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/*
* 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/gyroscope/gyro_offset_over_temp_cal/gyro_offset_over_temp_cal.h"
#if defined(GYRO_CAL_DBG_ENABLED) || defined(OVERTEMPCAL_DBG_ENABLED)
#include "calibration/util/cal_log.h"
#endif // GYRO_CAL_DBG_ENABLED || OVERTEMPCAL_DBG_ENABLE
namespace online_calibration {
// Estimated upper bounds on gyro offset error (i.e., 3-sigma values).
constexpr float GyroOffsetOtcCal::kMediumQualityRps;
constexpr float GyroOffsetOtcCal::kHighQualityRps;
void GyroOffsetOtcCal::Initialize(const GyroCalParameters& gyro_cal_parameters,
const OverTempCalParameters& otc_parameters) {
gyroCalInit(&gyro_cal_, &gyro_cal_parameters);
overTempCalInit(&over_temp_cal_, &otc_parameters);
InitializeCalData();
}
CalibrationTypeFlags GyroOffsetOtcCal::SetMeasurement(
const SensorData& sample) {
// Routes the input sensor sample to the calibration algorithm.
switch (sample.type) {
case SensorType::kAccelerometerMps2:
gyroCalUpdateAccel(&gyro_cal_, sample.timestamp_nanos,
sample.data[SensorIndex::kXAxis],
sample.data[SensorIndex::kYAxis],
sample.data[SensorIndex::kZAxis]); // [m/sec^2]
break;
case SensorType::kGyroscopeRps:
gyroCalUpdateGyro(&gyro_cal_, sample.timestamp_nanos,
sample.data[SensorIndex::kXAxis],
sample.data[SensorIndex::kYAxis],
sample.data[SensorIndex::kZAxis], // [rad/sec]
temperature_celsius_);
break;
case SensorType::kMagnetometerUt:
gyroCalUpdateMag(&gyro_cal_, sample.timestamp_nanos,
sample.data[SensorIndex::kXAxis],
sample.data[SensorIndex::kYAxis],
sample.data[SensorIndex::kZAxis]); // [micro-Tesla]
break;
case SensorType::kTemperatureCelsius:
temperature_celsius_ = sample.data[SensorIndex::kSingleAxis];
overTempCalSetTemperature(&over_temp_cal_, sample.timestamp_nanos,
temperature_celsius_);
break;
default:
// This sample is not required.
return cal_update_polling_flags_;
}
// Checks for a new calibration, and updates the OTC.
if (gyroCalNewBiasAvailable(&gyro_cal_)) {
float offset[3];
float temperature_celsius = kInvalidTemperatureCelsius;
uint64_t calibration_time_nanos = 0;
gyroCalGetBias(&gyro_cal_, &offset[0], &offset[1], &offset[2],
&temperature_celsius, &calibration_time_nanos);
overTempCalUpdateSensorEstimate(&over_temp_cal_, calibration_time_nanos,
offset, temperature_celsius);
}
// Checks the OTC for a new calibration model update.
const bool new_otc_model_update =
overTempCalNewModelUpdateAvailable(&over_temp_cal_);
// Checks for a change in the temperature compensated offset estimate.
const bool new_otc_offset = overTempCalNewOffsetAvailable(&over_temp_cal_);
// Sets the new calibration data.
CalibrationTypeFlags cal_update_callback_flags = CalibrationTypeFlags::NONE;
if (new_otc_offset) {
overTempCalGetOffset(&over_temp_cal_, &cal_data_.offset_temp_celsius,
cal_data_.offset);
cal_data_.cal_update_time_nanos = sample.timestamp_nanos;
cal_update_callback_flags |= CalibrationTypeFlags::BIAS;
}
if (new_otc_model_update) {
// Sets the pointer to the OTC model dataset and the number of model points.
cal_data_.otc_model_data = over_temp_cal_.model_data;
cal_data_.num_model_pts = over_temp_cal_.num_model_pts;
cal_update_callback_flags |= CalibrationTypeFlags::OVER_TEMP;
overTempCalGetModel(&over_temp_cal_, cal_data_.offset,
&cal_data_.offset_temp_celsius,
&cal_data_.cal_update_time_nanos,
cal_data_.temp_sensitivity, cal_data_.temp_intercept);
}
// Sets the new calibration quality, polling flag, and notifies a calibration
// callback listener of the new update.
if (new_otc_model_update || new_otc_offset) {
cal_data_.calibration_quality.level = CalibrationQualityLevel::HIGH_QUALITY;
cal_data_.calibration_quality.value = kHighQualityRps;
cal_update_polling_flags_ |= cal_update_callback_flags;
OnNotifyCalibrationUpdate(cal_update_callback_flags);
}
// Print debug data reports.
#ifdef GYRO_CAL_DBG_ENABLED
gyroCalDebugPrint(&gyro_cal_, sample.timestamp_nanos);
#endif // GYRO_CAL_DBG_ENABLED
#ifdef OVERTEMPCAL_DBG_ENABLED
overTempCalDebugPrint(&over_temp_cal_, sample.timestamp_nanos);
#endif // OVERTEMPCAL_DBG_ENABLED
return cal_update_polling_flags_;
}
bool GyroOffsetOtcCal::SetInitialCalibration(
const CalibrationDataThreeAxis& input_cal_data) {
// Checks that the input calibration type matches the algorithm type.
if (input_cal_data.type != get_sensor_type()) {
#if defined(GYRO_CAL_DBG_ENABLED) || defined(OVERTEMPCAL_DBG_ENABLED)
CAL_DEBUG_LOG("[GyroOffsetOtcCal]",
"SetInitialCalibration failed due to wrong sensor type.");
#endif // GYRO_CAL_DBG_ENABLED || OVERTEMPCAL_DBG_ENABLE
return false;
}
// Sync's all initial calibration data.
cal_data_ = input_cal_data;
// Sets the initial calibration data (offset and OTC model parameters).
gyroCalSetBias(&gyro_cal_, cal_data_.offset[0], cal_data_.offset[1],
cal_data_.offset[2], cal_data_.offset_temp_celsius,
cal_data_.cal_update_time_nanos);
overTempCalSetModel(&over_temp_cal_, cal_data_.offset,
cal_data_.offset_temp_celsius,
cal_data_.cal_update_time_nanos,
cal_data_.temp_sensitivity, cal_data_.temp_intercept,
/*jump_start_model=*/false);
// Sets the calibration quality.
cal_data_.calibration_quality.level = CalibrationQualityLevel::MEDIUM_QUALITY;
cal_data_.calibration_quality.value = kMediumQualityRps;
const bool load_new_model_dataset =
(input_cal_data.otc_model_data != nullptr &&
input_cal_data.num_model_pts > 0);
if (load_new_model_dataset) {
// Loads the new model dataset and uses it to update the linear model
// parameters.
overTempCalSetModelData(&over_temp_cal_, input_cal_data.num_model_pts,
cal_data_.cal_update_time_nanos,
input_cal_data.otc_model_data);
}
// Sets the pointer to the OTC model dataset and the number of model points.
cal_data_.otc_model_data = over_temp_cal_.model_data;
cal_data_.num_model_pts = over_temp_cal_.num_model_pts;
return true;
}
} // namespace online_calibration
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