calibration_routines.h

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#pragma once

int sphere_fit_least_squares(const float x[], const float y[], const float z[],
                 unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z,
                 float *sphere_radius);
int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[],
                unsigned int size, int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z,
                float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
                float *offdiag_z);
int run_lm_sphere_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
              unsigned int size, float *offset_x, float *offset_y, float *offset_z,
              float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
              float *offdiag_z);
int run_lm_ellipsoid_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda,
             unsigned int size, float *offset_x, float *offset_y, float *offset_z,
             float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y,
             float *offdiag_z);
bool inverse4x4(float m[], float invOut[]);
bool mat_inverse(float *A, float *inv, uint8_t n);

// FIXME: Change the name
static const unsigned max_accel_sens = 3;

// The order of these cannot change since the calibration calculations depend on them in this order
enum detect_orientation_return {
    DETECT_ORIENTATION_TAIL_DOWN,
    DETECT_ORIENTATION_NOSE_DOWN,
    DETECT_ORIENTATION_LEFT,
    DETECT_ORIENTATION_RIGHT,
    DETECT_ORIENTATION_UPSIDE_DOWN,
    DETECT_ORIENTATION_RIGHTSIDE_UP,
    DETECT_ORIENTATION_ERROR
};
static const unsigned detect_orientation_side_count = 6;

enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,    
        int cancel_sub,         
        int accel_sub,          
        bool    lenient_still_detection);   

const char *detect_orientation_str(enum detect_orientation_return orientation);

enum calibrate_return {
    calibrate_return_ok,
    calibrate_return_error,
    calibrate_return_cancelled
};

typedef calibrate_return(*calibration_from_orientation_worker_t)(detect_orientation_return
        orientation,    
        int             cancel_sub, 
        void                *worker_data);  

calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,      
        int     cancel_sub,                     
        bool    side_data_collected[detect_orientation_side_count], 
        calibration_from_orientation_worker_t calibration_worker,       
        void    *worker_data,                       
        bool    lenient_still_detection);               

int calibrate_cancel_subscribe(void);

void calibrate_cancel_unsubscribe(int cancel_sub);

bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub,  
                int cancel_sub);    


// TODO FIXME: below are workarounds for QGC. The issue is that sometimes
// a mavlink log message is overwritten by the following one. A workaround
// is to wait for some time after publishing each message and hope that it
// gets sent out in the meantime.

#define calibration_log_info(_pub, _text, ...)          \
    do { \
        mavlink_and_console_log_info(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);

#define calibration_log_critical(_pub, _text, ...)          \
    do { \
        mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);

#define calibration_log_emergency(_pub, _text, ...)         \
    do { \
        mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
        px4_usleep(10000); \
    } while(0);