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commander: mag calibration auto rotation improvements

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- skip rotations that are identical or very close
 - compute mean squared error (MSE) to skip a sqrt
This commit is contained in:
Daniel Agar
2020-08-18 10:39:31 -04:00
parent bc6e4c8a92
commit 1a6eb7859c
1 changed files with 40 additions and 19 deletions
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59
src/modules/commander/mag_calibration.cpp
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@@ -713,27 +713,48 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
const int last_sample_index = math::min(worker_data.calibration_counter_total[internal_index], const int last_sample_index = math::min(worker_data.calibration_counter_total[internal_index],
worker_data.calibration_counter_total[cur_mag]); worker_data.calibration_counter_total[cur_mag]);
float diff_sum[ROTATION_MAX] {}; float MSE[ROTATION_MAX] {}; // mean square error for each rotation
float min_diff = FLT_MAX; float min_mse = FLT_MAX;
Rotation best_rotation = ROTATION_NONE; Rotation best_rotation = ROTATION_NONE;
for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) { for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) {
for (int i = 0; i < last_sample_index; i++) {
float x = worker_data.x[cur_mag][i]; switch (r) {
float y = worker_data.y[cur_mag][i]; case ROTATION_ROLL_90_PITCH_68_YAW_293: // skip
float z = worker_data.z[cur_mag][i];
rotate_3f((enum Rotation)r, x, y, z);
Vector3f diff = Vector3f{x, y, z} - Vector3f{worker_data.x[internal_index][i], worker_data.y[internal_index][i], worker_data.z[internal_index][i]}; // FALLTHROUGH
case ROTATION_ROLL_270_YAW_270: // skip, same as ROTATION_ROLL_90_PITCH_180_YAW_90 (36)
diff_sum[r] += diff.norm(); // FALLTHROUGH
} case ROTATION_PITCH_9_YAW_180: // skip, too close to ROTATION_YAW_180
MSE[r] = FLT_MAX;
break;
if (diff_sum[r] < min_diff) { default:
min_diff = diff_sum[r]; float diff_sum = 0.f;
best_rotation = (Rotation)r;
for (int i = 0; i < last_sample_index; i++) {
float x = worker_data.x[cur_mag][i];
float y = worker_data.y[cur_mag][i];
float z = worker_data.z[cur_mag][i];
rotate_3f((enum Rotation)r, x, y, z);
Vector3f diff = Vector3f{x, y, z} - Vector3f{worker_data.x[internal_index][i], worker_data.y[internal_index][i], worker_data.z[internal_index][i]};
diff_sum += diff.norm_squared();
}
// compute mean squared error
MSE[r] = diff_sum / last_sample_index;
if (MSE[r] < min_mse) {
min_mse = MSE[r];
best_rotation = (Rotation)r;
}
break;
} }
} }
@@ -743,16 +764,16 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) { for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) {
if (r != best_rotation) { if (r != best_rotation) {
if (diff_sum[r] < (min_diff * 2.f)) { if (MSE[r] < (min_mse * 2.f)) {
smallest_check_passed = false; smallest_check_passed = false;
} }
} }
} }
// Check that the average error across all samples (relative to internal mag) is less than the minimum earth field (~ 0.25 Gauss) // Check that the average error across all samples (relative to internal mag) is less than the minimum earth field (~0.25 Gauss)
const float mag_error_ga = (min_diff / last_sample_index); const float mag_error_gs = sqrt(min_mse / last_sample_index);
bool total_error_check_passed = (mag_error_ga < 0.25f); bool total_error_check_passed = (mag_error_gs < 0.25f);
if (smallest_check_passed && total_error_check_passed) { if (smallest_check_passed && total_error_check_passed) {
if (best_rotation != worker_data.calibration[cur_mag].rotation_enum()) { if (best_rotation != worker_data.calibration[cur_mag].rotation_enum()) {
@@ -770,8 +791,8 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
PX4_ERR("External Mag: %d (%d), determining rotation failed", cur_mag, worker_data.calibration[cur_mag].device_id()); PX4_ERR("External Mag: %d (%d), determining rotation failed", cur_mag, worker_data.calibration[cur_mag].device_id());
for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) { for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) {
PX4_ERR("Mag: %d (%d), rotation: %d, error: %.3f", cur_mag, worker_data.calibration[cur_mag].device_id(), r, PX4_ERR("Mag: %d (%d), rotation: %d, MSE: %.3f", cur_mag, worker_data.calibration[cur_mag].device_id(), r,
(double)diff_sum[r]); (double)MSE[r]);
} }
} }
} }