Magnetometer.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 <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
namespace calibration
{
class Magnetometer
{
public:
static constexpr int MAX_SENSOR_COUNT = 4;
static constexpr uint8_t DEFAULT_PRIORITY = 50;
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
static constexpr const char *SensorString() { return "MAG"; }
Magnetometer();
explicit Magnetometer(uint32_t device_id, bool external = false);
~Magnetometer() = default;
void PrintStatus();
void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
void set_device_id(uint32_t device_id, bool external = false);
void set_external(bool external = true);
bool set_offset(const matrix::Vector3f &offset);
bool set_scale(const matrix::Vector3f &scale);
bool set_offdiagonal(const matrix::Vector3f &offdiagonal);
void set_rotation(Rotation rotation);
uint8_t calibration_count() const { return _calibration_count; }
uint32_t device_id() const { return _device_id; }
bool enabled() const { return (_priority > 0); }
bool external() const { return _external; }
const matrix::Vector3f &offset() const { return _offset; }
const int32_t &priority() const { return _priority; }
const matrix::Dcmf &rotation() const { return _rotation; }
const Rotation &rotation_enum() const { return _rotation_enum; }
const matrix::Matrix3f &scale() const { return _scale; }
// apply offsets and scale
// rotate corrected measurements from sensor to body frame
inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
{
return _rotation * (_scale * ((data + _power * _power_compensation) - _offset));
}
// Compute sensor offset from bias (board frame)
matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
{
return _scale.I() * _rotation.I() * bias + _offset;
}
bool ParametersSave();
void ParametersUpdate();
void Reset();
void UpdatePower(float power) { _power = power; }
private:
Rotation _rotation_enum{ROTATION_NONE};
matrix::Dcmf _rotation;
matrix::Vector3f _offset;
matrix::Matrix3f _scale;
matrix::Vector3f _power_compensation;
float _power{0.f};
int8_t _calibration_index{-1};
uint32_t _device_id{0};
int32_t _priority{-1};
bool _external{false};
uint8_t _calibration_count{0};
};
} // namespace calibration