MagnetometerBiasEstimator.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.
*
****************************************************************************/
/**
* @file MagnetometerBiasEstimator.hpp
*
* Runs the FieldSensorBiasEstimator with PX4 magnetometer and gyroscope data and saves the result to the calibration parameters.
*
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include <matrix/matrix/math.hpp>
#include <lib/conversion/rotation.h>
#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_armed.h>
#include <FieldSensorBiasEstimator.hpp>
class MagnetometerBiasEstimator : public ModuleParams
{
public:
MagnetometerBiasEstimator(const matrix::Dcmf &board_rotation);
~MagnetometerBiasEstimator() = default;
/**
* Update the estimator and extract updated magnetometer biases.
* @param mag_raw struct containing the magnetometer data to operate on (gets adjusted with current estimate)
* @param raw struct containing the gyroscope data to use
*/
void extractBias(vehicle_magnetometer_s &mag_raw, const sensor_combined_s &gyro_raw);
private:
void updateEstimate(const matrix::Vector3f &gyro, const matrix::Vector3f &mag, const float dt);
void saveBias(const matrix::Vector3f &bias);
FieldSensorBiasEstimator _field_sensor_bias_estimator{};
const matrix::Dcmf &_board_rotation;
hrt_abstime _time_stamp_last_loop{0};
hrt_abstime _time_stamp_last_save{0};
uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::CAL_MAG0_XOFF>) _param_cal_mag0_xoff,
(ParamFloat<px4::params::CAL_MAG0_YOFF>) _param_cal_mag0_yoff,
(ParamFloat<px4::params::CAL_MAG0_ZOFF>) _param_cal_mag0_zoff
)
};