#include <AccelCalibrator.h>

Collaboration diagram for AccelCalibrator:

Classes
struct	AccelSample

struct	param_t

union	param_u

Public Member Functions
	AccelCalibrator ()

void	start (enum accel_cal_fit_type_t fit_type=ACCEL_CAL_AXIS_ALIGNED_ELLIPSOID, uint8_t num_samples=6, float sample_time=0.5f)

void	start (enum accel_cal_fit_type_t fit_type, uint8_t num_samples, float sample_time, Vector3f offset, Vector3f diag, Vector3f offdiag)

void	clear ()

bool	running ()

void	collect_sample ()

void	check_for_timeout ()

void	get_calibration (Vector3f &offset) const

void	get_calibration (Vector3f &offset, Vector3f &diag) const

void	get_calibration (Vector3f &offset, Vector3f &diag, Vector3f &offdiag) const

void	new_sample (const Vector3f &delta_velocity, float dt)

bool	get_sample (uint8_t i, Vector3f &s) const

bool	get_sample_corrected (uint8_t i, Vector3f &s) const

void	set_tolerance (float tolerance)

enum accel_cal_status_t	get_status () const

uint8_t	get_num_samples_collected () const

float	get_fitness () const

Private Types
typedef VectorN< float, ACCEL_CAL_MAX_NUM_PARAMS >	VectorP

Private Member Functions
bool	accept_sample (const Vector3f &sample)

void	reset_state ()

void	set_status (enum accel_cal_status_t)

bool	accept_result () const

uint8_t	get_num_params () const

float	calc_residual (const Vector3f &sample, const struct param_t &params) const

float	calc_mean_squared_residuals () const

float	calc_mean_squared_residuals (const struct param_t &params) const

void	calc_jacob (const Vector3f &sample, const struct param_t &params, VectorP &ret) const

void	run_fit (uint8_t max_iterations, float &fitness)

Private Attributes
uint8_t	_conf_num_samples

float	_conf_sample_time

enum accel_cal_fit_type_t	_conf_fit_type

float	_conf_tolerance

accel_cal_status_t	_status

struct AccelSample *	_sample_buffer

uint8_t	_samples_collected

union param_u	_param

float	_fitness

uint32_t	_last_samp_frag_collected_ms

float	_min_sample_dist

Detailed Description

Definition at line 34 of file AccelCalibrator.h.

Member Typedef Documentation

◆ VectorP

typedef VectorN<float, ACCEL_CAL_MAX_NUM_PARAMS> AccelCalibrator::VectorP

private

Definition at line 94 of file AccelCalibrator.h.

Constructor & Destructor Documentation

◆ AccelCalibrator()

AccelCalibrator::AccelCalibrator ( )

Definition at line 30 of file AccelCalibrator.cpp.

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Member Function Documentation

◆ accept_result()

bool AccelCalibrator::accept_result ( ) const

private

Definition at line 153 of file AccelCalibrator.cpp.

Referenced by new_sample().

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◆ accept_sample()

bool AccelCalibrator::accept_sample ( const Vector3f & sample )

private

Definition at line 240 of file AccelCalibrator.cpp.

Referenced by new_sample().

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◆ calc_jacob()

void AccelCalibrator::calc_jacob	(	const Vector3f &	sample,
		const struct param_t &	params,
		VectorP &	ret
	)		const

private

Definition at line 421 of file AccelCalibrator.cpp.

Referenced by run_fit().

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◆ calc_mean_squared_residuals() [1/2]

float AccelCalibrator::calc_mean_squared_residuals ( ) const

private

Definition at line 396 of file AccelCalibrator.cpp.

Referenced by run_fit().

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◆ calc_mean_squared_residuals() [2/2]

float AccelCalibrator::calc_mean_squared_residuals ( const struct param_t & params ) const

private

Definition at line 403 of file AccelCalibrator.cpp.

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◆ calc_residual()

float AccelCalibrator::calc_residual	(	const Vector3f &	sample,
		const struct param_t &	params
	)		const

private

Definition at line 385 of file AccelCalibrator.cpp.

Referenced by calc_mean_squared_residuals(), and run_fit().

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◆ check_for_timeout()

void AccelCalibrator::check_for_timeout ( )

Definition at line 195 of file AccelCalibrator.cpp.

Referenced by AP_AccelCal::update().

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◆ clear()

void AccelCalibrator::clear ( )

Definition at line 99 of file AccelCalibrator.cpp.

Referenced by AccelCalibrator(), AP_AccelCal::clear(), AP_AccelCal::start(), and start().

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◆ collect_sample()

void AccelCalibrator::collect_sample ( )

Definition at line 109 of file AccelCalibrator.cpp.

Referenced by AP_AccelCal::collect_sample().

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◆ get_calibration() [1/3]

void AccelCalibrator::get_calibration ( Vector3f & offset ) const

Definition at line 203 of file AccelCalibrator.cpp.

Referenced by AP_InertialSensor::_acal_save_calibrations().

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◆ get_calibration() [2/3]

void AccelCalibrator::get_calibration	(	Vector3f &	offset,
		Vector3f &	diag
	)		const

Definition at line 208 of file AccelCalibrator.cpp.

◆ get_calibration() [3/3]

void AccelCalibrator::get_calibration	(	Vector3f &	offset,
		Vector3f &	diag,
		Vector3f &	offdiag
	)		const

Definition at line 214 of file AccelCalibrator.cpp.

◆ get_fitness()

float AccelCalibrator::get_fitness ( ) const

inline

Definition at line 81 of file AccelCalibrator.h.

◆ get_num_params()

uint8_t AccelCalibrator::get_num_params ( ) const

private

Definition at line 457 of file AccelCalibrator.cpp.

Referenced by run_fit().

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◆ get_num_samples_collected()

uint8_t AccelCalibrator::get_num_samples_collected ( ) const

inline

Definition at line 78 of file AccelCalibrator.h.

Referenced by AP_InertialSensor::get_primary_accel_cal_sample_avg(), and AP_AccelCal::update().

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◆ get_sample()

bool AccelCalibrator::get_sample	(	uint8_t	i,
		Vector3f &	s
	)		const

Definition at line 168 of file AccelCalibrator.cpp.

Referenced by accept_sample(), calc_mean_squared_residuals(), get_sample_corrected(), and run_fit().

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◆ get_sample_corrected()

bool AccelCalibrator::get_sample_corrected	(	uint8_t	i,
		Vector3f &	s
	)		const

Definition at line 178 of file AccelCalibrator.cpp.

Referenced by AP_InertialSensor::get_fixed_mount_accel_cal_sample(), and AP_InertialSensor::get_primary_accel_cal_sample_avg().

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◆ get_status()

enum accel_cal_status_t AccelCalibrator::get_status ( ) const

inline

Definition at line 75 of file AccelCalibrator.h.

Referenced by AP_InertialSensor_Backend::_publish_accel(), and AP_AccelCal::update_status().

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◆ new_sample()

void AccelCalibrator::new_sample	(	const Vector3f &	delta_velocity,
		float	dt
	)

Definition at line 114 of file AccelCalibrator.cpp.

Referenced by AP_InertialSensor_Backend::_publish_accel().

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◆ reset_state()

void AccelCalibrator::reset_state ( )

private

◆ run_fit()

void AccelCalibrator::run_fit	(	uint8_t	max_iterations,
		float &	fitness
	)

private

Definition at line 326 of file AccelCalibrator.cpp.

Referenced by new_sample().

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◆ running()

bool AccelCalibrator::running ( )

Definition at line 104 of file AccelCalibrator.cpp.

Referenced by set_status().

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◆ set_status()

void AccelCalibrator::set_status ( enum accel_cal_status_t status )

private

Definition at line 258 of file AccelCalibrator.cpp.

Referenced by check_for_timeout(), clear(), collect_sample(), new_sample(), and start().

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◆ set_tolerance()

void AccelCalibrator::set_tolerance ( float tolerance )

inline

Definition at line 72 of file AccelCalibrator.h.

◆ start() [1/2]

void AccelCalibrator::start	(	enum accel_cal_fit_type_t	fit_type = `ACCEL_CAL_AXIS_ALIGNED_ELLIPSOID`,
		uint8_t	num_samples = `6`,
		float	sample_time = `0.5f`
	)

Definition at line 54 of file AccelCalibrator.cpp.

Referenced by AP_AccelCal::start().

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◆ start() [2/2]

void AccelCalibrator::start	(	enum accel_cal_fit_type_t	fit_type,
		uint8_t	num_samples,
		float	sample_time,
		Vector3f	offset,
		Vector3f	diag,
		Vector3f	offdiag
	)

Definition at line 58 of file AccelCalibrator.cpp.

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Member Data Documentation

◆ _conf_fit_type

enum accel_cal_fit_type_t AccelCalibrator::_conf_fit_type

private

Definition at line 110 of file AccelCalibrator.h.

Referenced by calc_jacob(), get_num_params(), and start().

◆ _conf_num_samples

uint8_t AccelCalibrator::_conf_num_samples

private

Definition at line 108 of file AccelCalibrator.h.

Referenced by new_sample(), set_status(), and start().

◆ _conf_sample_time

float AccelCalibrator::_conf_sample_time

private

Definition at line 109 of file AccelCalibrator.h.

Referenced by check_for_timeout(), new_sample(), and start().

◆ _conf_tolerance

float AccelCalibrator::_conf_tolerance

private

Definition at line 111 of file AccelCalibrator.h.

Referenced by new_sample(), and set_tolerance().

◆ _fitness

float AccelCalibrator::_fitness

private

Definition at line 118 of file AccelCalibrator.h.

Referenced by get_fitness(), and new_sample().

◆ _last_samp_frag_collected_ms

uint32_t AccelCalibrator::_last_samp_frag_collected_ms

private

Definition at line 119 of file AccelCalibrator.h.

Referenced by check_for_timeout(), new_sample(), and set_status().

◆ _min_sample_dist

float AccelCalibrator::_min_sample_dist

private

Definition at line 120 of file AccelCalibrator.h.

Referenced by accept_sample(), and start().

◆ _param

union param_u AccelCalibrator::_param

private

Definition at line 117 of file AccelCalibrator.h.

Referenced by accept_result(), calc_mean_squared_residuals(), get_calibration(), get_sample_corrected(), run_fit(), and start().

◆ _sample_buffer

struct AccelSample* AccelCalibrator::_sample_buffer

private

Definition at line 115 of file AccelCalibrator.h.

Referenced by accept_sample(), calc_mean_squared_residuals(), get_sample(), new_sample(), run_fit(), and set_status().

◆ _samples_collected

uint8_t AccelCalibrator::_samples_collected

private

Definition at line 116 of file AccelCalibrator.h.

Referenced by accept_sample(), calc_mean_squared_residuals(), get_num_samples_collected(), get_sample(), new_sample(), run_fit(), and set_status().

◆ _status

accel_cal_status_t AccelCalibrator::_status

private

Definition at line 114 of file AccelCalibrator.h.

Referenced by check_for_timeout(), get_sample_corrected(), get_status(), new_sample(), running(), set_status(), and start().

The documentation for this class was generated from the following files:

libraries/AP_AccelCal/AccelCalibrator.h
libraries/AP_AccelCal/AccelCalibrator.cpp

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ VectorP

Constructor & Destructor Documentation

◆ AccelCalibrator()

Member Function Documentation

◆ accept_result()

◆ accept_sample()

◆ calc_jacob()

◆ calc_mean_squared_residuals() [1/2]

◆ calc_mean_squared_residuals() [2/2]

◆ calc_residual()

◆ check_for_timeout()

◆ clear()

◆ collect_sample()

◆ get_calibration() [1/3]

◆ get_calibration() [2/3]

◆ get_calibration() [3/3]

◆ get_fitness()

◆ get_num_params()

◆ get_num_samples_collected()

◆ get_sample()

◆ get_sample_corrected()

◆ get_status()

◆ new_sample()

◆ reset_state()

◆ run_fit()

◆ running()

◆ set_status()

◆ set_tolerance()

◆ start() [1/2]

◆ start() [2/2]

Member Data Documentation

◆ _conf_fit_type

◆ _conf_num_samples

◆ _conf_sample_time

◆ _conf_tolerance

◆ _fitness

◆ _last_samp_frag_collected_ms

◆ _min_sample_dist

◆ _param

◆ _sample_buffer

◆ _samples_collected

◆ _status