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commander: accel calibration fail early on bad rotations

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This commit is contained in:
Daniel Agar
2020-08-21 20:00:41 -04:00
parent 28d52aef1f
commit 9feea0e2fd
1 changed files with 56 additions and 0 deletions
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src/modules/commander/accelerometer_calibration.cpp
+56
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@@ -246,6 +246,62 @@ static calibrate_return accel_calibration_worker(detect_orientation_return orien
read_accelerometer_avg(worker_data->accel_ref, orientation, samples_num); read_accelerometer_avg(worker_data->accel_ref, orientation, samples_num);
// check accel
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
switch (orientation) {
case ORIENTATION_TAIL_DOWN: // [ g, 0, 0 ]
if (worker_data->accel_ref[accel_index][ORIENTATION_TAIL_DOWN][0] < 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid X-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
case ORIENTATION_NOSE_DOWN: // [ -g, 0, 0 ]
if (worker_data->accel_ref[accel_index][ORIENTATION_NOSE_DOWN][0] > 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid X-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
case ORIENTATION_LEFT: // [ 0, g, 0 ]
if (worker_data->accel_ref[accel_index][ORIENTATION_LEFT][1] < 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid Y-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
case ORIENTATION_RIGHT: // [ 0, -g, 0 ]
if (worker_data->accel_ref[accel_index][ORIENTATION_RIGHT][1] > 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid Y-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
case ORIENTATION_UPSIDE_DOWN: // [ 0, 0, g ]
if (worker_data->accel_ref[accel_index][ORIENTATION_UPSIDE_DOWN][2] < 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid Z-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
case ORIENTATION_RIGHTSIDE_UP: // [ 0, 0, -g ]
if (worker_data->accel_ref[accel_index][ORIENTATION_RIGHTSIDE_UP][2] > 0.f) {
calibration_log_emergency(worker_data->mavlink_log_pub, "[cal] accel %d invalid Z-axis, check rotation", accel_index);
return calibrate_return_error;
}
break;
default:
break;
}
}
calibration_log_info(worker_data->mavlink_log_pub, "[cal] %s side result: [%.3f %.3f %.3f]", calibration_log_info(worker_data->mavlink_log_pub, "[cal] %s side result: [%.3f %.3f %.3f]",
detect_orientation_str(orientation), detect_orientation_str(orientation),
(double)worker_data->accel_ref[0][orientation][0], (double)worker_data->accel_ref[0][orientation][0],