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107 lines
4.8 KiB
C++
107 lines
4.8 KiB
C++
/**
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******************************************************************************
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*
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* @file thermalcalibration.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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* @brief Barometer, Gyroscope and Accelerometer thermal calibration algorithms
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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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 THERMALCALIBRATION_H
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#define THERMALCALIBRATION_H
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#include "../calibrationutils.h"
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namespace OpenPilot {
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class ThermalCalibration {
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static const int GYRO_X_POLY_DEGREE = 2;
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static const int GYRO_Y_POLY_DEGREE = 2;
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static const int GYRO_Z_POLY_DEGREE = 2;
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static const int ACCEL_X_POLY_DEGREE = 1;
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static const int ACCEL_Y_POLY_DEGREE = 1;
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static const int ACCEL_Z_POLY_DEGREE = 1;
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static const int BARO_PRESSURE_POLY_DEGREE = 3;
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// TODO: determine max allowable relative error
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static const double BARO_PRESSURE_MAX_REL_ERROR = 1E-6f;
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static const double ACCEL_X_MAX_REL_ERROR = 1E-6f;
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static const double ACCEL_Y_MAX_REL_ERROR = 1E-6f;
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static const double ACCEL_Z_MAX_REL_ERROR = 1E-6f;
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static const double GYRO_X_MAX_REL_ERROR = 1E-6f;
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static const double GYRO_Y_MAX_REL_ERROR = 1E-6f;
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static const double GYRO_Z_MAX_REL_ERROR = 1E-6f;
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public:
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/**
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* @brief ComputeStats
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* @param samplesX X values for input samples
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* @param samplesY Y values for input samples
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* @param correctionPoly coefficients for the correction polynomial
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* @param degrees Degree of the correction polynomial
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* @param initialSigma Standard deviation calculated over input samples
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* @param rebiasedSigma Standard deviation calculated over calibrated samples
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*/
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static void ComputeStats(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *correctionPoly, float *initialSigma, float *rebiasedSigma);
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/**
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* @brief produce the calibration polinomial coefficients from pressure and temperature samples
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* @param pressure Pressure samples
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* @param temperature Temperature samples
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* @param result Polinomial coefficients to be sent to board (x0, x1, x2, x3)
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* @param inputSigma a float populated with input sample variance
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* @param CalibratedSigma float populated with calibrated data variance
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* @return
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*/
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static bool BarometerCalibration(Eigen::VectorXf pressure, Eigen::VectorXf temperature, float *result, float *inputSigma, float *calibratedSigma);
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/**
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* @brief AccelerometerCalibration produce the calibration polinomial coefficients from accelerometer axis and temperature samples
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* @param pressure
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* @param temperature
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* @param result a float[3] array containing value to populate calibration settings (x,y,z)
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* @param inputSigma a float[3] array populated with input sample variance
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* @param CalibratedSigma float[3] array populated with calibrated data variance
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* @return
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*/
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static bool AccelerometerCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result, float *inputSigma, float *calibratedSigma);
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/**
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* @brief GyroscopeCalibration produce the calibration polinomial coefficients from gyroscopes axis and temperature samples
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* @param samplesX
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* @param samplesY
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* @param samplesZ
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* @param temperature
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* @param result a float[4] array containing value to populate calibration settings (x,y,z1, z2)
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* @param inputSigma a float[3] array populated with input sample variance
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* @param CalibratedSigma float[3] array populated with calibrated data variance
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* @return
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*/
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static bool GyroscopeCalibration(Eigen::VectorXf samplesX, Eigen::VectorXf samplesY, Eigen::VectorXf samplesZ, Eigen::VectorXf temperature, float *result, float *inputSigma, float *calibratedSigma);
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private:
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static void copyToArray(float *result, Eigen::VectorXf solution, int elements);
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ThermalCalibration();
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static int searchReferenceValue(float value, Eigen::VectorXf values);
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};
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}
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#endif // THERMALCALIBRATION_H
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