCalibration::MAG_TRANSFORM_R2C2 == (int)AuxMagSettings::MAG_TRANSFORM_R2C2 &&
|
||||
(int)RevoCalibration::MAG_BIAS_X == (int)AuxMagSettings::MAG_BIAS_X &&
|
||||
(int)RevoCalibration::MAG_BIAS_Y == (int)AuxMagSettings::MAG_BIAS_Y &&
|
||||
(int)RevoCalibration::MAG_BIAS_Z == (int)AuxMagSettings::MAG_BIAS_Z);
|
||||
|
||||
calibrationStepsAccelOnly.clear();
|
||||
calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
|
||||
tr("Place horizontally and press Save Position..."))
|
||||
@ -85,14 +101,20 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
|
||||
revoCalibration = RevoCalibration::GetInstance(getObjectManager());
|
||||
Q_ASSERT(revoCalibration);
|
||||
|
||||
auxMagSettings = AuxMagSettings::GetInstance(getObjectManager());
|
||||
Q_ASSERT(auxMagSettings);
|
||||
|
||||
accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
|
||||
Q_ASSERT(accelGyroSettings);
|
||||
|
||||
accelState = AccelState::GetInstance(getObjectManager());
|
||||
Q_ASSERT(accelState);
|
||||
|
||||
magState = MagState::GetInstance(getObjectManager());
|
||||
Q_ASSERT(magState);
|
||||
magSensor = MagSensor::GetInstance(getObjectManager());
|
||||
Q_ASSERT(magSensor);
|
||||
|
||||
auxMagSensor = AuxMagSensor::GetInstance(getObjectManager());
|
||||
Q_ASSERT(auxMagSensor);
|
||||
|
||||
homeLocation = HomeLocation::GetInstance(getObjectManager());
|
||||
Q_ASSERT(homeLocation);
|
||||
@ -166,6 +188,26 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
|
||||
|
||||
revoCalibration->setData(revoCalibrationData);
|
||||
|
||||
// Calibration AuxMag
|
||||
AuxMagSettings::DataFields auxMagSettingsData = auxMagSettings->getData();
|
||||
memento.auxMagSettings = auxMagSettingsData;
|
||||
|
||||
// Reset the transformation matrix to identity
|
||||
for (int i = 0; i < AuxMagSettings::MAG_TRANSFORM_R2C2; i++) {
|
||||
auxMagSettingsData.mag_transform[i] = 0;
|
||||
}
|
||||
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R0C0] = 1;
|
||||
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R1C1] = 1;
|
||||
auxMagSettingsData.mag_transform[AuxMagSettings::MAG_TRANSFORM_R2C2] = 1;
|
||||
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_X] = 0;
|
||||
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_Y] = 0;
|
||||
auxMagSettingsData.mag_bias[AuxMagSettings::MAG_BIAS_Z] = 0;
|
||||
|
||||
// Disable adaptive mag nulling
|
||||
auxMagSettingsData.MagBiasNullingRate = 0;
|
||||
|
||||
auxMagSettings->setData(auxMagSettingsData);
|
||||
|
||||
QThread::usleep(100000);
|
||||
|
||||
mag_accum_x.clear();
|
||||
@ -186,12 +228,19 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
|
||||
}
|
||||
|
||||
// Need to get as many mag updates as possible
|
||||
memento.magStateMetadata = magState->getMetadata();
|
||||
memento.magSensorMetadata = magSensor->getMetadata();
|
||||
memento.auxMagSensorMetadata = auxMagSensor->getMetadata();
|
||||
|
||||
if (calibrateMag) {
|
||||
UAVObject::Metadata mdata = magState->getMetadata();
|
||||
UAVObject::Metadata mdata = magSensor->getMetadata();
|
||||
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
mdata.flightTelemetryUpdatePeriod = 100;
|
||||
magState->setMetadata(mdata);
|
||||
magSensor->setMetadata(mdata);
|
||||
|
||||
mdata = auxMagSensor->getMetadata();
|
||||
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
mdata.flightTelemetryUpdatePeriod = 100;
|
||||
auxMagSensor->setMetadata(mdata);
|
||||
}
|
||||
|
||||
// reset dirty state to forget previous unsaved runs
|
||||
@ -229,6 +278,9 @@ void SixPointCalibrationModel::savePositionData()
|
||||
mag_accum_x.clear();
|
||||
mag_accum_y.clear();
|
||||
mag_accum_z.clear();
|
||||
aux_mag_accum_x.clear();
|
||||
aux_mag_accum_y.clear();
|
||||
aux_mag_accum_z.clear();
|
||||
|
||||
collectingData = true;
|
||||
|
||||
@ -236,10 +288,12 @@ void SixPointCalibrationModel::savePositionData()
|
||||
#ifdef FITTING_USING_CONTINOUS_ACQUISITION
|
||||
// Mag samples are acquired during the whole calibration session, to be used for ellipsoid fit.
|
||||
if (!position) {
|
||||
connect(magState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
connect(magSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
connect(auxMagSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
}
|
||||
#endif // FITTING_USING_CONTINOUS_ACQUISITION
|
||||
connect(magState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
connect(magSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
connect(auxMagSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
}
|
||||
if (calibratingAccel) {
|
||||
connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
@ -264,8 +318,8 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
|
||||
accel_accum_x.append(accelStateData.x);
|
||||
accel_accum_y.append(accelStateData.y);
|
||||
accel_accum_z.append(accelStateData.z);
|
||||
} else if (obj->getObjID() == MagState::OBJID) {
|
||||
MagState::DataFields magData = magState->getData();
|
||||
} else if (obj->getObjID() == MagSensor::OBJID) {
|
||||
MagSensor::DataFields magData = magSensor->getData();
|
||||
mag_accum_x.append(magData.x);
|
||||
mag_accum_y.append(magData.y);
|
||||
mag_accum_z.append(magData.z);
|
||||
@ -274,6 +328,19 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
|
||||
mag_fit_y.append(magData.y);
|
||||
mag_fit_z.append(magData.z);
|
||||
#endif // FITTING_USING_CONTINOUS_ACQUISITION
|
||||
} else if (obj->getObjID() == AuxMagSensor::OBJID) {
|
||||
AuxMagSensor::DataFields auxMagData = auxMagSensor->getData();
|
||||
if (auxMagData.Status == AuxMagSensor::STATUS_OK) {
|
||||
aux_mag_accum_x.append(auxMagData.x);
|
||||
aux_mag_accum_y.append(auxMagData.y);
|
||||
aux_mag_accum_z.append(auxMagData.z);
|
||||
externalMagAvailable = true;
|
||||
#ifndef FITTING_USING_CONTINOUS_ACQUISITION
|
||||
aux_mag_fit_x.append(auxMagData.x);
|
||||
aux_mag_fit_y.append(auxMagData.y);
|
||||
aux_mag_fit_z.append(auxMagData.z);
|
||||
#endif // FITTING_USING_CONTINOUS_ACQUISITION
|
||||
}
|
||||
} else {
|
||||
Q_ASSERT(0);
|
||||
}
|
||||
@ -307,10 +374,8 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
|
||||
|
||||
// Store the mean for this position for the mag
|
||||
if (calibratingMag) {
|
||||
disconnect(magState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
mag_data_x[position] = CalibrationUtils::listMean(mag_accum_x);
|
||||
mag_data_y[position] = CalibrationUtils::listMean(mag_accum_y);
|
||||
mag_data_z[position] = CalibrationUtils::listMean(mag_accum_z);
|
||||
disconnect(magSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
disconnect(auxMagSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
|
||||
}
|
||||
|
||||
position = (position + 1) % 6;
|
||||
@ -322,17 +387,19 @@ void SixPointCalibrationModel::getSample(UAVObject *obj)
|
||||
// done...
|
||||
#ifdef FITTING_USING_CONTINOUS_ACQUISITION
|
||||
if (calibratingMag) {
|
||||
disconnect(magState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
disconnect(magSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
disconnect(auxMagSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *)));
|
||||
}
|
||||
#endif // FITTING_USING_CONTINOUS_ACQUISITION
|
||||
compute();
|
||||
|
||||
// Restore original settings
|
||||
accelState->setMetadata(memento.accelStateMetadata);
|
||||
magState->setMetadata(memento.magStateMetadata);
|
||||
magSensor->setMetadata(memento.magSensorMetadata);
|
||||
auxMagSensor->setMetadata(memento.auxMagSensorMetadata);
|
||||
revoCalibration->setData(memento.revoCalibrationData);
|
||||
accelGyroSettings->setData(memento.accelGyroSettingsData);
|
||||
|
||||
auxMagSettings->setData(memento.auxMagSettings);
|
||||
// Recall saved board rotation
|
||||
recallBoardRotation();
|
||||
|
||||
@ -347,11 +414,19 @@ void SixPointCalibrationModel::continouslyGetMagSamples(UAVObject *obj)
|
||||
{
|
||||
QMutexLocker lock(&sensorsUpdateLock);
|
||||
|
||||
if (obj->getObjID() == MagState::OBJID) {
|
||||
MagState::DataFields magStateData = magState->getData();
|
||||
mag_fit_x.append(magStateData.x);
|
||||
mag_fit_y.append(magStateData.y);
|
||||
mag_fit_z.append(magStateData.z);
|
||||
if (obj->getObjID() == MagSensor::OBJID) {
|
||||
MagSensor::DataFields magSensorData = magSensor->getData();
|
||||
mag_fit_x.append(magSensorData.x);
|
||||
mag_fit_y.append(magSensorData.y);
|
||||
mag_fit_z.append(magSensorData.z);
|
||||
} else if (obj->getObjID() == AuxMagSensor::OBJID) {
|
||||
AuxMagSensor::DataFields auxMagData = auxMagSensor->getData();
|
||||
if (auxMagData.Status == AuxMagSensor::STATUS_OK) {
|
||||
aux_mag_fit_x.append(auxMagData.x);
|
||||
aux_mag_fit_y.append(auxMagData.y);
|
||||
aux_mag_fit_z.append(auxMagData.z);
|
||||
externalMagAvailable = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -365,6 +440,7 @@ void SixPointCalibrationModel::compute()
|
||||
double Be_length;
|
||||
|
||||
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
|
||||
AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData();
|
||||
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
|
||||
|
||||
HomeLocation::DataFields homeLocationData = homeLocation->getData();
|
||||
@ -384,51 +460,21 @@ void SixPointCalibrationModel::compute()
|
||||
// Calibration mag
|
||||
if (calibratingMag) {
|
||||
Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2));
|
||||
int vectSize = mag_fit_x.count();
|
||||
Eigen::VectorXf samples_x(vectSize);
|
||||
Eigen::VectorXf samples_y(vectSize);
|
||||
Eigen::VectorXf samples_z(vectSize);
|
||||
for (int i = 0; i < vectSize; i++) {
|
||||
samples_x(i) = mag_fit_x[i];
|
||||
samples_y(i) = mag_fit_y[i];
|
||||
samples_z(i) = mag_fit_z[i];
|
||||
|
||||
qDebug() << "-----------------------------------";
|
||||
qDebug() << "Onboard Mag";
|
||||
CalcCalibration(mag_fit_x, mag_fit_y, mag_fit_z, Be_length, revoCalibrationData.mag_transform, revoCalibrationData.mag_bias);
|
||||
if (externalMagAvailable) {
|
||||
qDebug() << "Aux Mag";
|
||||
CalcCalibration(aux_mag_fit_x, aux_mag_fit_y, aux_mag_fit_z, Be_length, auxCalibrationData.mag_transform, auxCalibrationData.mag_bias);
|
||||
}
|
||||
OpenPilot::CalibrationUtils::EllipsoidCalibrationResult result;
|
||||
OpenPilot::CalibrationUtils::EllipsoidCalibration(&samples_x, &samples_y, &samples_z, Be_length, &result, true);
|
||||
qDebug() << "-----------------------------------";
|
||||
qDebug() << "Mag Calibration results: Fit";
|
||||
qDebug() << "scale(" << result.Scale.coeff(0) << ", " << result.Scale.coeff(1) << ", " << result.Scale.coeff(2) << ")";
|
||||
qDebug() << "bias(" << result.Bias.coeff(0) << ", " << result.Bias.coeff(1) << ", " << result.Bias.coeff(2) << ")";
|
||||
|
||||
OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
|
||||
|
||||
qDebug() << "-----------------------------------";
|
||||
qDebug() << "Mag Calibration results: Six Point";
|
||||
qDebug() << "scale(" << S[0] << ", " << S[1] << ", " << S[2] << ")";
|
||||
qDebug() << "bias(" << -sign(S[0]) * b[0] << ", " << -sign(S[1]) * b[1] << ", " << -sign(S[2]) * b[2] << ")";
|
||||
qDebug() << "-----------------------------------";
|
||||
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = result.CalibrationMatrix.coeff(0, 0);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1] = result.CalibrationMatrix.coeff(0, 1);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C2] = result.CalibrationMatrix.coeff(0, 2);
|
||||
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C0] = result.CalibrationMatrix.coeff(1, 0);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = result.CalibrationMatrix.coeff(1, 1);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C2] = result.CalibrationMatrix.coeff(1, 2);
|
||||
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C0] = result.CalibrationMatrix.coeff(2, 0);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C1] = result.CalibrationMatrix.coeff(2, 1);
|
||||
revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = result.CalibrationMatrix.coeff(2, 2);
|
||||
|
||||
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = result.Bias.coeff(0);
|
||||
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = result.Bias.coeff(1);
|
||||
revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = result.Bias.coeff(2);
|
||||
}
|
||||
// Restore the previous setting
|
||||
revoCalibrationData.MagBiasNullingRate = memento.revoCalibrationData.MagBiasNullingRate;;
|
||||
|
||||
// Check the mag calibration is good
|
||||
bool good_calibration = true;
|
||||
bool good_aux_calibration = true;
|
||||
if (calibratingMag) {
|
||||
good_calibration &= !IS_NAN(revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]);
|
||||
good_calibration &= !IS_NAN(revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1]);
|
||||
@ -445,6 +491,23 @@ void SixPointCalibrationModel::compute()
|
||||
good_calibration &= !IS_NAN(revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]);
|
||||
good_calibration &= !IS_NAN(revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]);
|
||||
good_calibration &= !IS_NAN(revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]);
|
||||
if (externalMagAvailable) {
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C2]);
|
||||
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C0]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C2]);
|
||||
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C0]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C1]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]);
|
||||
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]);
|
||||
good_calibration &= !IS_NAN(auxCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]);
|
||||
}
|
||||
}
|
||||
// Check the accel calibration is good
|
||||
if (calibratingAccel) {
|
||||
@ -459,6 +522,7 @@ void SixPointCalibrationModel::compute()
|
||||
m_dirty = true;
|
||||
if (calibratingMag) {
|
||||
result.revoCalibrationData = revoCalibrationData;
|
||||
result.auxMagSettingsData = auxCalibrationData;
|
||||
displayInstructions(tr("Magnetometer calibration completed successfully."), WizardModel::Success);
|
||||
}
|
||||
if (calibratingAccel) {
|
||||
@ -473,6 +537,42 @@ void SixPointCalibrationModel::compute()
|
||||
position = -1;
|
||||
}
|
||||
|
||||
void SixPointCalibrationModel::CalcCalibration(QList<float> x, QList<float> y, QList<float> z, double Be_length, float calibrationMatrix[], float bias[])
|
||||
{
|
||||
int vectSize = x.count();
|
||||
Eigen::VectorXf samples_x(vectSize);
|
||||
Eigen::VectorXf samples_y(vectSize);
|
||||
Eigen::VectorXf samples_z(vectSize);
|
||||
|
||||
for (int i = 0; i < vectSize; i++) {
|
||||
samples_x(i) = x[i];
|
||||
samples_y(i) = y[i];
|
||||
samples_z(i) = z[i];
|
||||
}
|
||||
OpenPilot::CalibrationUtils::EllipsoidCalibrationResult result;
|
||||
OpenPilot::CalibrationUtils::EllipsoidCalibration(&samples_x, &samples_y, &samples_z, Be_length, &result, true);
|
||||
|
||||
qDebug() << "Mag fitting results: ";
|
||||
qDebug() << "scale(" << result.Scale.coeff(0) << ", " << result.Scale.coeff(1) << ", " << result.Scale.coeff(2) << ")";
|
||||
qDebug() << "bias(" << result.Bias.coeff(0) << ", " << result.Bias.coeff(1) << ", " << result.Bias.coeff(2) << ")";
|
||||
qDebug() << "-----------------------------------";
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R0C0] = result.CalibrationMatrix.coeff(0, 0);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R0C1] = result.CalibrationMatrix.coeff(0, 1);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R0C2] = result.CalibrationMatrix.coeff(0, 2);
|
||||
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R1C0] = result.CalibrationMatrix.coeff(1, 0);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R1C1] = result.CalibrationMatrix.coeff(1, 1);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R1C2] = result.CalibrationMatrix.coeff(1, 2);
|
||||
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R2C0] = result.CalibrationMatrix.coeff(2, 0);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R2C1] = result.CalibrationMatrix.coeff(2, 1);
|
||||
calibrationMatrix[RevoCalibration::MAG_TRANSFORM_R2C2] = result.CalibrationMatrix.coeff(2, 2);
|
||||
|
||||
bias[RevoCalibration::MAG_BIAS_X] = result.Bias.coeff(0);
|
||||
bias[RevoCalibration::MAG_BIAS_Y] = result.Bias.coeff(1);
|
||||
bias[RevoCalibration::MAG_BIAS_Z] = result.Bias.coeff(2);
|
||||
}
|
||||
|
||||
void SixPointCalibrationModel::save()
|
||||
{
|
||||
if (!m_dirty) {
|
||||
@ -489,6 +589,18 @@ void SixPointCalibrationModel::save()
|
||||
}
|
||||
|
||||
revoCalibration->setData(revoCalibrationData);
|
||||
if (externalMagAvailable) {
|
||||
AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData();
|
||||
// Note that Revo/AuxMag MAG_TRANSFORM_RxCx are interchangeable, an assertion at initialization enforces the structs are equal
|
||||
for (int i = 0; i < RevoCalibration::MAG_TRANSFORM_R2C2; i++) {
|
||||
auxCalibrationData.mag_transform[i] = result.auxMagSettingsData.mag_transform[i];
|
||||
}
|
||||
for (int i = 0; i < 3; i++) {
|
||||
auxCalibrationData.mag_bias[i] = result.auxMagSettingsData.mag_bias[i];
|
||||
}
|
||||
|
||||
auxMagSettings->setData(auxCalibrationData);
|
||||
}
|
||||
}
|
||||
if (calibratingAccel) {
|
||||
AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
|
||||
|
||||
@ -31,10 +31,13 @@
|
||||
#include "wizardmodel.h"
|
||||
#include "calibration/calibrationutils.h"
|
||||
#include <revocalibration.h>
|
||||
|
||||
#include <auxmagsettings.h>
|
||||
#include <accelgyrosettings.h>
|
||||
#include <homelocation.h>
|
||||
#include <accelstate.h>
|
||||
#include <magstate.h>
|
||||
#include <magsensor.h>
|
||||
#include <auxmagsensor.h>
|
||||
|
||||
#include <QMutex>
|
||||
#include <QObject>
|
||||
@ -87,17 +90,21 @@ public:
|
||||
|
||||
typedef struct {
|
||||
UAVObject::Metadata accelStateMetadata;
|
||||
UAVObject::Metadata magStateMetadata;
|
||||
UAVObject::Metadata magSensorMetadata;
|
||||
UAVObject::Metadata auxMagSensorMetadata;
|
||||
AuxMagSettings::DataFields auxMagSettings;
|
||||
RevoCalibration::DataFields revoCalibrationData;
|
||||
AccelGyroSettings::DataFields accelGyroSettingsData;
|
||||
} Memento;
|
||||
|
||||
typedef struct {
|
||||
RevoCalibration::DataFields revoCalibrationData;
|
||||
AuxMagSettings::DataFields auxMagSettingsData;
|
||||
AccelGyroSettings::DataFields accelGyroSettingsData;
|
||||
} Result;
|
||||
|
||||
bool calibratingMag;
|
||||
bool externalMagAvailable;
|
||||
bool calibratingAccel;
|
||||
|
||||
QList<CalibrationStep> calibrationStepsMag;
|
||||
@ -114,7 +121,6 @@ public:
|
||||
QMutex sensorsUpdateLock;
|
||||
|
||||
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];
|
||||
|
||||
QList<double> accel_accum_x;
|
||||
QList<double> accel_accum_y;
|
||||
@ -122,15 +128,23 @@ public:
|
||||
QList<double> mag_accum_x;
|
||||
QList<double> mag_accum_y;
|
||||
QList<double> mag_accum_z;
|
||||
QList<double> aux_mag_accum_x;
|
||||
QList<double> aux_mag_accum_y;
|
||||
QList<double> aux_mag_accum_z;
|
||||
QList<float> mag_fit_x;
|
||||
QList<float> mag_fit_y;
|
||||
QList<float> mag_fit_z;
|
||||
QList<float> aux_mag_fit_x;
|
||||
QList<float> aux_mag_fit_y;
|
||||
QList<float> aux_mag_fit_z;
|
||||
|
||||
// convenience pointers
|
||||
RevoCalibration *revoCalibration;
|
||||
AccelGyroSettings *accelGyroSettings;
|
||||
AuxMagSettings *auxMagSettings;
|
||||
AccelState *accelState;
|
||||
MagState *magState;
|
||||
MagSensor *magSensor;
|
||||
AuxMagSensor *auxMagSensor;
|
||||
HomeLocation *homeLocation;
|
||||
|
||||
void start(bool calibrateAccel, bool calibrateMag);
|
||||
@ -138,6 +152,7 @@ public:
|
||||
void compute();
|
||||
void showHelp(QString image);
|
||||
UAVObjectManager *getObjectManager();
|
||||
void CalcCalibration(QList<float> x, QList<float> y, QList<float> z, double Be_length, float calibrationMatrix[], float bias[]);
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -128,7 +128,7 @@ HEADERS += \
|
||||
$$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/takeofflocation.h \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagsensor.h \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagcalibration.h \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/perfcounter.h
|
||||
|
||||
SOURCES += \
|
||||
@ -234,6 +234,6 @@ SOURCES += \
|
||||
$$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagsensor.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagcalibration.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/auxmagsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/perfcounter.cpp
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user