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#pragma once
#include "sensor/sensor.hpp"
#include "serial.hpp"
// Calibration precision
constexpr double ACCEL_CAL_X_MAX = 0.003;
constexpr double ACCEL_CAL_X_MIN = -0.003;
constexpr double ACCEL_CAL_Y_MAX = 0.003;
constexpr double ACCEL_CAL_Y_MIN = -0.003;
constexpr double ACCEL_CAL_Z_MAX = 0.003;
constexpr double ACCEL_CAL_Z_MIN = -0.003;
constexpr double GYRO_CAL_X_MAX = 0.003;
constexpr double GYRO_CAL_X_MIN = -0.003;
constexpr double GYRO_CAL_Y_MAX = 0.05;
constexpr double GYRO_CAL_Y_MIN = -0.05;
constexpr double GYRO_CAL_Z_MAX = 0.04;
constexpr double GYRO_CAL_Z_MIN = -0.04;
constexpr uint32_t CALIBRATION_TIMEOUT = 120000; // milliseconds
constexpr uint32_t SENSOR_READ_CNT = 20;
constexpr double SENSOR_VAL_ADJUST = 0.05;
class SensorCalibratorValues
{
public:
double accel_x = 0;
double accel_y = 0;
double accel_z = 0;
double gyro_x = 0;
double gyro_y = 0;
double gyro_z = 0;
};
/**
* Sensor calibrator.
*/
class SensorCalibrator
{
public:
/**
* Sensor calibrator.
*
* @param sensor A sensor to calibrate
* @param sout A Serial output stream
*/
SensorCalibrator(Sensor &sensor, SerialStream sout);
/**
* Calibrates the sensor.
*
* @param throttle_time The sensor's throttle time
* @returns Whether or not the calibration succeeded. Will return false on
* timeout.
*/
bool calibrate(unsigned int throttle_time);
private:
void _updateValues(SensorCalibratorValues &values);
void _adjustCalibrationWithValues(const SensorCalibratorValues &values);
static void _adjustValues(SensorCalibratorValues &values);
static bool _isValuesInRange(const SensorCalibratorValues &values);
Sensor &_sensor;
SerialStream _sout;
};
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