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calib.c
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calib.c
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/*
This file is part of AutoQuad.
AutoQuad is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
AutoQuad is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with AutoQuad. If not, see <http://www.gnu.org/licenses/>.
Copyright © 2011-2014 Bill Nesbitt
*/
#include "calib.h"
#include "supervisor.h"
#include "comm.h"
#ifndef __CC_ARM
#include <intrinsics.h>
#endif
calibStruct_t calibData;
// solves U'*x = b for 3x3 matrix
void solveUT(float32_t *U, float32_t *b, float32_t *x) {
float32_t t1 = b[1] - (U[1]*b[0]) / U[0];
x[0] = b[0] / U[0];
x[1] = t1 / U[4];
x[2] = -(U[5]*t1/U[4] - b[2] + U[2]*b[0]/U[0]) / U[8];
}
// solves U*-x = b for 3x3 matrix
void solveU(float32_t *U, float32_t *b, float32_t *x) {
float32_t t1 = b[1] - (U[5]*b[2])/U[8];
x[0] = +(U[1]*t1/U[4] - b[0] + U[2]*b[2]/U[8]) / U[0];
x[1] = -(t1 / U[4]);
x[2] = -(b[2] / U[8]);
}
int calibOctant(float32_t *vec) {
float32_t x, y, z;
x = vec[0] + calibData.bias[0];
y = vec[1] + calibData.bias[1];
z = vec[2] + calibData.bias[2];
if (x > 0) {
if (y > 0) {
if (z > 0)
return 0;
else
return 1;
}
else {
if (z > 0)
return 2;
else
return 3;
}
}
else {
if (y > 0) {
if (z > 0)
return 4;
else
return 5;
}
else {
if (z > 0)
return 6;
else
return 7;
}
}
}
// determine angle between two vectors
float32_t calibAngle(float *v1, float *v2) {
float32_t v1b[3];
float32_t v2b[3];
float32_t t;
int i;
t = 0.0f;
for (i = 0; i < 3; i++) {
v1b[i] = v1[i] + calibData.bias[i];
v2b[i] = v2[i] + calibData.bias[i];
t += (v1b[i]*v2b[i]);
}
t /= __sqrtf(v1b[0]*v1b[0] + v1b[1]*v1b[1] + v1b[2]*v1b[2]);
t /= __sqrtf(v2b[0]*v2b[0] + v2b[1]*v2b[1] + v2b[2]*v2b[2]);
return (fabsf(t-1.0f) < 1e-6f) ? 0.0f : acosf(t);
}
void calibInsert(float32_t *v) {
int idx;
int i;
idx = calibOctant(v) * CALIB_SAMPLES;
for (i = 0; i < CALIB_SAMPLES; i++)
if (calibData.calibSamples[(idx + i)*3 + 0] == CALIB_EMPTY_SLOT) {
calibData.calibSamples[(idx + i)*3 + 0] = v[0];
calibData.calibSamples[(idx + i)*3 + 1] = v[1];
calibData.calibSamples[(idx + i)*3 + 2] = v[2];
return;
}
}
void calibRecalc() {
int i, j, k;
for (i = 0; i < 8; i++) {
for (j = 0; j < CALIB_SAMPLES; j++) {
k = i*CALIB_SAMPLES + j;
if (calibData.calibSamples[k*3] != CALIB_EMPTY_SLOT) {
if (calibOctant(&calibData.calibSamples[k*3]) != i) {
calibInsert(&calibData.calibSamples[k*3]);
calibData.calibSamples[k*3] = CALIB_EMPTY_SLOT;
}
}
}
}
}
int calibCount(void) {
int sum;
int i, j;
sum = 0;
for (i = 0; i < 8; i++)
for (j = 0; j < CALIB_SAMPLES; j++)
sum += (calibData.calibSamples[(i*CALIB_SAMPLES + j)*3] != CALIB_EMPTY_SLOT);
calibData.percentComplete = (float32_t)sum / (8*CALIB_SAMPLES) * 100.0f;
return sum;
}
void calibInit(void) {
int i, j;
calibData.calibSamples = (float32_t *)aqCalloc(CALIB_SAMPLES*8*3, sizeof(float32_t));
for (i = 0; i < 3; i++) {
calibData.min[i] = +999.9;
calibData.max[i] = -999.9;
}
for (i = 0; i < 8; i++)
for (j = 0; j < CALIB_SAMPLES; j++)
calibData.calibSamples[(i*CALIB_SAMPLES + j)*3] = CALIB_EMPTY_SLOT;
calibData.lastVec[0] = CALIB_EMPTY_SLOT;
calibData.percentComplete = 0.0f;
}
void calibFree(void) {
if (calibData.calibSamples) {
aqFree(calibData.calibSamples, CALIB_SAMPLES*8*3, sizeof(float32_t));
calibData.calibSamples = 0;
}
}
void calibDeinit(void) {
calibFree();
}
void calibCalculate(void) {
arm_matrix_instance_f32 D, R;
float32_t v[3];
float32_t d, s;
float32_t *t;
float sign;
int i;
t = (float32_t *)aqCalloc(10*8*CALIB_SAMPLES, sizeof(float32_t));
if (t == 0) {
AQ_NOTICE("CALIB: Out of memory\n");
goto calibFree;
}
arm_mat_init_f32(&D, 10, 8*CALIB_SAMPLES, t);
t = calibData.calibSamples;
for (i = 0; i < 8*CALIB_SAMPLES; i++) {
D.pData[0*8*CALIB_SAMPLES + i] = t[0]*t[0];
D.pData[1*8*CALIB_SAMPLES + i] = t[1]*t[1];
D.pData[2*8*CALIB_SAMPLES + i] = t[2]*t[2];
D.pData[3*8*CALIB_SAMPLES + i] = t[0]*t[1];
D.pData[4*8*CALIB_SAMPLES + i] = t[0]*t[2];
D.pData[5*8*CALIB_SAMPLES + i] = t[1]*t[2];
D.pData[6*8*CALIB_SAMPLES + i] = t[0];
D.pData[7*8*CALIB_SAMPLES + i] = t[1];
D.pData[8*8*CALIB_SAMPLES + i] = t[2];
D.pData[9*8*CALIB_SAMPLES + i] = 1.0f;
t += 3;
}
// free raw data
calibFree();
t = (float32_t *)aqCalloc(20*10, sizeof(float32_t));
if (t == 0) {
AQ_NOTICE("CALIB: Out of memory\n");
goto calibFree;
}
arm_mat_init_f32(&R, 20, 10, t);
arm_fill_f32(0, t, 20*10);
if (qrDecompositionT_f32(&D, 0, &R) == 0) {
AQ_NOTICE("CALIB: rank deficient - abort\n");
goto calibFree;
}
svd(R.pData, calibData.U, 10);
sign = (R.pData[10*10 + 9] < 0.0f) ? -1.0f : +1.0f;
calibData.U[0] = sign * R.pData[(10+0)*10 + 9];
calibData.U[1] = sign * R.pData[(10+3)*10 + 9] * 0.5f;
calibData.U[2] = sign * R.pData[(10+4)*10 + 9] * 0.5f;
calibData.U[3] = sign * R.pData[(10+3)*10 + 9] * 0.5f;
calibData.U[4] = sign * R.pData[(10+1)*10 + 9];
calibData.U[5] = sign * R.pData[(10+5)*10 + 9] * 0.5f;
calibData.U[6] = sign * R.pData[(10+4)*10 + 9] * 0.5f;
calibData.U[7] = sign * R.pData[(10+5)*10 + 9] * 0.5f;
calibData.U[8] = sign * R.pData[(10+2)*10 + 9];
calibData.bias[0] = sign * R.pData[(10+6)*10 + 9] * 0.5f;
calibData.bias[1] = sign * R.pData[(10+7)*10 + 9] * 0.5f;
calibData.bias[2] = sign * R.pData[(10+8)*10 + 9] * 0.5f;
d = sign * R.pData[(10+9)*10 + 9];
if (cholF(calibData.U) == 0) {
AQ_NOTICE("CALIB: poor data - abort\n");
goto calibFree;
}
solveUT(calibData.U, calibData.bias, v);
s = 1.0f / __sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2] - d) * CALIB_SCALE;
solveU(calibData.U, v, calibData.bias);
for (i = 0; i < 9; i++)
calibData.U[i] *= s;
calibData.bias[0] = -calibData.bias[0];
calibData.bias[1] = -calibData.bias[1];
calibData.bias[2] = -calibData.bias[2];
calibData.U[0] = 1.0f / calibData.U[0];
calibData.U[4] = 1.0f / calibData.U[4];
calibData.U[8] = 1.0f / calibData.U[8];
// store config params
p[IMU_MAG_BIAS_X] = calibData.bias[0];
p[IMU_MAG_BIAS_Y] = calibData.bias[1];
p[IMU_MAG_BIAS_Z] = calibData.bias[2];
p[IMU_MAG_BIAS1_X] = 0.0f;
p[IMU_MAG_BIAS1_Y] = 0.0f;
p[IMU_MAG_BIAS1_Z] = 0.0f;
p[IMU_MAG_BIAS2_X] = 0.0f;
p[IMU_MAG_BIAS2_Y] = 0.0f;
p[IMU_MAG_BIAS2_Z] = 0.0f;
p[IMU_MAG_BIAS3_X] = 0.0f;
p[IMU_MAG_BIAS3_Y] = 0.0f;
p[IMU_MAG_BIAS3_Z] = 0.0f;
p[IMU_MAG_SCAL_X] = calibData.U[0];
p[IMU_MAG_SCAL_Y] = calibData.U[4];
p[IMU_MAG_SCAL_Z] = calibData.U[8];
p[IMU_MAG_SCAL1_X] = 0.0f;
p[IMU_MAG_SCAL1_Y] = 0.0f;
p[IMU_MAG_SCAL1_Z] = 0.0f;
p[IMU_MAG_SCAL2_X] = 0.0f;
p[IMU_MAG_SCAL2_Y] = 0.0f;
p[IMU_MAG_SCAL2_Z] = 0.0f;
p[IMU_MAG_SCAL3_X] = 0.0f;
p[IMU_MAG_SCAL3_Y] = 0.0f;
p[IMU_MAG_SCAL3_Z] = 0.0f;
p[IMU_MAG_ALGN_XY] = calibData.U[1];
p[IMU_MAG_ALGN_XZ] = calibData.U[2];
p[IMU_MAG_ALGN_YX] = calibData.U[3];
p[IMU_MAG_ALGN_YZ] = calibData.U[5];
p[IMU_MAG_ALGN_ZX] = calibData.U[6];
p[IMU_MAG_ALGN_ZY] = calibData.U[7];
calibFree:
if (D.pData)
aqFree(D.pData, 10*8*CALIB_SAMPLES, sizeof(float32_t));
if (R.pData)
aqFree(R.pData, 20*10, sizeof(float32_t));
}
void calibFinished(void) {
calibCalculate();
AQ_NOTICE("Calibration complete\n");
supervisorDisarm();
}
void calibrate(void) {
float32_t vec[3];
int i;
if (!(supervisorData.state & STATE_CALIBRATION))
return;
#ifdef USE_DIGITAL_IMU
vec[0] = hmc5983Data.rawMag[0];
vec[1] = hmc5983Data.rawMag[1];
vec[2] = hmc5983Data.rawMag[2];
#else
vec[0] = adcData.voltages[3];
vec[1] = adcData.voltages[4];
vec[2] = adcData.voltages[5];
#endif
for (i = 0; i < 3; i++) {
if (vec[i] < calibData.min[i])
calibData.min[i] = vec[i];
if (vec[i] > calibData.max[i])
calibData.max[i] = vec[i];
calibData.bias[i] = -(calibData.min[i] + calibData.max[i]) * 0.5f;
calibRecalc();
}
if (calibData.lastVec[0] == CALIB_EMPTY_SLOT) {
calibData.lastVec[0] = vec[0];
calibData.lastVec[1] = vec[1];
calibData.lastVec[2] = vec[2];
}
else if (calibAngle(calibData.lastVec, vec) * RAD_TO_DEG > CALIB_MIN_ANGLE) {
if (fabsf(calibData.min[0] - calibData.max[0]) > 1.0f &&
fabsf(calibData.min[1] - calibData.max[1]) > 1.0f &&
fabsf(calibData.min[2] - calibData.max[2]) > 1.0f) {
calibInsert(vec);
if (calibCount() == 8 * CALIB_SAMPLES)
calibFinished();
calibData.lastVec[0] = vec[0];
calibData.lastVec[1] = vec[1];
calibData.lastVec[2] = vec[2];
}
}
}