Utilities.hpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <lib/conversion/rotation.h>
#include <matrix/math.hpp>
namespace calibration
{
/**
* @brief Find sensor's calibration index if it exists.
*
* @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
* @param device_id
* @return int8_t Valid calibration index on success, -1 otherwise
*/
int8_t FindCalibrationIndex(const char *sensor_type, uint32_t device_id);
/**
* @brief Get sensor calibration parameter value.
*
* @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
* @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
* @param instance
* @return int32_t The calibration value.
*/
int32_t GetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance);
/**
* @brief Set a single calibration paramter.
*
* @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
* @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
* @param instance Calibration index (0 - 3)
* @param value int32_t parameter value
* @return true if the parameter name was valid and value saved successfully, false otherwise.
*/
bool SetCalibrationParam(const char *sensor_type, const char *cal_type, uint8_t instance, int32_t value);
/**
* @brief Get the Calibration Params Vector 3f object
*
* @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
* @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
* @param instance Calibration index (0 - 3)
* @return matrix::Vector3f Vector of calibration values.
*/
matrix::Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance);
/**
* @brief Set the Calibration Params Vector 3f object
*
* @param sensor_type Calibration parameter abbreviated sensor string ("ACC", "GYRO", "MAG")
* @param cal_type Calibration parameter abbreviated type ("OFF", "SCALE", "ROT", "PRIO")
* @param instance Calibration index (0 - 3)
* @param values Vector of calibration values x, y, z.
* @return true if the parameter name was valid and all values saved successfully, false otherwise.
*/
bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance,
matrix::Vector3f values);
/**
* @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 GetBoardRotationMatrix();
} // namespace calibration