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| /* | ||
| * This file is part of INAV. | ||
| * | ||
| * INAV is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * INAV is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with INAV. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
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| #include "platform.h" | ||
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| #include "build/debug.h" | ||
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| #include "common/maths.h" | ||
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| #include "config/parameter_group.h" | ||
| #include "config/parameter_group_ids.h" | ||
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| #include "drivers/time.h" | ||
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| #include "fc/runtime_config.h" | ||
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| #include "io/beeper.h" | ||
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| #include "navigation/navigation.h" | ||
| #include "navigation/navigation_pos_estimator_private.h" | ||
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| #include "sensors/acceleration.h" | ||
| #include "sensors/barometer.h" | ||
| #include "sensors/sensors.h" | ||
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| sensor_compensation_t sensor_comp_data[SENSOR_INDEX_COUNT]; | ||
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| float applySensorTempCompensation(int16_t sensorTemp, float sensorMeasurement, sensorIndex_e sensorType) | ||
| { | ||
| float setting = 0.0f; | ||
| if (sensorType == SENSOR_INDEX_ACC) { | ||
| // setting = positionEstimationConfig()->acc_temp_correction; | ||
| setting = accelerometerConfig()->acc_temp_correction; | ||
| } else if (sensorType == SENSOR_INDEX_BARO) { | ||
| setting = barometerConfig()->baro_temp_correction; | ||
| // setting = positionEstimationConfig()->baro_temp_correction; | ||
| } | ||
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| if (!setting) { | ||
| return 0.0f; | ||
| } | ||
| DEBUG_SET(DEBUG_ALWAYS, 1, sensorTemp); | ||
| DEBUG_SET(DEBUG_ALWAYS, 0, sensor_comp_data[sensorType].correctionFactor * 100); | ||
| DEBUG_SET(DEBUG_ALWAYS, 5, sensorMeasurement); | ||
| static timeMs_t startTimeMs = 0; | ||
| if (sensor_comp_data[sensorType].calibrationState == SENSOR_TEMP_CAL_COMPLETE) { | ||
| startTimeMs = 0; | ||
| float tempCal = sensor_comp_data[sensorType].correctionFactor * CENTIDEGREES_TO_DEGREES(sensor_comp_data[sensorType].referenceTemp - sensorTemp); | ||
| DEBUG_SET(DEBUG_ALWAYS, 2, tempCal); | ||
| return tempCal; | ||
| // return correctionFactor * CENTIDEGREES_TO_DEGREES(referenceTemp - baro.baroTemperature); | ||
| } | ||
|
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| if (!ARMING_FLAG(WAS_EVER_ARMED)) { | ||
| static float referenceMeasurement = 0.0f; | ||
| static int16_t lastTemp = 0.0f; | ||
|
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| if (sensor_comp_data[sensorType].calibrationState == SENSOR_TEMP_CAL_INITIALISE) { | ||
| sensor_comp_data[sensorType].referenceTemp = lastTemp = sensorTemp; | ||
| referenceMeasurement = sensorMeasurement; | ||
| sensor_comp_data[sensorType].calibrationState = SENSOR_TEMP_CAL_IN_PROGRESS; | ||
| startTimeMs = millis(); | ||
| } | ||
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| if (setting == 51.0f) { | ||
| float referenceDeltaTemp = ABS(sensorTemp - sensor_comp_data[sensorType].referenceTemp); | ||
| if (referenceDeltaTemp > 300 && referenceDeltaTemp > ABS(lastTemp - sensor_comp_data[sensorType].referenceTemp)) { // centidegrees | ||
| lastTemp = sensorTemp; | ||
| sensor_comp_data[sensorType].correctionFactor = 0.8f * sensor_comp_data[sensorType].correctionFactor + 0.2f * (sensorMeasurement - referenceMeasurement) / CENTIDEGREES_TO_DEGREES(lastTemp - sensor_comp_data[sensorType].referenceTemp); | ||
| sensor_comp_data[sensorType].correctionFactor = constrainf(sensor_comp_data[sensorType].correctionFactor, -50.0f, 50.0f); | ||
| } | ||
| } else { | ||
| sensor_comp_data[sensorType].correctionFactor = setting; | ||
| sensor_comp_data[sensorType].calibrationState = SENSOR_TEMP_CAL_COMPLETE; | ||
| } | ||
| } | ||
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| if (sensor_comp_data[sensorType].calibrationState == SENSOR_TEMP_CAL_IN_PROGRESS && (ARMING_FLAG(WAS_EVER_ARMED) || millis() > startTimeMs + 300000)) { | ||
| if (sensorType == SENSOR_INDEX_ACC) { | ||
| // positionEstimationConfigMutable()->acc_temp_correction = sensor_comp_data[sensorType].correctionFactor; | ||
| accelerometerConfigMutable()->acc_temp_correction = sensor_comp_data[sensorType].correctionFactor; | ||
| } else if (sensorType == SENSOR_INDEX_BARO) { | ||
| // positionEstimationConfigMutable()->baro_temp_correction = sensor_comp_data[sensorType].correctionFactor; | ||
| barometerConfigMutable()->baro_temp_correction = sensor_comp_data[sensorType].correctionFactor; | ||
| } | ||
| sensor_comp_data[sensorType].calibrationState = SENSOR_TEMP_CAL_COMPLETE; | ||
| if (!ARMING_FLAG(WAS_EVER_ARMED)) { | ||
| beeper(sensor_comp_data[sensorType].correctionFactor ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL); | ||
| } | ||
| } | ||
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| return 0.0f; | ||
| } |
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