From b8b4245871ad739f353960806d41021d9951c3f2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 2 Dec 2019 11:57:13 +0100 Subject: [PATCH 1/2] refactor accelerometer_calibration: using namespace matrix --- .../commander/accelerometer_calibration.cpp | 27 ++++++++++--------- 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 4328a4211cae..d533607c46f3 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -142,6 +142,7 @@ #include #include #include +#include #include #include #include @@ -150,6 +151,8 @@ #include #include +using namespace matrix; + static const char *sensor_name = "accel"; static int32_t device_id[max_accel_sens]; @@ -294,19 +297,19 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) int32_t board_rotation_int; param_get(board_rotation_h, &(board_rotation_int)); enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; - matrix::Dcmf board_rotation = get_rot_matrix(board_rotation_id); + Dcmf board_rotation = get_rot_matrix(board_rotation_id); - matrix::Dcmf board_rotation_t = board_rotation.transpose(); + Dcmf board_rotation_t = board_rotation.transpose(); bool tc_locked[3] = {false}; // true when the thermal parameter instance has already been adjusted by the calibrator for (unsigned uorb_index = 0; uorb_index < active_sensors; uorb_index++) { /* handle individual sensors, one by one */ - matrix::Vector3f accel_offs_vec(accel_offs[uorb_index]); - matrix::Vector3f accel_offs_rotated = board_rotation_t *accel_offs_vec; - matrix::Matrix3f accel_T_mat(accel_T[uorb_index]); - matrix::Matrix3f accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation; + Vector3f accel_offs_vec(accel_offs[uorb_index]); + Vector3f accel_offs_rotated = board_rotation_t *accel_offs_vec; + Matrix3f accel_T_mat(accel_T[uorb_index]); + Matrix3f accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation; accel_scale.x_offset = accel_offs_rotated(0); accel_scale.x_scale = accel_T_rotated(0, 0); @@ -625,15 +628,15 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m param_get(board_offset_y, &board_offset[1]); param_get(board_offset_z, &board_offset[2]); - matrix::Dcmf board_rotation_offset = matrix::Eulerf( - M_DEG_TO_RAD_F * board_offset[0], - M_DEG_TO_RAD_F * board_offset[1], - M_DEG_TO_RAD_F * board_offset[2]); + Dcmf board_rotation_offset = Eulerf( + M_DEG_TO_RAD_F * board_offset[0], + M_DEG_TO_RAD_F * board_offset[1], + M_DEG_TO_RAD_F * board_offset[2]); int32_t board_rotation_int; param_get(board_rotation_h, &(board_rotation_int)); - matrix::Dcmf board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)board_rotation_int); + Dcmf board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)board_rotation_int); px4_pollfd_struct_t fds[max_accel_sens]; @@ -713,7 +716,7 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m // rotate sensor measurements from sensor to body frame using board rotation matrix for (unsigned i = 0; i < max_accel_sens; i++) { - matrix::Vector3f accel_sum_vec(&accel_sum[i][0]); + Vector3f accel_sum_vec(&accel_sum[i][0]); accel_sum_vec = board_rotation * accel_sum_vec; for (size_t j = 0; j < 3; j++) { From f2ceda8f686728ba0106beaebf399fc1b7c1221b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 3 Dec 2019 08:13:30 +0100 Subject: [PATCH 2/2] level calibration: speedup & check for motion - instead of resetting existing calibration on start and having to wait until the estimator converges, keep existing calibration applied and subtract it. - reduce calibration time from 5s to 500ms, and check for motion during that time. - repeat if there was motion - fix an uorb resource leak --- .../commander/accelerometer_calibration.cpp | 111 ++++++++++-------- 1 file changed, 60 insertions(+), 51 deletions(-) diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index d533607c46f3..13c1e05cc3cf 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -151,6 +151,7 @@ #include #include +using namespace time_literals; using namespace matrix; static const char *sensor_name = "accel"; @@ -796,14 +797,9 @@ calibrate_return calculate_calibration_values(unsigned sensor, int do_level_calibration(orb_advert_t *mavlink_log_pub) { - const unsigned cal_time = 5; - const unsigned cal_hz = 100; - unsigned settle_time = 30; - bool success = false; int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); + vehicle_attitude_s att{}; calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level"); @@ -811,7 +807,7 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF"); param_t board_rot_handle = param_find("SENS_BOARD_ROT"); - // save old values if calibration fails + // get old values float roll_offset_current; float pitch_offset_current; int32_t board_rot_current = 0; @@ -819,67 +815,82 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) param_get(pitch_offset_handle, &pitch_offset_current); param_get(board_rot_handle, &board_rot_current); - // give attitude some time to settle if there have been changes to the board rotation parameters - if (board_rot_current == 0 && fabsf(roll_offset_current) < FLT_EPSILON && fabsf(pitch_offset_current) < FLT_EPSILON) { - settle_time = 0; - } - - float zero = 0.0f; - param_set_no_notification(roll_offset_handle, &zero); - param_set_no_notification(pitch_offset_handle, &zero); - param_notify_changes(); + Dcmf board_rotation_offset = Eulerf( + math::radians(roll_offset_current), + math::radians(pitch_offset_current), + 0.f); px4_pollfd_struct_t fds[1]; - fds[0].fd = att_sub; fds[0].events = POLLIN; float roll_mean = 0.0f; float pitch_mean = 0.0f; unsigned counter = 0; + bool had_motion = true; + int num_retries = 0; + + while (had_motion && num_retries++ < 50) { + Vector2f min_angles{100.f, 100.f}; + Vector2f max_angles{-100.f, -100.f}; + roll_mean = 0.0f; + pitch_mean = 0.0f; + counter = 0; + int last_progress_report = -100; + const hrt_abstime calibration_duration = 500_ms; + const hrt_abstime start = hrt_absolute_time(); + + while (hrt_elapsed_time(&start) < calibration_duration) { + int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + if (pollret <= 0) { + // attitude estimator is not running + calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot"); + calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level"); + goto out; + } - // sleep for some time - hrt_abstime start = hrt_absolute_time(); + int progress = 100 * hrt_elapsed_time(&start) / calibration_duration; - while (hrt_elapsed_time(&start) < settle_time * 1000000) { - calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, - (int)(90 * hrt_elapsed_time(&start) / 1e6f / (float)settle_time)); - px4_sleep(settle_time / 10); - } + if (progress >= last_progress_report + 20) { + calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress); + last_progress_report = progress; + } - start = hrt_absolute_time(); + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + Eulerf att_euler = Quatf(att.q); - // average attitude for 5 seconds - while (hrt_elapsed_time(&start) < cal_time * 1000000) { - int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + // keep min + max angles + for (int i = 0; i < 2; ++i) { + if (att_euler(i) < min_angles(i)) { min_angles(i) = att_euler(i); } - if (pollret <= 0) { - // attitude estimator is not running - calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot"); - calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level"); - goto out; + if (att_euler(i) > max_angles(i)) { max_angles(i) = att_euler(i); } + } + + att_euler(2) = 0.f; // ignore yaw + att_euler = Eulerf(board_rotation_offset * Dcmf(att_euler)); // subtract existing board rotation + roll_mean += att_euler.phi(); + pitch_mean += att_euler.theta(); + ++counter; } - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - matrix::Eulerf euler = matrix::Quatf(att.q); - roll_mean += euler.phi(); - pitch_mean += euler.theta(); - counter++; + // motion detection: check that (max-min angle) is within a threshold. + // The difference is typically <0.1 deg while at rest + if (max_angles(0) - min_angles(0) < math::radians(0.5f) && + max_angles(1) - min_angles(1) < math::radians(0.5f)) { + had_motion = false; + } } calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100); - if (counter > (cal_time * cal_hz / 2)) { - roll_mean /= counter; - pitch_mean /= counter; + roll_mean /= counter; + pitch_mean /= counter; - } else { - calibration_log_info(mavlink_log_pub, "not enough measurements taken"); - success = false; - goto out; - } + if (had_motion) { + calibration_log_critical(mavlink_log_pub, "motion during calibration"); - if (fabsf(roll_mean) > 0.8f) { + } else if (fabsf(roll_mean) > 0.8f) { calibration_log_critical(mavlink_log_pub, "excess roll angle"); } else if (fabsf(pitch_mean) > 0.8f) { @@ -896,15 +907,13 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) out: + orb_unsubscribe(att_sub); + if (success) { calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "level"); return 0; } else { - // set old parameters - param_set_no_notification(roll_offset_handle, &roll_offset_current); - param_set_no_notification(pitch_offset_handle, &pitch_offset_current); - param_notify_changes(); calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level"); return 1; }