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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_MAGNETOMETER_MAG_DIVERSE_CAL_MAG_DIVERSE_CAL_H_
#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_MAGNETOMETER_MAG_DIVERSE_CAL_MAG_DIVERSE_CAL_H_
#include "calibration/diversity_checker/diversity_checker.h"
#include "calibration/magnetometer/mag_cal/mag_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"
namespace online_calibration {
/*
* This class is a wrapper for the magnetometer offset calibration with
* diversity checking.
*
* NOTE: Calibration quality reporting:
* Initialize --> CalibrationQualityLevel::UNDETERMINED
* CalibrationQuality.value =
* kUndeterminedCalibrationQuality
* SetInitialCalibration --> CalibrationQualityLevel::UNDETERMINED
* CalibrationQuality.value =
* kUndeterminedCalibrationQuality
* New Calibration Update --> CalibrationQualityLevel::HIGH_QUALITY
* CalibrationQuality.value = kHighQualityUt
*/
class MagDiverseCal final : public OnlineCalibration<CalibrationDataThreeAxis> {
public:
// Empirically estimated upper bounds on offset error.
static constexpr float kHighQualityUt = 5.0f; // Units of micro Tesla
MagDiverseCal() = default;
// Creates an MagDiverseCal with specified algorithm parameters.
MagDiverseCal(const MagCalParameters& mag_cal_parameters,
const DiversityCheckerParameters& diversity_parameters) {
Initialize(mag_cal_parameters, diversity_parameters);
}
// Initializes with specified algorithm parameters.
void Initialize(const MagCalParameters& mag_cal_parameters,
const DiversityCheckerParameters& diversity_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;
// Returns the calibration sensor type.
SensorType get_sensor_type() const final {
return SensorType::kMagnetometerUt;
};
// Accessor for the runtime calibration object.
const MagCal& get_mag_cal() const { return mag_cal_; }
private:
// MagCal algorithm data structure.
MagCal mag_cal_;
};
} // namespace online_calibration
#endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_MAGNETOMETER_MAG_DIVERSE_CAL_MAG_DIVERSE_CAL_H_
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