calibration_routines.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2015 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.
 *
 ****************************************************************************/

/// @file calibration_routines.h
/// @author Don Gagne <don@thegagnes.com>

#pragma once

/**
 * Least-squares fit of a sphere to a set of points.
 *
 * Fits a sphere to a set of points on the sphere surface.
 *
 * @param x point coordinates on the X axis
 * @param y point coordinates on the Y axis
 * @param z point coordinates on the Z axis
 * @param size number of points
 * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100.
 * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times.
 * @param sphere_x coordinate of the sphere center on the X axis
 * @param sphere_y coordinate of the sphere center on the Y axis
 * @param sphere_z coordinate of the sphere center on the Z axis
 * @param sphere_radius sphere radius
 *
 * @return 0 on success, 1 on failure
 */
int sphere_fit_least_squares(const float x[], const float y[], const float z[],
                 unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
                 float *sphere_radius);
int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[],
                unsigned int size, int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z,
                float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
                float *offdiag_z);
int run_lm_sphere_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
              unsigned int size, float *offset_x, float *offset_y, float *offset_z,
              float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
              float *offdiag_z);
int run_lm_ellipsoid_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
             unsigned int size, float *offset_x, float *offset_y, float *offset_z,
             float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
             float *offdiag_z);
bool inverse4x4(float m[], float invOut[]);
bool mat_inverse(float *A, float *inv, uint8_t n);

// FIXME: Change the name
static const unsigned max_accel_sens = 3;

// The order of these cannot change since the calibration calculations depend on them in this order
enum detect_orientation_return {
    DETECT_ORIENTATION_TAIL_DOWN,
    DETECT_ORIENTATION_NOSE_DOWN,
    DETECT_ORIENTATION_LEFT,
    DETECT_ORIENTATION_RIGHT,
    DETECT_ORIENTATION_UPSIDE_DOWN,
    DETECT_ORIENTATION_RIGHTSIDE_UP,
    DETECT_ORIENTATION_ERROR
};
static const unsigned detect_orientation_side_count = 6;

/// Wait for vehicle to become still and detect it's orientation
/// @return Returns detect_orientation_return according to orientation when vehicle
///     and ready for measurements
enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,    ///< uORB handle to write output to
        int cancel_sub,         ///< Cancel subscription from calibration_cancel_subscribe
        int accel_sub,          ///< Orb subcription to accel sensor
        bool    lenient_still_detection);   ///< true: Use more lenient still position detection

/// Returns the human readable string representation of the orientation
/// @param orientation Orientation to return string for, "error" if buffer is too small
const char *detect_orientation_str(enum detect_orientation_return orientation);

enum calibrate_return {
    calibrate_return_ok,
    calibrate_return_error,
    calibrate_return_cancelled
};

typedef calibrate_return(*calibration_from_orientation_worker_t)(detect_orientation_return
        orientation,    ///< Orientation which was detected
        int             cancel_sub, ///< Cancel subscription from calibration_cancel_subscribe
        void                *worker_data);  ///< Opaque worker data

/// Perform calibration sequence which require a rest orientation detection prior to calibration.
/// @return OK: Calibration succeeded, ERROR: Calibration failed
calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,      ///< uORB handle to write output to
        int     cancel_sub,                     ///< Cancel subscription from calibration_cancel_subscribe
        bool    side_data_collected[detect_orientation_side_count], ///< Sides for which data still needs calibration
        calibration_from_orientation_worker_t calibration_worker,       ///< Worker routine which performs the actual calibration
        void    *worker_data,                       ///< Opaque data passed to worker routine
        bool    lenient_still_detection);               ///< true: Use more lenient still position detection

/// Called at the beginning of calibration in order to subscribe to the cancel command
/// @return Handle to vehicle_command subscription
int calibrate_cancel_subscribe(void);

/// Called to cancel the subscription to the cancel command
/// @param cancel_sub Cancel subcription from calibration_cancel_subscribe
void calibrate_cancel_unsubscribe(int cancel_sub);

/// Used to periodically check for a cancel command
bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub,  ///< uORB handle to write output to
                int cancel_sub);    ///< Cancel subcription fromcalibration_cancel_subscribe


// TODO FIXME: below are workarounds for QGC. The issue is that sometimes
// a mavlink log message is overwritten by the following one. A workaround
// is to wait for some time after publishing each message and hope that it
// gets sent out in the meantime.

#define calibration_log_info(_pub, _text, ...)          \
    do { \
        mavlink_and_console_log_info(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);

#define calibration_log_critical(_pub, _text, ...)          \
    do { \
        mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);

#define calibration_log_emergency(_pub, _text, ...)         \
    do { \
        mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);