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OP-975 Move gyro zero bias calibration to a reusable class
This commit is contained in:
Alessio Morale
parent
2249510c52
commit
9aef8b0edf
@ -0,0 +1,172 @@
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/**
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******************************************************************************
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*
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* @file gyrobiascalibrationmodel.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @addtogroup board level calibration
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief Telemetry configuration panel
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <attitudestate.h>
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#include <attitudesettings.h>
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#include "extensionsystem/pluginmanager.h"
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#include <gyrostate.h>
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#include <revocalibration.h>
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#include <accelgyrosettings.h>
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#include "calibration/gyrobiascalibrationmodel.h"
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#include "calibration/calibrationutils.h"
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static const int LEVEL_SAMPLES = 100;
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#include "gyrobiascalibrationmodel.h"
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namespace OpenPilot {
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GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) :
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QObject(parent),
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collectingData(false)
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{
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}
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/******* gyro bias zero ******/
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void GyroBiasCalibrationModel::start()
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{
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// Store and reset board rotation before calibration starts
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storeAndClearBoardRotation();
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disableAllCalibrations();
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progressChanged(0);
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RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
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revoCalibration->setData(revoCalibrationData);
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revoCalibration->updated();
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// Disable gyro bias correction while calibrating
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AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
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Q_ASSERT(attitudeSettings);
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AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
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attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
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attitudeSettings->setData(attitudeSettingsData);
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attitudeSettings->updated();
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gyro_accum_x.clear();
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gyro_accum_y.clear();
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gyro_accum_z.clear();
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UAVObject::Metadata mdata;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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Q_ASSERT(gyroState);
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initialGyroStateMdata = gyroState->getMetadata();
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mdata = initialGyroStateMdata;
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UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.flightTelemetryUpdatePeriod = 100;
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gyroState->setMetadata(mdata);
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// Now connect to the accels and mag updates, gather for 100 samples
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collectingData = true;
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connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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}
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/**
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Updates the gyro bias raw values
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*/
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void GyroBiasCalibrationModel::getSample(UAVObject *obj)
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{
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QMutexLocker lock(&sensorsUpdateLock);
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Q_UNUSED(lock);
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switch (obj->getObjID()) {
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case GyroState::OBJID:
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{
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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Q_ASSERT(gyroState);
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GyroState::DataFields gyroStateData = gyroState->getData();
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gyro_accum_x.append(gyroStateData.x);
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gyro_accum_y.append(gyroStateData.y);
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gyro_accum_z.append(gyroStateData.z);
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break;
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}
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default:
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Q_ASSERT(0);
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}
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// Work out the progress based on whichever has less
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double p1 = (double)gyro_accum_x.size() / (double)LEVEL_SAMPLES;
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double p2 = (double)gyro_accum_y.size() / (double)LEVEL_SAMPLES;
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progressChanged(((p1 < p2) ? p1 : p2) * 100);
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if (gyro_accum_y.size() >= LEVEL_SAMPLES &&
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collectingData == true) {
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collectingData = false;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *)));
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enableAllCalibrations();
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RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
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Q_ASSERT(accelGyroSettings);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
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revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
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// Update biases based on collected data
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
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revoCalibration->setData(revoCalibrationData);
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revoCalibration->updated();
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accelGyroSettings->setData(accelGyroSettingsData);
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accelGyroSettings->updated();
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AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
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Q_ASSERT(attitudeSettings);
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AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
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attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
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attitudeSettings->setData(attitudeSettingsData);
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attitudeSettings->updated();
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gyroState->setMetadata(initialGyroStateMdata);
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// Recall saved board rotation
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recallBoardRotation();
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}
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}
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UAVObjectManager *GyroBiasCalibrationModel::getObjectManager()
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objMngr = pm->getObject<UAVObjectManager>();
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Q_ASSERT(objMngr);
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return objMngr;
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}
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}
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@ -0,0 +1,69 @@
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/**
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******************************************************************************
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*
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* @file gyrobiascalibrationmodel.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @addtogroup board level calibration
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* @{
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* @addtogroup ConfigPlugin Config Plugin
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* @{
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* @brief Telemetry configuration panel
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef GYROBIASCALIBRATIONMODEL_H
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#define GYROBIASCALIBRATIONMODEL_H
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#include <QObject>
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#include "extensionsystem/pluginmanager.h"
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#include "uavobjectmanager.h"
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#include "uavobject.h"
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namespace OpenPilot {
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class GyroBiasCalibrationModel : public QObject
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{
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Q_OBJECT
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public:
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explicit GyroBiasCalibrationModel(QObject *parent = 0);
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signals:
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void displayVisualHelp(QString elementID);
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void displayInstructions(QString instructions, bool replace);
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void disableAllCalibrations();
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void enableAllCalibrations();
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void storeAndClearBoardRotation();
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void recallBoardRotation();
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void progressChanged(int value);
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public slots:
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// Slots for gyro bias zero
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void start();
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private slots:
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void getSample(UAVObject *obj);
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private:
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QMutex sensorsUpdateLock;
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bool collectingData;
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QList<double> gyro_accum_x;
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QList<double> gyro_accum_y;
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QList<double> gyro_accum_z;
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UAVObject::Metadata initialGyroStateMdata;
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UAVObjectManager *getObjectManager();
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};
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}
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#endif // GYROBIASCALIBRATIONMODEL_H
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@ -53,7 +53,8 @@ HEADERS += configplugin.h \
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calibration/thermal/settingshandlingtransitions.h \
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calibration/thermal/compensationcalculationtransition.h \
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calibration/sixpointcalibrationmodel.h \
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calibration/levelcalibrationmodel.h
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calibration/levelcalibrationmodel.h \
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calibration/gyrobiascalibrationmodel.h
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SOURCES += configplugin.cpp \
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configgadgetwidget.cpp \
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@ -90,7 +91,8 @@ SOURCES += configplugin.cpp \
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calibration/thermal/thermalcalibrationhelper.cpp \
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calibration/thermal/thermalcalibrationmodel.cpp \
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calibration/sixpointcalibrationmodel.cpp \
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calibration/levelcalibrationmodel.cpp
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calibration/levelcalibrationmodel.cpp \
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calibration/gyrobiascalibrationmodel.cpp
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FORMS += airframe.ui \
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airframe_ccpm.ui \
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@ -47,7 +47,7 @@
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#include <accelgyrosettings.h>
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#include <homelocation.h>
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#include <accelstate.h>
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#include <gyrostate.h>
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#include <magstate.h>
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#include "assertions.h"
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@ -74,7 +74,6 @@ public:
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ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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ConfigTaskWidget(parent),
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m_ui(new Ui_RevoSensorsWidget()),
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collectingData(false),
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isBoardRotationStored(false)
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{
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m_ui->setupUi(this);
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@ -123,11 +122,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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connect(m_sixPointCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
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connect(m_sixPointCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->sixPointsSave, SLOT(setEnabled(bool)));
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// Connect the signals
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// gyro zero calibration
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connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(gyroCalibrationStart()));
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m_levelCalibrationModel = new OpenPilot::LevelCalibrationModel();
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m_levelCalibrationModel = new OpenPilot::LevelCalibrationModel(this);
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// level calibration
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connect(m_ui->boardLevelStart, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(start()));
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connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(savePosition()));
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@ -139,6 +134,20 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
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connect(m_levelCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->boardLevelSavePos, SLOT(setEnabled(bool)));
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connect(m_levelCalibrationModel, SIGNAL(progressChanged(int)), this->m_ui->boardLevelProgress, SLOT(setValue(int)));
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// Connect the signals
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// gyro zero calibration
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m_gyroBiasCalibrationModel = new OpenPilot::GyroBiasCalibrationModel(this);
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connect(m_ui->gyroBiasStart, SIGNAL(clicked()), m_gyroBiasCalibrationModel, SLOT(start()));
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connect(m_gyroBiasCalibrationModel , SIGNAL(progressChanged(int)), this->m_ui->gyroBiasProgress, SLOT(setValue(int)));
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connect(m_gyroBiasCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations()));
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connect(m_gyroBiasCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations()));
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connect(m_gyroBiasCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation()));
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connect(m_gyroBiasCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation()));
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connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool)));
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connect(m_gyroBiasCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString)));
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connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation()));
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@ -177,124 +186,6 @@ void ConfigRevoWidget::resizeEvent(QResizeEvent *event)
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m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding);
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}
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/******* gyro bias zero ******/
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void ConfigRevoWidget::gyroCalibrationStart()
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{
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// Store and reset board rotation before calibration starts
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isBoardRotationStored = false;
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storeAndClearBoardRotation();
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disableAllCalibrations();
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m_ui->gyroBiasProgress->setValue(0);
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RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE;
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revoCalibration->setData(revoCalibrationData);
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revoCalibration->updated();
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// Disable gyro bias correction while calibrating
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AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
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Q_ASSERT(attitudeSettings);
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AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
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attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
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attitudeSettings->setData(attitudeSettingsData);
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attitudeSettings->updated();
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gyro_accum_x.clear();
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gyro_accum_y.clear();
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gyro_accum_z.clear();
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UAVObject::Metadata mdata;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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Q_ASSERT(gyroState);
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initialGyroStateMdata = gyroState->getMetadata();
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mdata = initialGyroStateMdata;
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UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.flightTelemetryUpdatePeriod = 100;
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gyroState->setMetadata(mdata);
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// Now connect to the accels and mag updates, gather for 100 samples
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collectingData = true;
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connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(gyroBiasCalibrationGetSample(UAVObject *)));
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}
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/**
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Updates the gyro bias raw values
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*/
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void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj)
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{
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QMutexLocker lock(&sensorsUpdateLock);
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Q_UNUSED(lock);
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switch (obj->getObjID()) {
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case GyroState::OBJID:
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{
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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Q_ASSERT(gyroState);
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GyroState::DataFields gyroStateData = gyroState->getData();
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gyro_accum_x.append(gyroStateData.x);
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gyro_accum_y.append(gyroStateData.y);
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gyro_accum_z.append(gyroStateData.z);
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break;
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}
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default:
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Q_ASSERT(0);
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}
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// Work out the progress based on whichever has less
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double p1 = (double)gyro_accum_x.size() / (double)NOISE_SAMPLES;
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double p2 = (double)gyro_accum_y.size() / (double)NOISE_SAMPLES;
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m_ui->gyroBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 100);
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if (gyro_accum_y.size() >= NOISE_SAMPLES &&
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collectingData == true) {
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collectingData = false;
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GyroState *gyroState = GyroState::GetInstance(getObjectManager());
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disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *)));
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enableAllCalibrations();
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RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager());
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Q_ASSERT(accelGyroSettings);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
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revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE;
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// Update biases based on collected data
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y);
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accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z);
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revoCalibration->setData(revoCalibrationData);
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revoCalibration->updated();
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accelGyroSettings->setData(accelGyroSettingsData);
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accelGyroSettings->updated();
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AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager());
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Q_ASSERT(attitudeSettings);
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AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData();
|
||||
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
|
||||
attitudeSettings->setData(attitudeSettingsData);
|
||||
attitudeSettings->updated();
|
||||
|
||||
gyroState->setMetadata(initialGyroStateMdata);
|
||||
|
||||
// Recall saved board rotation
|
||||
recallBoardRotation();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ConfigRevoWidget::storeAndClearBoardRotation()
|
||||
{
|
||||
|
||||
@ -42,6 +42,7 @@
|
||||
#include "calibration/thermal/thermalcalibrationmodel.h"
|
||||
#include "calibration/sixpointcalibrationmodel.h"
|
||||
#include "calibration/levelcalibrationmodel.h"
|
||||
#include "calibration/gyrobiascalibrationmodel.h"
|
||||
class Ui_Widget;
|
||||
|
||||
|
||||
@ -56,21 +57,9 @@ private:
|
||||
OpenPilot::SixPointCalibrationModel *m_sixPointCalibrationModel;
|
||||
OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel;
|
||||
OpenPilot::LevelCalibrationModel *m_levelCalibrationModel;
|
||||
OpenPilot::GyroBiasCalibrationModel *m_gyroBiasCalibrationModel;
|
||||
|
||||
Ui_RevoSensorsWidget *m_ui;
|
||||
QMutex sensorsUpdateLock;
|
||||
|
||||
int phaseCounter;
|
||||
const static int calibrationDelay = 10;
|
||||
|
||||
bool collectingData;
|
||||
|
||||
QList<double> gyro_accum_x;
|
||||
QList<double> gyro_accum_y;
|
||||
QList<double> gyro_accum_z;
|
||||
|
||||
UAVObject::Metadata initialGyroStateMdata;
|
||||
|
||||
|
||||
// Board rotation store/recall
|
||||
qint16 storedBoardRotation[3];
|
||||
@ -85,16 +74,6 @@ private slots:
|
||||
// ! Overriden method from the configTaskWidget to update UI
|
||||
virtual void refreshWidgetsValues(UAVObject *object = NULL);
|
||||
|
||||
// Slots for calibrating the accel and gyro
|
||||
void levelCalibrationStart();
|
||||
void levelCalibrationSavePosition();
|
||||
void levelCalibrationCompute();
|
||||
void levelCalibrationGetSample(UAVObject *);
|
||||
|
||||
// Slots for gyro bias zero
|
||||
void gyroCalibrationStart();
|
||||
void gyroBiasCalibrationGetSample(UAVObject *obj);
|
||||
|
||||
// Slot for clearing home location
|
||||
void clearHomeLocation();
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user