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#include "calibration.hpp"
#include "common/time.hpp"
#include "utils.hpp"
SensorCalibrator::SensorCalibrator(common::SharedPtr<Sensor> sensor,
common::SharedPtr<SerialStream> sout)
: _sensor(sensor), _sout(sout)
{
}
bool SensorCalibrator::calibrate(unsigned int throttle_time)
{
bool done = false;
auto start_time = common::time_now();
while (!done)
{
if (common::time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
{
return false;
}
delay(throttle_time);
auto values = SensorCalibratorValues();
for (unsigned int i = 0U; i < SENSOR_READ_CNT; i++)
{
_updateValues(values);
}
_adjustValues(values);
*_sout << "Accel X: " << values.accel_x << " "
<< "Accel Y: " << values.accel_y << " "
<< "Accel Z: " << values.accel_z << " "
<< "Gyro X: " << values.gyro_x << " "
<< "Gyro Y: " << values.gyro_y << " "
<< "Gyro Z: " << values.gyro_z << endl;
if (_isValuesInRange(values))
{
done = true;
}
_adjustCalibrationWithValues(values);
}
return true;
}
void SensorCalibrator::_updateValues(SensorCalibratorValues &values)
{
_sensor->read();
values.accel_x -= _sensor->getAccelX();
values.accel_y -= _sensor->getAccelY();
values.accel_z -= _sensor->getAccelZ();
values.gyro_x -= _sensor->getGyroX();
values.gyro_y -= _sensor->getGyroY();
values.gyro_z -= _sensor->getGyroZ();
}
void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values)
{
_sensor->accel_cal_x += values.accel_x;
_sensor->accel_cal_y += values.accel_y;
_sensor->accel_cal_z += values.accel_z;
_sensor->gyro_cal_x += values.gyro_x;
_sensor->gyro_cal_y += values.gyro_y;
_sensor->gyro_cal_z += values.gyro_z;
}
void SensorCalibrator::_adjustValues(SensorCalibratorValues &values)
{
values.accel_x *= SENSOR_VAL_ADJUST;
values.accel_y *= SENSOR_VAL_ADJUST;
values.accel_z *= SENSOR_VAL_ADJUST;
values.gyro_x *= SENSOR_VAL_ADJUST;
values.gyro_y *= SENSOR_VAL_ADJUST;
values.gyro_z *= SENSOR_VAL_ADJUST;
}
bool SensorCalibrator::_isValuesInRange(const SensorCalibratorValues &values)
{
return (values.accel_x < ACCEL_CAL_X_MAX && values.accel_x > ACCEL_CAL_X_MIN &&
values.accel_y < ACCEL_CAL_Y_MAX && values.accel_y > ACCEL_CAL_Y_MIN &&
values.accel_z < ACCEL_CAL_Z_MAX && values.accel_z > ACCEL_CAL_Z_MIN &&
values.gyro_x < GYRO_CAL_X_MAX && values.gyro_x > GYRO_CAL_X_MIN &&
values.gyro_y < GYRO_CAL_Y_MAX && values.gyro_y > GYRO_CAL_Y_MIN &&
values.gyro_z < GYRO_CAL_Z_MAX && values.gyro_z > GYRO_CAL_Z_MIN);
}
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