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Apply sensor calibration after coordinate frame rotation

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This commit is contained in:
Michael Schaeuble
2016-07-21 17:06:40 +02:00
committed by Lorenz Meier
parent e600e29ea4
commit 0b7fa4f5ad
1 changed files with 17 additions and 15 deletions
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src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
+17 -15
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@@ -90,6 +90,8 @@ public:
*/ */
int stop(); int stop();
void print_calibration();
private: private:
int _publish(struct mag_sensor_data &data); int _publish(struct mag_sensor_data &data);
@@ -247,6 +249,15 @@ void DfAK8963Wrapper::_update_mag_calibration()
} }
} }
void DfAK8963Wrapper::print_calibration()
{
PX4_INFO("calibration x_offset: %f", (double)_mag_calibration.x_offset);
PX4_INFO("calibration x_scale: %f", (double)_mag_calibration.x_scale);
PX4_INFO("calibration y_offset: %f", (double)_mag_calibration.y_offset);
PX4_INFO("calibration y_scale: %f", (double)_mag_calibration.y_scale);
PX4_INFO("calibration z_offset: %f", (double)_mag_calibration.z_offset);
PX4_INFO("calibration z_scale: %f", (double)_mag_calibration.z_scale);
}
int DfAK8963Wrapper::_publish(struct mag_sensor_data &data) int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
{ {
@@ -267,30 +278,19 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
mag_report mag_report = {}; mag_report mag_report = {};
mag_report.timestamp = hrt_absolute_time(); mag_report.timestamp = hrt_absolute_time();
// TODO: check sensor orientation
/* The standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y. */
const float tmp = data.field_x_ga;
data.field_x_ga = -data.field_y_ga;
data.field_y_ga = tmp;
// TODO: remove these (or get the values) // TODO: remove these (or get the values)
mag_report.x_raw = NAN; mag_report.x_raw = NAN;
mag_report.y_raw = NAN; mag_report.y_raw = NAN;
mag_report.z_raw = NAN; mag_report.z_raw = NAN;
math::Vector<3> mag_val(data.field_x_ga, data.field_y_ga, data.field_z_ga);
math::Vector<3> mag_val((data.field_x_ga - _mag_calibration.x_offset) * _mag_calibration.x_scale,
(data.field_y_ga - _mag_calibration.y_offset) * _mag_calibration.y_scale,
(data.field_z_ga - _mag_calibration.z_offset) * _mag_calibration.z_scale);
// apply sensor rotation on the accel measurement // apply sensor rotation on the accel measurement
mag_val = _rotation_matrix * mag_val; mag_val = _rotation_matrix * mag_val;
mag_report.x = mag_val(0); mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;;
mag_report.y = mag_val(1); mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;;
mag_report.z = mag_val(2); mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;;
// TODO: get these right // TODO: get these right
@@ -394,6 +394,8 @@ info()
PX4_DEBUG("state @ %p", g_dev); PX4_DEBUG("state @ %p", g_dev);
g_dev->print_calibration();
return 0; return 0;
} }