calibration_routines.h
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/****************************************************************************
*
* 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
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
// The order of these cannot change since the calibration calculations depend on them in this order
enum detect_orientation_return {
ORIENTATION_TAIL_DOWN,
ORIENTATION_NOSE_DOWN,
ORIENTATION_LEFT,
ORIENTATION_RIGHT,
ORIENTATION_UPSIDE_DOWN,
ORIENTATION_RIGHTSIDE_UP,
ORIENTATION_ERROR
};
static constexpr 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
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
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
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
/// Used to periodically check for a cancel command
bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &calibration_started);
// 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_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);