Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

sensor calibration: apply board level adjustment to external sensors #16127

Merged
merged 1 commit into from
Nov 12, 2020
Merged

sensor calibration: apply board level adjustment to external sensors #16127

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 6 additions & 5 deletions src/lib/sensor_calibration/Accelerometer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,9 @@ void Accelerometer::SensorCorrectionsUpdate(bool force)
void Accelerometer::set_rotation(Rotation rotation)
{
_rotation_enum = rotation;
_rotation = get_rot_matrix(rotation);

// always apply board level adjustments
_rotation = Dcmf(GetSensorLevelAdjustment()) * get_rot_matrix(rotation);
}

void Accelerometer::ParametersUpdate()
Expand All @@ -151,8 +153,7 @@ void Accelerometer::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
}

_rotation_enum = static_cast<Rotation>(rotation_value);
_rotation = get_rot_matrix(_rotation_enum);
set_rotation(static_cast<Rotation>(rotation_value));

} else {
// internal, CAL_ACCx_ROT -1
Expand All @@ -162,8 +163,8 @@ void Accelerometer::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}

_rotation = GetBoardRotation();
_rotation_enum = ROTATION_NONE;
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}

// CAL_ACCx_PRIO
Expand Down
11 changes: 6 additions & 5 deletions src/lib/sensor_calibration/Gyroscope.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,9 @@ void Gyroscope::SensorCorrectionsUpdate(bool force)
void Gyroscope::set_rotation(Rotation rotation)
{
_rotation_enum = rotation;
_rotation = get_rot_matrix(rotation);

// always apply board level adjustments
_rotation = Dcmf(GetSensorLevelAdjustment()) * get_rot_matrix(rotation);
}

void Gyroscope::ParametersUpdate()
Expand All @@ -151,8 +153,7 @@ void Gyroscope::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
}

_rotation_enum = static_cast<Rotation>(rotation_value);
_rotation = get_rot_matrix(_rotation_enum);
set_rotation(static_cast<Rotation>(rotation_value));

} else {
// internal, CAL_GYROx_ROT -1
Expand All @@ -162,8 +163,8 @@ void Gyroscope::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}

_rotation = GetBoardRotation();
_rotation_enum = ROTATION_NONE;
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}

// CAL_GYROx_PRIO
Expand Down
11 changes: 6 additions & 5 deletions src/lib/sensor_calibration/Magnetometer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,9 @@ void Magnetometer::set_offdiagonal(const Vector3f &offdiagonal)
void Magnetometer::set_rotation(Rotation rotation)
{
_rotation_enum = rotation;
_rotation = get_rot_matrix(rotation);

// always apply board level adjustments
_rotation = Dcmf(GetSensorLevelAdjustment()) * get_rot_matrix(rotation);
}

void Magnetometer::ParametersUpdate()
Expand All @@ -130,8 +132,7 @@ void Magnetometer::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, rotation_value);
}

_rotation_enum = static_cast<Rotation>(rotation_value);
_rotation = get_rot_matrix(_rotation_enum);
set_rotation(static_cast<Rotation>(rotation_value));

} else {
// internal mag, CAL_MAGx_ROT -1
Expand All @@ -141,8 +142,8 @@ void Magnetometer::ParametersUpdate()
SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1);
}

_rotation = GetBoardRotation();
_rotation_enum = ROTATION_NONE;
// internal sensors follow board rotation
set_rotation(GetBoardRotation());
}

// CAL_MAGx_PRIO
Expand Down
24 changes: 20 additions & 4 deletions src/lib/sensor_calibration/Utilities.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <lib/conversion/rotation.h>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>

using math::radians;
Expand Down Expand Up @@ -146,7 +147,7 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type,
return ret == PX4_OK;
}

Dcmf GetBoardRotation()
Eulerf GetSensorLevelAdjustment()
{
float x_offset = 0.f;
float y_offset = 0.f;
Expand All @@ -155,13 +156,28 @@ Dcmf GetBoardRotation()
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)));
return Eulerf{radians(x_offset), radians(y_offset), radians(z_offset)};
}

enum Rotation GetBoardRotation()
{
// get transformation matrix from sensor/board to body frame
int32_t board_rot = 0;
int32_t board_rot = -1;
param_get(param_find("SENS_BOARD_ROT"), &board_rot);

return board_rotation_offset * get_rot_matrix((enum Rotation)board_rot);
if (board_rot >= 0 && board_rot <= Rotation::ROTATION_MAX) {
return static_cast<enum Rotation>(board_rot);

} else {
PX4_ERR("invalid SENS_BOARD_ROT: %d", board_rot);
}

return Rotation::ROTATION_NONE;
}

Dcmf GetBoardRotationMatrix()
{
return get_rot_matrix(GetBoardRotation());
}

} // namespace calibration
19 changes: 17 additions & 2 deletions src/lib/sensor_calibration/Utilities.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@

#pragma once

#include <lib/conversion/rotation.h>
#include <matrix/math.hpp>

namespace calibration
Expand Down Expand Up @@ -91,10 +92,24 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type,
matrix::Vector3f values);

/**
* @brief Get the overall board rotation, including level adjustment.
* @brief Get the board sensor level adjustment (SENS_BOARD_X_OFF, SENS_BOARD_Y_OFF, SENS_BOARD_Z_OFF).
*
* @return matrix::Eulerf
*/
matrix::Eulerf GetSensorLevelAdjustment();

/**
* @brief Get the board rotation.
*
* @return enum Rotation
*/
Rotation GetBoardRotation();

/**
* @brief Get the board rotation Dcm.
*
* @return matrix::Dcmf
*/
matrix::Dcmf GetBoardRotation();
matrix::Dcmf GetBoardRotationMatrix();

} // namespace calibration
4 changes: 2 additions & 2 deletions src/modules/commander/accelerometer_calibration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
}

// rotate sensor measurements from sensor to body frame using board rotation matrix
const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();

for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) {
accel_sum[s] = board_rotation * accel_sum[s];
Expand Down Expand Up @@ -362,7 +362,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
if (calibrate_from_orientation(mavlink_log_pub, data_collected, accel_calibration_worker, &worker_data,
false) == calibrate_return_ok) {

const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();
const Dcmf board_rotation_t = board_rotation.transpose();

bool param_save = false;
Expand Down
2 changes: 1 addition & 1 deletion src/modules/commander/mag_calibration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -680,7 +680,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
// only proceed if there's a valid internal
if (internal_index >= 0) {

const Dcmf board_rotation = calibration::GetBoardRotation();
const Dcmf board_rotation = calibration::GetBoardRotationMatrix();

// apply new calibrations to all raw sensor data before comparison
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
Expand Down