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
|
/*
* Copyright (C) 2018 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "calibration/online_calibration/accelerometer/accel_offset_cal/accel_offset_cal.h"
#ifdef ACCEL_CAL_DBG_ENABLED
#include "calibration/util/cal_log.h"
#endif // ACCEL_CAL_DBG_ENABLED
namespace online_calibration {
void AccelOffsetCal::Initialize(
const AccelCalParameters& accel_cal_parameters) {
accelCalInit(&accel_cal_, &accel_cal_parameters);
InitializeCalData();
}
CalibrationTypeFlags AccelOffsetCal::SetMeasurement(const SensorData& sample) {
// Routes the input sensor sample to the calibration algorithm.
switch (sample.type) {
case SensorType::kAccelerometerMps2:
accelCalRun(&accel_cal_, sample.timestamp_nanos,
sample.data[SensorIndex::kXAxis],
sample.data[SensorIndex::kYAxis],
sample.data[SensorIndex::kZAxis], // [m/sec^2]
temperature_celsius_);
#ifdef ACCEL_CAL_DBG_ENABLED
// Prints debug data report.
accelCalDebPrint(&accel_cal_, temperature_celsius_);
#endif
break;
case SensorType::kTemperatureCelsius:
temperature_celsius_ = sample.data[SensorIndex::kSingleAxis];
break;
default:
// This sample is not required.
return cal_update_polling_flags_;
}
// Checks for a new offset estimate, and updates the calibration data.
if (accelCalNewBiasAvailable(&accel_cal_)) {
accelCalUpdateBias(&accel_cal_, &cal_data_.offset[0], &cal_data_.offset[1],
&cal_data_.offset[2]);
cal_data_.calibration_quality.level = CalibrationQualityLevel::HIGH_QUALITY;
cal_data_.calibration_quality.value = kUndeterminedCalibrationQuality;
cal_data_.offset_temp_celsius = temperature_celsius_;
cal_data_.cal_update_time_nanos = sample.timestamp_nanos;
cal_update_polling_flags_ = CalibrationTypeFlags::BIAS;
OnNotifyCalibrationUpdate(CalibrationTypeFlags::BIAS);
}
return cal_update_polling_flags_;
}
bool AccelOffsetCal::SetInitialCalibration(
const CalibrationDataThreeAxis& input_cal_data) {
// Checks that the input calibration type matches the algorithm type.
if (input_cal_data.type != get_sensor_type()) {
#ifdef ACCEL_CAL_DBG_ENABLED
CAL_DEBUG_LOG("[AccelOffsetCal]",
"SetInitialCalibration failed due to wrong sensor type.");
#endif // ACCEL_CAL_DBG_ENABLED
return false;
}
// Sets the accelerometer algorithm's calibration data.
accelCalBiasSet(&accel_cal_, input_cal_data.offset[0],
input_cal_data.offset[1], input_cal_data.offset[2]);
// Sync's all initial calibration data.
cal_data_ = input_cal_data;
// Sets the calibration quality.
cal_data_.calibration_quality.level = CalibrationQualityLevel::LOW_QUALITY;
cal_data_.calibration_quality.value = kUndeterminedCalibrationQuality;
return true;
}
} // namespace online_calibration
|
