accel & gyro calibration helpers

src/lib/sensor_calibration/Accelerometer.cpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "Accelerometer.hpp"
+
+#include "Utilities.hpp"
+
+#include <lib/parameters/param.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+namespace calibration
+{
+
+Accelerometer::Accelerometer()
+{
+	Reset();
+}
+
+Accelerometer::Accelerometer(uint32_t device_id)
+{
+	Reset();
+	set_device_id(device_id);
+}
+
+void Accelerometer::set_device_id(uint32_t device_id)
+{
+	if (_device_id != device_id) {
+		_device_id = device_id;
+		ParametersUpdate();
+		SensorCorrectionsUpdate(true);
+	}
+}
+
+void Accelerometer::SensorCorrectionsUpdate(bool force)
+{
+	// check if the selected sensor has updated
+	if (_sensor_correction_sub.updated() || force) {
+
+		// valid device id required
+		if (_device_id == 0) {
+			return;
+		}
+
+		sensor_correction_s corrections;
+
+		if (_sensor_correction_sub.copy(&corrections)) {
+			// find sensor_corrections index
+			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
+				if (corrections.accel_device_ids[i] == _device_id) {
+					switch (i) {
+					case 0:
+						_thermal_offset = Vector3f{corrections.accel_offset_0};
+						return;
+					case 1:
+						_thermal_offset = Vector3f{corrections.accel_offset_1};
+						return;
+					case 2:
+						_thermal_offset = Vector3f{corrections.accel_offset_2};
+						return;
+					}
+				}
+			}
+		}
+
+		// zero thermal offset if not found
+		_thermal_offset.zero();
+	}
+}
+
+void Accelerometer::ParametersUpdate()
+{
+	if (_device_id == 0) {
+		Reset();
+		return;
+	}
+
+	_calibration_index = FindCalibrationIndex(SensorString(), _device_id);
+
+	if (_calibration_index >= 0) {
+
+		if (!_external) {
+			_rotation = GetBoardRotation();
+
+		} else {
+			// TODO: per sensor external rotation
+			_rotation.setIdentity();
+		}
+
+		// CAL_ACCx_EN
+		int32_t enabled = GetCalibrationParam(SensorString(), "EN", _calibration_index);
+		_enabled = (enabled == 1);
+
+		// CAL_ACCx_OFF{X,Y,Z}
+		_offset = GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index);
+
+		// CAL_ACCx_SCALE{X,Y,Z}
+		_scale = GetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index);
+
+	} else {
+		Reset();
+	}
+}
+
+void Accelerometer::Reset()
+{
+	_rotation.setIdentity();
+	_offset.zero();
+	_scale = Vector3f{1.f, 1.f, 1.f};
+	_thermal_offset.zero();
+
+	_enabled = true;
+
+	_calibration_index = -1;
+}
+
+bool Accelerometer::ParametersSave()
+{
+	if (_calibration_index >= 0) {
+		// save calibration
+		SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
+		SetCalibrationParam(SensorString(), "EN", _calibration_index, _enabled ? 1 : 0);
+		SetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index, _offset);
+		SetCalibrationParamsVector3f(SensorString(), "SCALE", _calibration_index, _scale);
+
+		return true;
+	}
+
+	return false;
+}
+
+void Accelerometer::PrintStatus()
+{
+	PX4_INFO("%s %d EN: %d, offset: [%.4f %.4f %.4f] scale: [%.4f %.4f %.4f]", SensorString(), device_id(), enabled(),
+		 (double)_offset(0), (double)_offset(1), (double)_offset(2), (double)_scale(0), (double)_scale(1), (double)_scale(2));
+
+	if (_thermal_offset.norm() > 0.f) {
+		PX4_INFO("%s %d temperature offset: [%.4f %.4f %.4f]", SensorString(), _device_id,
+			 (double)_thermal_offset(0), (double)_thermal_offset(1), (double)_thermal_offset(2));
+	}
+}
+
+} // namespace calibration