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LibrePilot/flight/OpenPilot/UAVObjects/ahrscalibration.c
peabody124 9b28f2d72c OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration.
Calibration should take less time now too (using second moments to estimate
variance in one pass).  Now need to change to multiple messages to get the
calibration in to keep the request message size minimal.  Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually.  I'll fix that step tomorrow.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 09:20:38 +00:00

140 lines
4.1 KiB
C

/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup AHRSCalibration AHRSCalibration
* @brief Contains the calibration settings for the @ref AHRSCommsModule
*
* Autogenerated files and functions for AHRSCalibration Object
* @{
*
* @file ahrscalibration.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AHRSCalibration object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: ahrscalibration.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "ahrscalibration.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t AHRSCalibrationInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(AHRSCALIBRATION_OBJID, AHRSCALIBRATION_NAME, AHRSCALIBRATION_METANAME, 0,
AHRSCALIBRATION_ISSINGLEINST, AHRSCALIBRATION_ISSETTINGS, AHRSCALIBRATION_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
AHRSCalibrationData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AHRSCalibrationData));
data.measure_var = 0;
data.accel_bias[0] = 24;
data.accel_bias[1] = 24;
data.accel_bias[2] = 24;
data.accel_scale[0] = 0.012;
data.accel_scale[1] = 0.012;
data.accel_scale[2] = 0.012;
data.accel_var[0] = 5e-05;
data.accel_var[1] = 5e-05;
data.accel_var[2] = 5e-05;
data.gyro_bias[0] = 23;
data.gyro_bias[1] = 23;
data.gyro_bias[2] = 23;
data.gyro_scale[0] = -0.014;
data.gyro_scale[1] = -0.014;
data.gyro_scale[2] = -0.014;
data.gyro_var[0] = 0.0001;
data.gyro_var[1] = 0.0001;
data.gyro_var[2] = 0.0001;
data.mag_bias[0] = 0;
data.mag_bias[1] = 0;
data.mag_bias[2] = 0;
data.mag_scale[0] = 1;
data.mag_scale[1] = 1;
data.mag_scale[2] = 1;
data.mag_var[0] = 5e-05;
data.mag_var[1] = 5e-05;
data.mag_var[2] = 5e-05;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle AHRSCalibrationHandle()
{
return handle;
}
/**
* @}
*/