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https://bitbucket.org/librepilot/librepilot.git
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Reorder functions for six point calibration to make more sense (the order they
are run) and add some comments
This commit is contained in:
James Cotton
parent
a91c21f53f
commit
f1aad76f71
@ -381,125 +381,7 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj)
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}
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}
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void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
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{
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QMutexLocker lock(&sensorsUpdateLock);
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// This is necessary to prevent a race condition on disconnect signal and another update
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if (collectingData == true) {
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if( obj->getObjID() == Accels::OBJID ) {
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#ifdef SIX_POINT_CAL_ACCEL
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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Accels::DataFields accelsData = accels->getData();
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accel_accum_x.append(accelsData.x);
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accel_accum_y.append(accelsData.y);
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accel_accum_z.append(accelsData.z);
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#endif
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} else if( obj->getObjID() == Magnetometer::OBJID ) {
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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Magnetometer::DataFields magData = mag->getData();
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mag_accum_x.append(magData.x);
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mag_accum_y.append(magData.y);
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mag_accum_z.append(magData.z);
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} else {
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Q_ASSERT(0);
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}
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}
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#ifdef SIX_POINT_CAL_ACCEL
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if(accel_accum_x.size() >= 20 && mag_accum_x.size() >= 20 && collectingData == true) {
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#else
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if(mag_accum_x.size() >= 20 && collectingData == true) {
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#endif
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collectingData = false;
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m_ui->sixPointsSave->setEnabled(true);
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#ifdef SIX_POINT_CAL_ACCEL
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// Store the mean for this position for the accel
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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accel_data_x[position] = listMean(accel_accum_x);
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accel_data_y[position] = listMean(accel_accum_y);
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accel_data_z[position] = listMean(accel_accum_z);
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#endif
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// Store the mean for this position for the mag
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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disconnect(mag,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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mag_data_x[position] = listMean(mag_accum_x);
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mag_data_y[position] = listMean(mag_accum_y);
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mag_data_z[position] = listMean(mag_accum_z);
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position = (position + 1) % 6;
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if(position == 1) {
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m_ui->sixPointCalibInstructions->append("Place with left side down and click save position...");
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displayPlane("plane-left");
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}
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if(position == 2) {
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m_ui->sixPointCalibInstructions->append("Place upside down and click save position...");
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displayPlane("plane-flip");
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}
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if(position == 3) {
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m_ui->sixPointCalibInstructions->append("Place with right side down and click save position...");
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displayPlane("plane-right");
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}
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if(position == 4) {
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m_ui->sixPointCalibInstructions->append("Place with nose up and click save position...");
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displayPlane("plane-up");
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}
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if(position == 5) {
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m_ui->sixPointCalibInstructions->append("Place with nose down and click save position...");
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displayPlane("plane-down");
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}
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if(position == 0) {
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computeScaleBias();
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m_ui->sixPointsStart->setEnabled(true);
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m_ui->sixPointsSave->setEnabled(false);
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/* Cleanup original settings */
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#ifdef SIX_POINT_CAL_ACCEL
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accels->setMetadata(initialAccelsMdata);
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#endif
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mag->setMetadata(initialMagMdata);
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}
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}
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}
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/**
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* Saves the data from the aircraft in one of six positions
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*/
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void ConfigRevoWidget::savePositionData()
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{
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QMutexLocker lock(&sensorsUpdateLock);
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m_ui->sixPointsSave->setEnabled(false);
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accel_accum_x.clear();
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accel_accum_y.clear();
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accel_accum_z.clear();
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mag_accum_x.clear();
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mag_accum_y.clear();
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mag_accum_z.clear();
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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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collectingData = true;
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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connect(mag, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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m_ui->sixPointCalibInstructions->append("Hold...");
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}
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int LinearEquationsSolving(int nDim, double* pfMatr, double* pfVect, double* pfSolution)
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{
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@ -602,57 +484,13 @@ int SixPointInConstFieldCal( double ConstMag, double x[6], double y[6], double z
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return 1;
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}
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/**
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* Computes the scale and bias for the magnetomer and (compile option)
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* for the accel once all the data has been collected in 6 positions.
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*/
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void ConfigRevoWidget::computeScaleBias()
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{
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double S[3], b[3];
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double Be_length;
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RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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HomeLocation * homeLocation = HomeLocation::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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Q_ASSERT(homeLocation);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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HomeLocation::DataFields homeLocationData = homeLocation->getData();
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#ifdef SIX_POINT_CAL_ACCEL
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// Calibration accel
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SixPointInConstFieldCal( homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_X] = fabs(S[0]);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Y] = fabs(S[1]);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Z] = fabs(S[2]);
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] = -sign(S[0]) * b[0];
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] = -sign(S[1]) * b[1];
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] = -sign(S[2]) * b[2];
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#endif
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// Calibration mag
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Be_length = sqrt(pow(homeLocationData.Be[0],2)+pow(homeLocationData.Be[1],2)+pow(homeLocationData.Be[2],2));
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SixPointInConstFieldCal( Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] = fabs(S[0]);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = fabs(S[1]);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = fabs(S[2]);
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0];
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
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revoCalibration->setData(revoCalibrationData);
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position = -1; //set to run again
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#ifdef SIX_POINT_CAL_ACCEL
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m_ui->sixPointCalibInstructions->append("Computed accel and mag scale and bias...");
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#else
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m_ui->sixPointCalibInstructions->append("Computed mag scale and bias...");
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#endif
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}
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/********** Functions for six point calibration **************/
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/**
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Six point calibration mode
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* Called by the "Start" button. Sets up the meta data and enables the
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* buttons to perform six point calibration of the magnetometer (optionally
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* accel) to compute the scale and bias of this sensor based on the current
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* home location magnetic strength.
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*/
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void ConfigRevoWidget::doStartSixPointCalibration()
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{
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@ -738,7 +576,181 @@ void ConfigRevoWidget::doStartSixPointCalibration()
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position = 0;
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}
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/**
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* Saves the data from the aircraft in one of six positions.
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* This is called when they click "save position" and starts
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* averaging data for this position.
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*/
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void ConfigRevoWidget::savePositionData()
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{
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QMutexLocker lock(&sensorsUpdateLock);
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m_ui->sixPointsSave->setEnabled(false);
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accel_accum_x.clear();
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accel_accum_y.clear();
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accel_accum_z.clear();
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mag_accum_x.clear();
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mag_accum_y.clear();
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mag_accum_z.clear();
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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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collectingData = true;
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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connect(accels, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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connect(mag, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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m_ui->sixPointCalibInstructions->append("Hold...");
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}
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/**
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* Grab a sample of mag (optionally accel) data while in this position and
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* store it for averaging. When sufficient points are collected advance
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* to the next position (give message to user) or compute the scale and bias
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*/
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void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject * obj)
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{
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QMutexLocker lock(&sensorsUpdateLock);
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// This is necessary to prevent a race condition on disconnect signal and another update
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if (collectingData == true) {
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if( obj->getObjID() == Accels::OBJID ) {
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#ifdef SIX_POINT_CAL_ACCEL
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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Accels::DataFields accelsData = accels->getData();
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accel_accum_x.append(accelsData.x);
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accel_accum_y.append(accelsData.y);
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accel_accum_z.append(accelsData.z);
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#endif
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} else if( obj->getObjID() == Magnetometer::OBJID ) {
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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Magnetometer::DataFields magData = mag->getData();
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mag_accum_x.append(magData.x);
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mag_accum_y.append(magData.y);
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mag_accum_z.append(magData.z);
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} else {
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Q_ASSERT(0);
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}
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}
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#ifdef SIX_POINT_CAL_ACCEL
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if(accel_accum_x.size() >= 20 && mag_accum_x.size() >= 20 && collectingData == true) {
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#else
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if(mag_accum_x.size() >= 20 && collectingData == true) {
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#endif
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collectingData = false;
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m_ui->sixPointsSave->setEnabled(true);
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#ifdef SIX_POINT_CAL_ACCEL
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// Store the mean for this position for the accel
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Accels * accels = Accels::GetInstance(getObjectManager());
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Q_ASSERT(accels);
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disconnect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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accel_data_x[position] = listMean(accel_accum_x);
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accel_data_y[position] = listMean(accel_accum_y);
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accel_data_z[position] = listMean(accel_accum_z);
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#endif
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// Store the mean for this position for the mag
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Magnetometer * mag = Magnetometer::GetInstance(getObjectManager());
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Q_ASSERT(mag);
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disconnect(mag,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(doGetSixPointCalibrationMeasurement(UAVObject*)));
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mag_data_x[position] = listMean(mag_accum_x);
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mag_data_y[position] = listMean(mag_accum_y);
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mag_data_z[position] = listMean(mag_accum_z);
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position = (position + 1) % 6;
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if(position == 1) {
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m_ui->sixPointCalibInstructions->append("Place with left side down and click save position...");
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displayPlane("plane-left");
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}
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if(position == 2) {
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m_ui->sixPointCalibInstructions->append("Place upside down and click save position...");
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displayPlane("plane-flip");
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}
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if(position == 3) {
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m_ui->sixPointCalibInstructions->append("Place with right side down and click save position...");
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displayPlane("plane-right");
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}
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if(position == 4) {
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m_ui->sixPointCalibInstructions->append("Place with nose up and click save position...");
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displayPlane("plane-up");
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}
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if(position == 5) {
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m_ui->sixPointCalibInstructions->append("Place with nose down and click save position...");
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displayPlane("plane-down");
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}
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if(position == 0) {
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computeScaleBias();
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m_ui->sixPointsStart->setEnabled(true);
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m_ui->sixPointsSave->setEnabled(false);
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/* Cleanup original settings */
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#ifdef SIX_POINT_CAL_ACCEL
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accels->setMetadata(initialAccelsMdata);
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#endif
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mag->setMetadata(initialMagMdata);
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}
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}
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}
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/**
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* Computes the scale and bias for the magnetomer and (compile option)
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* for the accel once all the data has been collected in 6 positions.
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*/
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void ConfigRevoWidget::computeScaleBias()
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{
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double S[3], b[3];
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double Be_length;
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RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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HomeLocation * homeLocation = HomeLocation::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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Q_ASSERT(homeLocation);
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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HomeLocation::DataFields homeLocationData = homeLocation->getData();
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#ifdef SIX_POINT_CAL_ACCEL
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// Calibration accel
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SixPointInConstFieldCal( homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_X] = fabs(S[0]);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Y] = fabs(S[1]);
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revoCalibrationData.accel_scale[RevoCalibration::ACCEL_SCALE_Z] = fabs(S[2]);
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_X] = -sign(S[0]) * b[0];
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Y] = -sign(S[1]) * b[1];
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revoCalibrationData.accel_bias[RevoCalibration::ACCEL_BIAS_Z] = -sign(S[2]) * b[2];
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#endif
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// Calibration mag
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Be_length = sqrt(pow(homeLocationData.Be[0],2)+pow(homeLocationData.Be[1],2)+pow(homeLocationData.Be[2],2));
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SixPointInConstFieldCal( Be_length, mag_data_x, mag_data_y, mag_data_z, S, b);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] = fabs(S[0]);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = fabs(S[1]);
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revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = fabs(S[2]);
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0];
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1];
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revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2];
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revoCalibration->setData(revoCalibrationData);
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position = -1; //set to run again
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#ifdef SIX_POINT_CAL_ACCEL
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m_ui->sixPointCalibInstructions->append("Computed accel and mag scale and bias...");
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#else
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m_ui->sixPointCalibInstructions->append("Computed mag scale and bias...");
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#endif
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}
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/**
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Rotate the paper plane
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@ -751,52 +763,7 @@ void ConfigRevoWidget::displayPlane(QString elementID)
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}
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/**
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Draws the sensor variances bargraph
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*/
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void ConfigRevoWidget::drawVariancesGraph()
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{
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RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
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Q_ASSERT(revoCalibration);
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if(!revoCalibration)
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return;
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RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
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// The expected range is from 1E-6 to 1E-1
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double steps = 6; // 6 bars on the graph
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float accel_x_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_X]));
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if(accel_x)
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accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
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float accel_y_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Y]));
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if(accel_y)
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accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
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float accel_z_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Z]));
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if(accel_z)
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accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
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float gyro_x_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_X]));
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if(gyro_x)
|
||||
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
|
||||
float gyro_y_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Y]));
|
||||
if(gyro_y)
|
||||
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
|
||||
float gyro_z_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Z]));
|
||||
if(gyro_z)
|
||||
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
|
||||
|
||||
// Scale by 1e-3 because mag vars are much higher.
|
||||
float mag_x_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_X]));
|
||||
if(mag_x)
|
||||
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
|
||||
float mag_y_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Y]));
|
||||
if(mag_y)
|
||||
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
|
||||
float mag_z_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Z]));
|
||||
if(mag_z)
|
||||
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
|
||||
}
|
||||
|
||||
/*********** Noise measurement functions **************/
|
||||
/**
|
||||
* Connect sensor updates and timeout for measuring the noise
|
||||
*/
|
||||
@ -937,6 +904,52 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject * obj)
|
||||
}
|
||||
}
|
||||
|
||||
/********** UI Functions *************/
|
||||
/**
|
||||
Draws the sensor variances bargraph
|
||||
*/
|
||||
void ConfigRevoWidget::drawVariancesGraph()
|
||||
{
|
||||
RevoCalibration * revoCalibration = RevoCalibration::GetInstance(getObjectManager());
|
||||
Q_ASSERT(revoCalibration);
|
||||
if(!revoCalibration)
|
||||
return;
|
||||
RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
|
||||
|
||||
// The expected range is from 1E-6 to 1E-1
|
||||
double steps = 6; // 6 bars on the graph
|
||||
float accel_x_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_X]));
|
||||
if(accel_x)
|
||||
accel_x->setTransform(QTransform::fromScale(1,accel_x_var),false);
|
||||
float accel_y_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Y]));
|
||||
if(accel_y)
|
||||
accel_y->setTransform(QTransform::fromScale(1,accel_y_var),false);
|
||||
float accel_z_var = -1/steps*(1+steps+log10(revoCalibrationData.accel_var[RevoCalibration::ACCEL_VAR_Z]));
|
||||
if(accel_z)
|
||||
accel_z->setTransform(QTransform::fromScale(1,accel_z_var),false);
|
||||
|
||||
float gyro_x_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_X]));
|
||||
if(gyro_x)
|
||||
gyro_x->setTransform(QTransform::fromScale(1,gyro_x_var),false);
|
||||
float gyro_y_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Y]));
|
||||
if(gyro_y)
|
||||
gyro_y->setTransform(QTransform::fromScale(1,gyro_y_var),false);
|
||||
float gyro_z_var = -1/steps*(1+steps+log10(revoCalibrationData.gyro_var[RevoCalibration::GYRO_VAR_Z]));
|
||||
if(gyro_z)
|
||||
gyro_z->setTransform(QTransform::fromScale(1,gyro_z_var),false);
|
||||
|
||||
// Scale by 1e-3 because mag vars are much higher.
|
||||
float mag_x_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_X]));
|
||||
if(mag_x)
|
||||
mag_x->setTransform(QTransform::fromScale(1,mag_x_var),false);
|
||||
float mag_y_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Y]));
|
||||
if(mag_y)
|
||||
mag_y->setTransform(QTransform::fromScale(1,mag_y_var),false);
|
||||
float mag_z_var = -1/steps*(1+steps+log10(1e-3*revoCalibrationData.mag_var[RevoCalibration::MAG_VAR_Z]));
|
||||
if(mag_z)
|
||||
mag_z->setTransform(QTransform::fromScale(1,mag_z_var),false);
|
||||
}
|
||||
|
||||
/**
|
||||
* Called by the ConfigTaskWidget parent when RevoCalibration is updated
|
||||
* to update the UI
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user