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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.
*/
#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_GYROSCOPE_GYRO_OFFSET_OVER_TEMP_CAL_GYRO_OFFSET_OVER_TEMP_CAL_H_
#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_GYROSCOPE_GYRO_OFFSET_OVER_TEMP_CAL_GYRO_OFFSET_OVER_TEMP_CAL_H_
#include "calibration/gyroscope/gyro_cal.h"
#include "calibration/online_calibration/common_data/calibration_callback.h"
#include "calibration/online_calibration/common_data/calibration_data.h"
#include "calibration/online_calibration/common_data/online_calibration.h"
#include "calibration/online_calibration/common_data/sensor_data.h"
#include "calibration/over_temp/over_temp_cal.h"
namespace online_calibration {
/*
* This class is a wrapper for the gyroscope offset calibration with
* over-temperature compensation (OTC).
*
* NOTE: Calibration quality reporting:
* Initialize --> CalibrationQualityLevel::UNDETERMINED
* CalibrationQuality.value =
* kUndeterminedCalibrationQuality
* SetInitialCalibration --> CalibrationQualityLevel::MEDIUM_QUALITY
* CalibrationQuality.value = kMediumQualityRps
* New Calibration Update --> CalibrationQualityLevel::HIGH_QUALITY
* CalibrationQuality.value = kHighQualityRps
*/
class GyroOffsetOtcCal final
: public OnlineCalibration<CalibrationDataThreeAxis> {
public:
// Estimated upper bounds on gyro offset error (i.e., 3-sigma values).
static constexpr float kMediumQualityRps = 5.23599e-3f; // 300 mDPS
static constexpr float kHighQualityRps = 1.04720e-3f; // 60 mDPS
// Default constructor.
GyroOffsetOtcCal() = default;
// Creates an GyroOffsetOtcCal with specified algorithm parameters.
GyroOffsetOtcCal(const GyroCalParameters& gyro_cal_parameters,
const OverTempCalParameters& otc_parameters) {
Initialize(gyro_cal_parameters, otc_parameters);
}
// Initializes with specified algorithm parameters, and resets the calibration
// data.
void Initialize(const GyroCalParameters& gyro_cal_parameters,
const OverTempCalParameters& otc_parameters);
// Sends new sensor data to the calibration algorithm, and returns the state
// of the calibration update flags, 'cal_update_polling_flags_'.
CalibrationTypeFlags SetMeasurement(const SensorData& sample) final;
// Sets the initial calibration data of the calibration algorithm. Returns
// true if set successfully.
bool SetInitialCalibration(
const CalibrationDataThreeAxis& input_cal_data) final;
// Indicates which values are modified by this calibration algorithm.
CalibrationTypeFlags which_calibration_flags() const final {
return CalibrationTypeFlags::BIAS | CalibrationTypeFlags::OVER_TEMP |
CalibrationTypeFlags::OTC_STILL_BIAS;
}
// Returns the calibration sensor type.
SensorType get_sensor_type() const final {
return SensorType::kGyroscopeRps;
};
// Accessors for the runtime calibration objects.
const GyroCal& get_gyro_cal() const { return gyro_cal_; }
const OverTempCal& get_over_temp_cal() const { return over_temp_cal_; }
// Optional function used by calibration algorithms to maintain awareness of
// of sensor enable states.
void UpdateSensorEnableState(SensorType sensor_type, uint8_t sensor_index,
bool is_enabled) final;
private:
// GyroCal algorithm data structure.
GyroCal gyro_cal_;
// Over-temperature offset compensation algorithm data structure.
OverTempCal over_temp_cal_;
// Tracks the gyro sensor enable state.
bool gyro_is_enabled_;
};
} // namespace online_calibration
#endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_GYROSCOPE_GYRO_OFFSET_OVER_TEMP_CAL_GYRO_OFFSET_OVER_TEMP_CAL_H_
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