blob: a772ae95d9722edc675b44ba34a94f2c420a59de (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
|
#include "calibration.hpp"
#include "utils/general.hpp"
#include "utils/time.hpp"
SensorCalibrator::SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout)
: _sensor(sensor), _sout(sout)
{
_resetValues();
}
bool SensorCalibrator::calibrate(unsigned int throttle_time)
{
bool done = false;
Time start_time = time_now();
while (!done)
{
if (time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
{
return false;
}
delay(throttle_time);
_resetValues();
for (int i = 0; i < SENSOR_READ_CNT; i++)
{
_updateValues();
}
_adjustValues();
_sout << "Accel X: " << _accel_x << " "
<< "Accel Y: " << _accel_y << " "
<< "Accel Z: " << _accel_z << " "
<< "Gyro X: " << _gyro_x << " "
<< "Gyro Y: " << _gyro_y << " "
<< "Gyro Z: " << _gyro_z << endl;
if (_isValuesInRange())
{
done = true;
}
_adjustCalibration();
}
return true;
}
void SensorCalibrator::_resetValues()
{
_accel_x = 0;
_accel_y = 0;
_accel_z = 0;
_gyro_x = 0;
_gyro_y = 0;
_gyro_z = 0;
}
void SensorCalibrator::_updateValues()
{
_sensor->read();
_accel_x -= _sensor->getAccelX();
_accel_y -= _sensor->getAccelY();
_accel_z -= _sensor->getAccelZ();
_gyro_x -= _sensor->getGyroX();
_gyro_y -= _sensor->getGyroY();
_gyro_z -= _sensor->getGyroZ();
}
void SensorCalibrator::_adjustValues()
{
_accel_x *= SENSOR_VAL_ADJUST;
_accel_y *= SENSOR_VAL_ADJUST;
_accel_z *= SENSOR_VAL_ADJUST;
_gyro_x *= SENSOR_VAL_ADJUST;
_gyro_y *= SENSOR_VAL_ADJUST;
_gyro_z *= SENSOR_VAL_ADJUST;
}
bool SensorCalibrator::_isValuesInRange()
{
return (_accel_x < ACCEL_CAL_X_MAX && _accel_x > ACCEL_CAL_X_MIN &&
_accel_y < ACCEL_CAL_Y_MAX && _accel_y > ACCEL_CAL_Y_MIN &&
_accel_z < ACCEL_CAL_Z_MAX && _accel_z > ACCEL_CAL_Z_MIN &&
_gyro_x < GYRO_CAL_X_MAX && _gyro_x > GYRO_CAL_X_MIN &&
_gyro_y < GYRO_CAL_Y_MAX && _gyro_y > GYRO_CAL_Y_MIN &&
_gyro_z < GYRO_CAL_Z_MAX && _gyro_z > GYRO_CAL_Z_MIN);
}
void SensorCalibrator::_adjustCalibration()
{
_sensor->accel_cal_x += _accel_x;
_sensor->accel_cal_y += _accel_y;
_sensor->accel_cal_z += _accel_z;
_sensor->gyro_cal_x += _gyro_x;
_sensor->gyro_cal_y += _gyro_y;
_sensor->gyro_cal_z += _gyro_z;
}
|
