accel & gyro calibration helpers

src/lib/sensor_calibration/Utilities.cpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   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 <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <lib/conversion/rotation.h>
+#include <lib/parameters/param.h>
+
+using math::radians;
+using matrix::Eulerf;
+using matrix::Dcmf;
+using matrix::Vector3f;
+
+namespace calibration
+{
+
+int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id)
+{
+	if (device_id == 0) {
+		return -1;
+	}
+
+	for (unsigned i = 0; i < 4; ++i) {
+		char str[20] {};
+		sprintf(str, "CAL_%s%u_ID", sensor_type, i);
+
+		int32_t device_id_val = 0;
+
+		param_t param_handle = param_find_no_notification(str);
+
+		if (param_handle == PARAM_INVALID) {
+			continue;
+		}
+
+		// find again and get value, but this time mark it active
+		if (param_get(param_find(str), &device_id_val) != OK) {
+			continue;
+		}
+
+		if ((uint32_t)device_id_val == device_id) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
+int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance)
+{
+	// eg CAL_MAGn_ID/CAL_MAGn_ROT
+	char str[20] {};
+	sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);
+
+	int32_t value = 0;
+
+	if (param_get(param_find(str), &value) != 0) {
+		PX4_ERR("failed to get %s", str);
+	}
+
+	return value;
+}
+
+int SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value)
+{
+	char str[20] {};
+
+	// eg CAL_MAGn_ID/CAL_MAGn_ROT
+	sprintf(str, "CAL_%s%u_%s", sensor_type, instance, cal_type);
+
+	int ret = param_set_no_notification(param_find(str), &value);
+
+	if (ret != PX4_OK) {
+		PX4_ERR("failed to set %s = %d", str, value);
+	}
+
+	return ret;
+}
+
+Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance)
+{
+	Vector3f values{0.f, 0.f, 0.f};
+
+	char str[20] {};
+
+	for (int axis = 0; axis < 3; axis++) {
+		char axis_char = 'X' + axis;
+
+		// eg CAL_MAGn_{X,Y,Z}OFF
+		sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type);
+
+		if (param_get(param_find(str), &values(axis)) != 0) {
+			PX4_ERR("failed to get %s", str);
+		}
+	}
+
+	return values;
+}
+
+int SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance, Vector3f values)
+{
+	int ret = PX4_OK;
+	char str[20] {};
+
+	for (int axis = 0; axis < 3; axis++) {
+		char axis_char = 'X' + axis;
+
+		// eg CAL_MAGn_{X,Y,Z}OFF
+		sprintf(str, "CAL_%s%u_%c%s", sensor_type, instance, axis_char, cal_type);
+
+		if (param_set_no_notification(param_find(str), &values(axis)) != 0) {
+			PX4_ERR("failed to set %s = %.4f", str, (double)values(axis));
+			ret = PX4_ERROR;
+		}
+	}
+
+	return ret;
+}
+
+Dcmf GetBoardRotation()
+{
+	float x_offset = 0.f;
+	float y_offset = 0.f;
+	float z_offset = 0.f;
+	param_get(param_find("SENS_BOARD_X_OFF"), &x_offset);
+	param_get(param_find("SENS_BOARD_Y_OFF"), &y_offset);
+	param_get(param_find("SENS_BOARD_Z_OFF"), &z_offset);
+
+	const Dcmf board_rotation_offset(Eulerf(radians(x_offset), radians(y_offset), radians(z_offset)));
+
+	// get transformation matrix from sensor/board to body frame
+	int32_t board_rot = 0;
+	param_get(param_find("SENS_BOARD_ROT"), &board_rot);
+
+	return board_rotation_offset * get_rot_matrix((enum Rotation)board_rot);
+}
+
+} // namespace calibration