#include <CompassCalibrator.h>

Collaboration diagram for CompassCalibrator:

Classes
class	CompassSample

class	param_t

Public Types
typedef uint8_t	completion_mask_t[10]

Public Member Functions
	CompassCalibrator ()

void	start (bool retry, float delay, uint16_t offset_max)

void	clear ()

void	update (bool &failure)

void	new_sample (const Vector3f &sample)

bool	check_for_timeout ()

bool	running () const

void	set_tolerance (float tolerance)

void	get_calibration (Vector3f &offsets, Vector3f &diagonals, Vector3f &offdiagonals)

float	get_completion_percent () const

completion_mask_t &	get_completion_mask ()

enum compass_cal_status_t	get_status () const

float	get_fitness () const

uint8_t	get_attempt () const

Private Member Functions
bool	set_status (compass_cal_status_t status)

bool	accept_sample (const Vector3f &sample)

bool	accept_sample (const CompassSample &sample)

bool	fit_acceptable ()

void	reset_state ()

void	initialize_fit ()

bool	fitting () const

void	thin_samples ()

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

float	calc_mean_squared_residuals (const param_t &params) const

float	calc_mean_squared_residuals () const

void	calc_initial_offset ()

void	calc_sphere_jacob (const Vector3f &sample, const param_t &params, float *ret) const

void	run_sphere_fit ()

void	calc_ellipsoid_jacob (const Vector3f &sample, const param_t &params, float *ret) const

void	run_ellipsoid_fit ()

void	update_completion_mask (const Vector3f &v)

void	update_completion_mask ()

Private Attributes
enum compass_cal_status_t	_status

uint32_t	_last_sample_ms

float	_delay_start_sec

uint32_t	_start_time_ms

bool	_retry

float	_tolerance

uint8_t	_attempt

uint16_t	_offset_max

completion_mask_t	_completion_mask

class param_t	_params

uint16_t	_fit_step

CompassSample *	_sample_buffer

float	_fitness

float	_initial_fitness

float	_sphere_lambda

float	_ellipsoid_lambda

uint16_t	_samples_collected

uint16_t	_samples_thinned

Detailed Description

Definition at line 19 of file CompassCalibrator.h.

Member Typedef Documentation

◆ completion_mask_t

typedef uint8_t CompassCalibrator::completion_mask_t[10]

Definition at line 21 of file CompassCalibrator.h.

Constructor & Destructor Documentation

◆ CompassCalibrator()

CompassCalibrator::CompassCalibrator ( )

Definition at line 70 of file CompassCalibrator.cpp.

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Member Function Documentation

◆ accept_sample() [1/2]

bool CompassCalibrator::accept_sample ( const Vector3f & sample )

private

Definition at line 399 of file CompassCalibrator.cpp.

Referenced by accept_sample(), new_sample(), and thin_samples().

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◆ accept_sample() [2/2]

bool CompassCalibrator::accept_sample ( const CompassSample & sample )

private

Definition at line 420 of file CompassCalibrator.cpp.

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◆ calc_ellipsoid_jacob()

void CompassCalibrator::calc_ellipsoid_jacob	(	const Vector3f &	sample,
		const param_t &	params,
		float *	ret
	)		const

private

Definition at line 568 of file CompassCalibrator.cpp.

Referenced by run_ellipsoid_fit().

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◆ calc_initial_offset()

void CompassCalibrator::calc_initial_offset ( )

private

Definition at line 476 of file CompassCalibrator.cpp.

Referenced by update().

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◆ calc_mean_squared_residuals() [1/2]

float CompassCalibrator::calc_mean_squared_residuals ( const param_t & params ) const

private

Definition at line 438 of file CompassCalibrator.cpp.

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◆ calc_mean_squared_residuals() [2/2]

float CompassCalibrator::calc_mean_squared_residuals ( ) const

private

Definition at line 433 of file CompassCalibrator.cpp.

Referenced by initialize_fit(), run_ellipsoid_fit(), and run_sphere_fit().

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◆ calc_residual()

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

private

Definition at line 424 of file CompassCalibrator.cpp.

Referenced by calc_mean_squared_residuals(), run_ellipsoid_fit(), and run_sphere_fit().

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◆ calc_sphere_jacob()

void CompassCalibrator::calc_sphere_jacob	(	const Vector3f &	sample,
		const param_t &	params,
		float *	ret
	)		const

private

Definition at line 453 of file CompassCalibrator.cpp.

Referenced by run_sphere_fit().

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◆ check_for_timeout()

bool CompassCalibrator::check_for_timeout ( )

Definition at line 150 of file CompassCalibrator.cpp.

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◆ clear()

void CompassCalibrator::clear ( )

Definition at line 77 of file CompassCalibrator.cpp.

Referenced by Compass::_accept_calibration_mask(), Compass::_cancel_calibration(), and CompassCalibrator().

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◆ fit_acceptable()

bool CompassCalibrator::fit_acceptable ( )

private

Definition at line 339 of file CompassCalibrator.cpp.

Referenced by update().

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◆ fitting()

bool CompassCalibrator::fitting ( ) const

private

Definition at line 220 of file CompassCalibrator.cpp.

Referenced by update().

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◆ get_attempt()

uint8_t CompassCalibrator::get_attempt ( ) const

inline

Definition at line 43 of file CompassCalibrator.h.

Referenced by Compass::send_mag_cal_progress().

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◆ get_calibration()

void CompassCalibrator::get_calibration	(	Vector3f &	offsets,
		Vector3f &	diagonals,
		Vector3f &	offdiagonals
	)

Definition at line 93 of file CompassCalibrator.cpp.

Referenced by Compass::_accept_calibration(), Compass::send_mag_cal_report(), and set_tolerance().

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◆ get_completion_mask()

CompassCalibrator::completion_mask_t & CompassCalibrator::get_completion_mask ( )

Definition at line 145 of file CompassCalibrator.cpp.

Referenced by set_tolerance().

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◆ get_completion_percent()

float CompassCalibrator::get_completion_percent ( ) const

Definition at line 103 of file CompassCalibrator.cpp.

Referenced by set_tolerance().

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◆ get_fitness()

float CompassCalibrator::get_fitness ( ) const

inline

Definition at line 42 of file CompassCalibrator.h.

Referenced by Compass::send_mag_cal_report().

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◆ get_status()

enum compass_cal_status_t CompassCalibrator::get_status ( ) const

inline

Definition at line 41 of file CompassCalibrator.h.

Referenced by Compass::_accept_calibration(), Compass::send_mag_cal_progress(), and Compass::send_mag_cal_report().

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◆ initialize_fit()

void CompassCalibrator::initialize_fit ( )

private

Definition at line 224 of file CompassCalibrator.cpp.

Referenced by reset_state(), and set_status().

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◆ new_sample()

void CompassCalibrator::new_sample ( const Vector3f & sample )

Definition at line 160 of file CompassCalibrator.cpp.

Referenced by AP_Compass_Backend::publish_raw_field().

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◆ reset_state()

void CompassCalibrator::reset_state ( )

private

Definition at line 237 of file CompassCalibrator.cpp.

Referenced by set_status().

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◆ run_ellipsoid_fit()

void CompassCalibrator::run_ellipsoid_fit ( )

private

Definition at line 597 of file CompassCalibrator.cpp.

Referenced by update().

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◆ run_sphere_fit()

void CompassCalibrator::run_sphere_fit ( )

private

Definition at line 486 of file CompassCalibrator.cpp.

Referenced by update().

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◆ running()

bool CompassCalibrator::running ( ) const

Definition at line 216 of file CompassCalibrator.cpp.

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

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◆ set_status()

bool CompassCalibrator::set_status ( compass_cal_status_t status )

private

Definition at line 249 of file CompassCalibrator.cpp.

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

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◆ set_tolerance()

void CompassCalibrator::set_tolerance ( float tolerance )

inline

Definition at line 35 of file CompassCalibrator.h.

Referenced by Compass::_start_calibration().

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◆ start()

void CompassCalibrator::start	(	bool	retry,
		float	delay,
		uint16_t	offset_max
	)

Definition at line 81 of file CompassCalibrator.cpp.

Referenced by Compass::_start_calibration().

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◆ thin_samples()

void CompassCalibrator::thin_samples ( )

private

Definition at line 357 of file CompassCalibrator.cpp.

Referenced by set_status().

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◆ update()

void CompassCalibrator::update ( bool & failure )

Definition at line 174 of file CompassCalibrator.cpp.

Referenced by Compass::compass_cal_update().

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◆ update_completion_mask() [1/2]

void CompassCalibrator::update_completion_mask ( const Vector3f & v )

private

Update _completion_mask for the geodesic section of v. Corrections are applied to v with _params.

Parameters

v[in] A vector representing one calibration sample.

Definition at line 122 of file CompassCalibrator.cpp.

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◆ update_completion_mask() [2/2]

void CompassCalibrator::update_completion_mask ( )

private

Reset and update _completion_mask with the current samples.

Definition at line 137 of file CompassCalibrator.cpp.

Referenced by new_sample(), run_ellipsoid_fit(), run_sphere_fit(), and thin_samples().

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Member Data Documentation

◆ _attempt

uint8_t CompassCalibrator::_attempt

private

Definition at line 84 of file CompassCalibrator.h.

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

◆ _completion_mask

completion_mask_t CompassCalibrator::_completion_mask

private

Definition at line 87 of file CompassCalibrator.h.

Referenced by get_completion_mask(), reset_state(), and update_completion_mask().

◆ _delay_start_sec

float CompassCalibrator::_delay_start_sec

private

Definition at line 80 of file CompassCalibrator.h.

Referenced by set_status(), and start().

◆ _ellipsoid_lambda

float CompassCalibrator::_ellipsoid_lambda

private

Definition at line 96 of file CompassCalibrator.h.

Referenced by initialize_fit(), and run_ellipsoid_fit().

◆ _fit_step

uint16_t CompassCalibrator::_fit_step

private

Definition at line 91 of file CompassCalibrator.h.

Referenced by initialize_fit(), and update().

◆ _fitness

float CompassCalibrator::_fitness

private

Definition at line 93 of file CompassCalibrator.h.

Referenced by fit_acceptable(), get_fitness(), initialize_fit(), run_ellipsoid_fit(), run_sphere_fit(), and update().

◆ _initial_fitness

float CompassCalibrator::_initial_fitness

private

Definition at line 94 of file CompassCalibrator.h.

Referenced by initialize_fit(), and update().

◆ _last_sample_ms

uint32_t CompassCalibrator::_last_sample_ms

private

Definition at line 77 of file CompassCalibrator.h.

Referenced by check_for_timeout(), and new_sample().

◆ _offset_max

uint16_t CompassCalibrator::_offset_max

private

Definition at line 85 of file CompassCalibrator.h.

Referenced by fit_acceptable(), and start().

◆ _params

class param_t CompassCalibrator::_params

private

Definition at line 90 of file CompassCalibrator.h.

Referenced by accept_sample(), calc_initial_offset(), calc_mean_squared_residuals(), fit_acceptable(), get_calibration(), initialize_fit(), reset_state(), run_ellipsoid_fit(), run_sphere_fit(), and update_completion_mask().

◆ _retry

bool CompassCalibrator::_retry

private

Definition at line 82 of file CompassCalibrator.h.

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

◆ _sample_buffer

CompassSample* CompassCalibrator::_sample_buffer

private

Definition at line 92 of file CompassCalibrator.h.

Referenced by accept_sample(), calc_initial_offset(), calc_mean_squared_residuals(), new_sample(), run_ellipsoid_fit(), run_sphere_fit(), set_status(), thin_samples(), and update_completion_mask().

◆ _samples_collected

uint16_t CompassCalibrator::_samples_collected

private

Definition at line 97 of file CompassCalibrator.h.

Referenced by accept_sample(), calc_initial_offset(), calc_mean_squared_residuals(), fitting(), get_completion_percent(), initialize_fit(), new_sample(), reset_state(), run_ellipsoid_fit(), run_sphere_fit(), thin_samples(), and update_completion_mask().

◆ _samples_thinned

uint16_t CompassCalibrator::_samples_thinned

private

Definition at line 98 of file CompassCalibrator.h.

Referenced by get_completion_percent(), reset_state(), and thin_samples().

◆ _sphere_lambda

float CompassCalibrator::_sphere_lambda

private

Definition at line 95 of file CompassCalibrator.h.

Referenced by initialize_fit(), and run_sphere_fit().

◆ _start_time_ms

uint32_t CompassCalibrator::_start_time_ms

private

Definition at line 81 of file CompassCalibrator.h.

Referenced by set_status(), and start().

◆ _status

enum compass_cal_status_t CompassCalibrator::_status

private

Definition at line 74 of file CompassCalibrator.h.

Referenced by get_calibration(), get_completion_percent(), get_status(), new_sample(), running(), set_status(), and update().

◆ _tolerance

float CompassCalibrator::_tolerance

private

Definition at line 83 of file CompassCalibrator.h.

Referenced by fit_acceptable(), and set_tolerance().

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

libraries/AP_Compass/CompassCalibrator.h
libraries/AP_Compass/CompassCalibrator.cpp

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ completion_mask_t

Constructor & Destructor Documentation

◆ CompassCalibrator()

Member Function Documentation

◆ accept_sample() [1/2]

◆ accept_sample() [2/2]

◆ calc_ellipsoid_jacob()

◆ calc_initial_offset()

◆ calc_mean_squared_residuals() [1/2]

◆ calc_mean_squared_residuals() [2/2]

◆ calc_residual()

◆ calc_sphere_jacob()

◆ check_for_timeout()

◆ clear()

◆ fit_acceptable()

◆ fitting()

◆ get_attempt()

◆ get_calibration()

◆ get_completion_mask()

◆ get_completion_percent()

◆ get_fitness()

◆ get_status()

◆ initialize_fit()

◆ new_sample()

◆ reset_state()

◆ run_ellipsoid_fit()

◆ run_sphere_fit()

◆ running()

◆ set_status()

◆ set_tolerance()

◆ start()

◆ thin_samples()

◆ update()

◆ update_completion_mask() [1/2]

◆ update_completion_mask() [2/2]

Member Data Documentation

◆ _attempt

◆ _completion_mask

◆ _delay_start_sec

◆ _ellipsoid_lambda

◆ _fit_step

◆ _fitness

◆ _initial_fitness

◆ _last_sample_ms

◆ _offset_max

◆ _params

◆ _retry

◆ _sample_buffer

◆ _samples_collected

◆ _samples_thinned

◆ _sphere_lambda

◆ _start_time_ms

◆ _status

◆ _tolerance