void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// list of x,y,z 's
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
DateTime deadline = DateTime.Now.AddSeconds(60);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
double timeremaining = (deadline - DateTime.Now).TotalSeconds;
((ProgressReporterDialogue)sender).UpdateProgressAndStatus((int)(((60 - timeremaining) / 60) * 100), timeremaining.ToString("0") + " Seconds - got " + data.Count + " Samples");
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = true;
return;
}
if (oldmx != MainV2.comPort.MAV.cs.mx &&
oldmy != MainV2.comPort.MAV.cs.my &&
oldmz != MainV2.comPort.MAV.cs.mz)
{
data.Add(new Tuple <float, float, float>(
MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
oldmx = MainV2.comPort.MAV.cs.mx;
oldmy = MainV2.comPort.MAV.cs.my;
oldmz = MainV2.comPort.MAV.cs.mz;
}
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (data.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
return;
}
ans = MagCalib.LeastSq(data);
}
private void pdr_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
var fw = new Firmware();
fw.Progress -= fw_Progress1;
fw.Progress += fw_Progress;
softwares = fw.getFWList(firmwareurl);
foreach (var soft in softwares)
{
updateDisplayNameInvoke(soft);
}
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// turn learning off
MainV2.comPort.setParam("COMPASS_LEARN", 0);
bool havecompass2 = false;
//compass2 get mag2 offsets
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS2_X"))
{
//com2ofsx = MainV2.comPort.GetParam("COMPASS_OFS2_X");
//com2ofsy = MainV2.comPort.GetParam("COMPASS_OFS2_Y");
//com2ofsz = MainV2.comPort.GetParam("COMPASS_OFS2_Z");
MainV2.comPort.setParam("COMPASS_OFS2_X", 0);
MainV2.comPort.setParam("COMPASS_OFS2_Y", 0);
MainV2.comPort.setParam("COMPASS_OFS2_Z", 0);
havecompass2 = true;
}
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
var sub = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.RAW_IMU, ReceviedPacket);
var sub2 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SCALED_IMU2, ReceviedPacket);
string extramsg = "";
((ProgressReporterSphere)sender).sphere1.Clear();
((ProgressReporterSphere)sender).sphere2.Clear();
int lastcount = 0;
DateTime lastlsq = DateTime.MinValue;
DateTime lastlsq2 = DateTime.MinValue;
HIL.Vector3 centre = new HIL.Vector3();
while (true)
{
// slow down execution
System.Threading.Thread.Sleep(20);
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Got " + datacompass1.Count + " Samples " + extramsg);
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (datacompass1.Count == 0)
{
continue;
}
// dont use dup data
if (lastcount == datacompass1.Count)
{
continue;
}
lastcount = datacompass1.Count;
float rawmx = datacompass1[datacompass1.Count - 1].Item1;
float rawmy = datacompass1[datacompass1.Count - 1].Item2;
float rawmz = datacompass1[datacompass1.Count - 1].Item3;
// for old method
setMinorMax(rawmx, ref minx, ref maxx);
setMinorMax(rawmy, ref miny, ref maxy);
setMinorMax(rawmz, ref minz, ref maxz);
// get the current estimated centerpoint
//new HIL.Vector3((float)-((maxx + minx) / 2), (float)-((maxy + miny) / 2), (float)-((maxz + minz) / 2));
// run lsq every second when more than 100 datapoints
if (datacompass1.Count > 100 && lastlsq.Second != DateTime.Now.Second)
{
lastlsq = DateTime.Now;
lock (datacompass1)
{
var lsq = MagCalib.LeastSq(datacompass1, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
centre = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre " + centre.ToString());
((ProgressReporterSphere)sender).sphere1.CenterPoint = new OpenTK.Vector3((float)centre.x, (float)centre.y, (float)centre.z);
}
}
}
// run lsq every second when more than 100 datapoints
if (datacompass2.Count > 100 && lastlsq2.Second != DateTime.Now.Second)
{
lastlsq2 = DateTime.Now;
lock (datacompass2)
{
var lsq = MagCalib.LeastSq(datacompass2, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
HIL.Vector3 centre2 = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre2 " + centre2.ToString());
((ProgressReporterSphere)sender).sphere2.CenterPoint = new OpenTK.Vector3((float)centre2.x, (float)centre2.y, (float)centre2.z);
}
}
}
// add to sphere with center correction
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3(rawmx, rawmy, rawmz));
((ProgressReporterSphere)sender).sphere1.AimClear();
if (havecompass2 && datacompass2.Count > 0)
{
float raw2mx = datacompass2[datacompass2.Count - 1].Item1;
float raw2my = datacompass2[datacompass2.Count - 1].Item2;
float raw2mz = datacompass2[datacompass2.Count - 1].Item3;
((ProgressReporterSphere)sender).sphere2.AddPoint(new OpenTK.Vector3(raw2mx, raw2my, raw2mz));
((ProgressReporterSphere)sender).sphere2.AimClear();
}
HIL.Vector3 point;
point = new HIL.Vector3(rawmx, rawmy, rawmz) + centre;
//find the mean radius
float radius = 0;
for (int i = 0; i < datacompass1.Count; i++)
{
point = new HIL.Vector3(datacompass1[i].Item1, datacompass1[i].Item2, datacompass1[i].Item3);
radius += (float)(point + centre).length();
}
radius /= datacompass1.Count;
//test that we can find one point near a set of points all around the sphere surface
string displayresult = "";
int factor = 3; // 4 point check 16 points
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j <= factor; j++)
{
double theta = (Math.PI * (j + 0)) / factor;
for (int i = 0; i <= factor; i++)
{
double phi = (2 * Math.PI * i) / factor;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) - centre;
//log.DebugFormat("magcalib check - {0} {1} dist {2}", theta * rad2deg, phi * rad2deg, max_distance);
bool found = false;
for (int k = 0; k < datacompass1.Count; k++)
{
point = new HIL.Vector3(datacompass1[k].Item1, datacompass1[k].Item2, datacompass1[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
found = true;
break;
}
}
// draw them all
//((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
if (!found)
{
displayresult = "more data needed " + (theta * rad2deg).ToString("0") + " " + (phi * rad2deg).ToString("0");
((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
//j = factor;
//break;
}
}
}
extramsg = displayresult;
}
MainV2.comPort.UnSubscribeToPacketType(sub);
MainV2.comPort.UnSubscribeToPacketType(sub2);
if (minx > 0 && maxx > 0 || minx < 0 && maxx < 0 || miny > 0 && maxy > 0 || miny < 0 && maxy < 0 || minz > 0 && maxz > 0 || minz < 0 && maxz < 0)
{
e.ErrorMessage = "Bad compass raw values. Check for magnetic interferance.";
ans = null;
ans2 = null;
return;
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (extramsg != "")
{
if (CustomMessageBox.Show("You are missing data points. do you want to run the calibration anyway?", "run anyway", MessageBoxButtons.YesNo) == DialogResult.No)
{
e.CancelAcknowledged = true;
e.CancelRequested = true;
ans = null;
ans2 = null;
return;
}
}
// remove outlyers
RemoveOutliers(ref datacompass1);
if (havecompass2 && datacompass2.Count > 0)
{
RemoveOutliers(ref datacompass2);
}
if (datacompass1.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
ans2 = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
log.Info("Compass 1");
ans = MagCalib.LeastSq(datacompass1, ellipsoid);
if (havecompass2 && datacompass2.Count > 0)
{
log.Info("Compass 2");
ans2 = MagCalib.LeastSq(datacompass2, ellipsoid);
}
}
void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
this.ConvertBini(inputfn, outputfn, true);
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// list of x,y,z 's
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
// filter data points to only x number per quadrant
int div = 20;
Hashtable filter = new Hashtable();
string extramsg = "";
((ProgressReporterSphere)sender).sphere1.Clear();
while (true)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Got " + data.Count + " Samples " + extramsg);
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (oldmx != MainV2.comPort.MAV.cs.mx &&
oldmy != MainV2.comPort.MAV.cs.my &&
oldmz != MainV2.comPort.MAV.cs.mz)
{
// for new lease sq
string item = (int)(MainV2.comPort.MAV.cs.mx / div) + "," +
(int)(MainV2.comPort.MAV.cs.my / div) + "," +
(int)(MainV2.comPort.MAV.cs.mz / div);
if (filter.ContainsKey(item))
{
filter[item] = (int)filter[item] + 1;
if ((int)filter[item] > 3)
{
continue;
}
}
else
{
filter[item] = 1;
}
// add data
data.Add(new Tuple <float, float, float>(
MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
oldmx = MainV2.comPort.MAV.cs.mx;
oldmy = MainV2.comPort.MAV.cs.my;
oldmz = MainV2.comPort.MAV.cs.mz;
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3(oldmx, oldmy, oldmz));
// for old method
setMinorMax(MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x, ref minx, ref maxx);
setMinorMax(MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y, ref miny, ref maxy);
setMinorMax(MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z, ref minz, ref maxz);
}
//find the mean radius
HIL.Vector3 centre = new HIL.Vector3(); //new HIL.Vector3((float)-((maxx + minx) / 2), (float)-((maxy + miny) / 2), (float)-((maxz + minz) / 2));
HIL.Vector3 point;
float radius = 0;
for (int i = 0; i < data.Count; i++)
{
point = new HIL.Vector3(data[i].Item1, data[i].Item2, data[i].Item3);
radius += (float)(point - centre).length();
}
radius /= data.Count;
//test that we can find one point near a set of points all around the sphere surface
int factor = 4; // 4 point check 2x2
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j < factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i < factor; i++)
{
double phi = (2 * Math.PI * i) / factor;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) + centre;
//Console.WriteLine("{0} {1}", theta * rad2deg, phi * rad2deg);
bool found = false;
for (int k = 0; k < data.Count; k++)
{
point = new HIL.Vector3(data[k].Item1, data[k].Item2, data[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
found = true;
break;
}
}
if (!found)
{
extramsg = "more data needed";
//e.ErrorMessage = "Data missing for some directions";
//ans = null;
//return;
j = factor;
break;
}
else
{
extramsg = "";
}
}
}
}
if (minx > 0 && maxx > 0 || minx < 0 && maxx < 0 || miny > 0 && maxy > 0 || miny < 0 && maxy < 0 || minz > 0 && maxz > 0 || minz < 0 && maxz < 0)
{
e.ErrorMessage = "Bad compass raw values. Check for magnetic interferance.";
ans = null;
return;
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (data.Count < 10 || extramsg != "")
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
ans = MagCalib.LeastSq(data, ellipsoid);
}
void DoCalibration(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
var prd = ((ProgressReporterDialogue)sender);
prd.UpdateProgressAndStatus(-1, "Starting Compass Mot");
int8_t comp_type; // throttle or current based compensation
Vector3f compass_base = new Vector3f(); // compass vector when throttle is zero
Vector3f motor_impact = new Vector3f(); // impact of motors on compass vector
Vector3f motor_impact_scaled; // impact of motors on compass vector scaled with throttle
Vector3f motor_compensation; // final compensation to be stored to eeprom
float throttle_pct; // throttle as a percentage 0.0 ~ 1.0
float throttle_pct_max = 0.0f; // maximum throttle reached (as a percentage 0~1.0)
float current_amps_max = 0.0f; // maximum current reached
float interference_pct; // interference as a percentage of total mag field (for reporting purposes only)
//uint32_t last_run_time;
uint8_t print_counter = 49;
bool updated = false; // have we updated the compensation vector at least once
if ((float)MainV2.comPort.MAV.param["BATT_MONITOR"] == 4f) // volt and current
{
comp_type = (sbyte)comptype.Current;
prd.UpdateProgressAndStatus(-1, "Compass Mot using current");
}
else
{
comp_type = (sbyte)comptype.Throttle;
prd.UpdateProgressAndStatus(-1, "Compass Mot using throttle");
}
if ((float)MainV2.comPort.MAV.param["COMPASS_USE"] != 1)
{
e.ErrorMessage = "Compass is disabled";
return;
}
// request streams
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 10); // rc out
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 50); // mag out
// reset compass mot
MainV2.comPort.setParam("COMPASS_MOTCT ", 0.0f);
MainV2.comPort.setParam("COMPASS_MOT_X", 0.000000f);
MainV2.comPort.setParam("COMPASS_MOT_Y", 0.000000f);
MainV2.comPort.setParam("COMPASS_MOT_Z", 0.000000f);
// store initial x,y,z compass values
compass_base.x = MainV2.comPort.MAV.cs.mx;
compass_base.y = MainV2.comPort.MAV.cs.my;
compass_base.z = MainV2.comPort.MAV.cs.mz;
// initialise motor compensation
motor_compensation = new Vector3f(0, 0, 0);
int magseen = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.RAW_IMU];
int rcseen = MainV2.comPort.MAV.packetseencount[(byte)MAVLink.MAVLINK_MSG_ID.HIL_RC_INPUTS_RAW];
DateTime deadline = DateTime.Now.AddSeconds(10);
prd.UpdateProgressAndStatus(-1, "Waiting for Mag and RC data");
while (true)
{
if (magseen > (magseen + 100) && rcseen > (rcseen + 20))
{
break;
}
if (e.CancelRequested)
{
e.CancelAcknowledged = true;
return;
}
if (DateTime.Now > deadline)
{
e.ErrorMessage = "Not enough packets where received\n" + magseen + " mag " + rcseen + " rc";
return;
}
}
while (true)
{
if (prd.doWorkArgs.CancelRequested)
{
prd.doWorkArgs.CancelAcknowledged = true;
break;
}
// radio
// passthorugh - cant do.
// compass read
// battery read
// calculate scaling for throttle
int checkme;
throttle_pct = (float)MainV2.comPort.MAV.cs.ch3percent / 100.0f;
throttle_pct = constrain_float(throttle_pct, 0.0f, 1.0f);
// if throttle is zero, update base x,y,z values
if (throttle_pct == 0.0f)
{
compass_base.x = compass_base.x * 0.99f + (float)MainV2.comPort.MAV.cs.mx * 0.01f;
compass_base.y = compass_base.y * 0.99f + (float)MainV2.comPort.MAV.cs.my * 0.01f;
compass_base.z = compass_base.z * 0.99f + (float)MainV2.comPort.MAV.cs.mz * 0.01f;
// causing printing to happen as soon as throttle is lifted
print_counter = 49;
}
else
{
// calculate diff from compass base and scale with throttle
motor_impact.x = MainV2.comPort.MAV.cs.mx - compass_base.x;
motor_impact.y = MainV2.comPort.MAV.cs.my - compass_base.y;
motor_impact.z = MainV2.comPort.MAV.cs.mz - compass_base.z;
// throttle based compensation
if (comp_type == (byte)comptype.Throttle)
{
// scale by throttle
motor_impact_scaled = motor_impact / throttle_pct;
// adjust the motor compensation to negate the impact
motor_compensation = motor_compensation * 0.99f - motor_impact_scaled * 0.01f;
updated = true;
}
else
{
// current based compensation if more than 3amps being drawn
motor_impact_scaled = motor_impact / MainV2.comPort.MAV.cs.current;
// adjust the motor compensation to negate the impact if drawing over 3amps
if (MainV2.comPort.MAV.cs.current >= 3.0f)
{
motor_compensation = motor_compensation * 0.99f - motor_impact_scaled * 0.01f;
updated = true;
}
}
// record maximum throttle and current
throttle_pct_max = max(throttle_pct_max, throttle_pct);
current_amps_max = max(current_amps_max, MainV2.comPort.MAV.cs.current);
// display output at 1hz if throttle is above zero
print_counter++;
if (print_counter >= 50)
{
print_counter = 0;
var line = String.Format("thr:%d cur:%4.2f mot x:%4.1f y:%4.1f z:%4.1f comp x:%4.2f y:%4.2f z:%4.2f\n", (int)MainV2.comPort.MAV.cs.ch3percent, (float)MainV2.comPort.MAV.cs.current, (float)motor_impact.x, (float)motor_impact.y, (float)motor_impact.z, (float)motor_compensation.x, (float)motor_compensation.y, (float)motor_compensation.z);
Console.Write(line);
prd.UpdateProgressAndStatus(-1, line);
}
}
}
MainV2.comPort.doARM(false);
// set and save motor compensation
if (updated)
{
MainV2.comPort.setParam("COMPASS_MOTCT ", comp_type);
MainV2.comPort.setParam("COMPASS_MOT_X", (float)motor_compensation.x);
MainV2.comPort.setParam("COMPASS_MOT_Y", (float)motor_compensation.y);
MainV2.comPort.setParam("COMPASS_MOT_Z", (float)motor_compensation.z);
// calculate and display interference compensation at full throttle as % of total mag field
if (comp_type == (byte)comptype.Throttle)
{
// interference is impact@fullthrottle / mag field * 100
interference_pct = (float)motor_compensation.length() / (float)COMPASS_MAGFIELD_EXPECTED * 100.0f;
}
else
{
// interference is impact/amp * (max current seen / max throttle seen) / mag field * 100
interference_pct = (float)motor_compensation.length() * (current_amps_max / throttle_pct_max) / (float)COMPASS_MAGFIELD_EXPECTED * 100.0f;
}
string line = String.Format("\nInterference at full throttle is {0}% of mag field\n\n", (int)interference_pct);
Console.Write(line);
prd.UpdateProgressAndStatus(100, line);
}
else
{
prd.UpdateProgressAndStatus(100, "Failed");
}
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, 2);
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// turn learning off
MainV2.comPort.setParam("COMPASS_LEARN", 0);
bool havecompass2 = false;
//compass2 get mag2 offsets
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS2_X"))
{
//com2ofsx = MainV2.comPort.GetParam("COMPASS_OFS2_X");
//com2ofsy = MainV2.comPort.GetParam("COMPASS_OFS2_Y");
//com2ofsz = MainV2.comPort.GetParam("COMPASS_OFS2_Z");
MainV2.comPort.setParam("COMPASS_OFS2_X", 0, true);
MainV2.comPort.setParam("COMPASS_OFS2_Y", 0, true);
MainV2.comPort.setParam("COMPASS_OFS2_Z", 0, true);
havecompass2 = true;
}
int hittarget = 14;// int.Parse(File.ReadAllText("magtarget.txt"));
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// backup current rate and set
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
byte backuprateatt = MainV2.comPort.MAV.cs.rateattitude;
byte backupratepos = MainV2.comPort.MAV.cs.rateposition;
MainV2.comPort.MAV.cs.ratesensors = 2;
MainV2.comPort.MAV.cs.rateattitude = 0;
MainV2.comPort.MAV.cs.rateposition = 0;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, 0);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 50);
// subscribe to data packets
var sub = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.RAW_IMU, ReceviedPacket);
var sub2 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SCALED_IMU2, ReceviedPacket);
string extramsg = "";
// clear any old data
((ProgressReporterSphere)sender).sphere1.Clear();
((ProgressReporterSphere)sender).sphere2.Clear();
// keep track of data count and last lsq run
int lastcount = 0;
DateTime lastlsq = DateTime.MinValue;
DateTime lastlsq2 = DateTime.MinValue;
HIL.Vector3 centre = new HIL.Vector3();
while (true)
{
// slow down execution
System.Threading.Thread.Sleep(10);
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Got " + datacompass1.Count + " Samples\ncompass 1 error:" + error + "\ncompass 2 error:" + error2 + "\n" + extramsg);
if (e.CancelRequested)
{
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (datacompass1.Count == 0)
{
continue;
}
float rawmx = datacompass1[datacompass1.Count - 1].Item1;
float rawmy = datacompass1[datacompass1.Count - 1].Item2;
float rawmz = datacompass1[datacompass1.Count - 1].Item3;
// for old method
setMinorMax(rawmx, ref minx, ref maxx);
setMinorMax(rawmy, ref miny, ref maxy);
setMinorMax(rawmz, ref minz, ref maxz);
// get the current estimated centerpoint
//new HIL.Vector3((float)-((maxx + minx) / 2), (float)-((maxy + miny) / 2), (float)-((maxz + minz) / 2));
//Console.WriteLine("1 " + DateTime.Now.Millisecond);
// run lsq every second when more than 100 datapoints
if (datacompass1.Count > 100 && lastlsq.Second != DateTime.Now.Second)
{
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, 0);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 50);
lastlsq = DateTime.Now;
lock (datacompass1)
{
var lsq = MagCalib.LeastSq(datacompass1, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
centre = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre " + centre.ToString());
((ProgressReporterSphere)sender).sphere1.CenterPoint = new OpenTK.Vector3((float)centre.x, (float)centre.y, (float)centre.z);
}
}
}
// run lsq every second when more than 100 datapoints
if (datacompass2.Count > 100 && lastlsq2.Second != DateTime.Now.Second)
{
lastlsq2 = DateTime.Now;
lock (datacompass2)
{
var lsq = MagCalib.LeastSq(datacompass2, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
HIL.Vector3 centre2 = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre2 " + centre2.ToString());
((ProgressReporterSphere)sender).sphere2.CenterPoint = new OpenTK.Vector3((float)centre2.x, (float)centre2.y, (float)centre2.z);
}
}
}
//Console.WriteLine("1a " + DateTime.Now.Millisecond);
// dont use dup data
if (lastcount == datacompass1.Count)
{
continue;
}
lastcount = datacompass1.Count;
// add to sphere with center correction
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3(rawmx, rawmy, rawmz));
((ProgressReporterSphere)sender).sphere1.AimClear();
if (datacompass2.Count > 30)
{
float raw2mx = datacompass2[datacompass2.Count - 1].Item1;
float raw2my = datacompass2[datacompass2.Count - 1].Item2;
float raw2mz = datacompass2[datacompass2.Count - 1].Item3;
((ProgressReporterSphere)sender).sphere2.AddPoint(new OpenTK.Vector3(raw2mx, raw2my, raw2mz));
((ProgressReporterSphere)sender).sphere2.AimClear();
}
//Console.WriteLine("2 " + DateTime.Now.Millisecond);
HIL.Vector3 point;
point = new HIL.Vector3(rawmx, rawmy, rawmz) + centre;
//find the mean radius
float radius = 0;
for (int i = 0; i < datacompass1.Count; i++)
{
point = new HIL.Vector3(datacompass1[i].Item1, datacompass1[i].Item2, datacompass1[i].Item3);
radius += (float)(point + centre).length();
}
radius /= datacompass1.Count;
//test that we can find one point near a set of points all around the sphere surface
int pointshit = 0;
string displayresult = "";
int factor = 3; // pitch
int factor2 = 4; // yaw
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j <= factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i <= factor2; i++)
{
double phi = (2 * Math.PI * i) / factor2;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) - centre;
//log.InfoFormat("magcalib check - {0} {1} dist {2}", theta * rad2deg, phi * rad2deg, max_distance);
bool found = false;
for (int k = 0; k < datacompass1.Count; k++)
{
point = new HIL.Vector3(datacompass1[k].Item1, datacompass1[k].Item2, datacompass1[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
pointshit++;
found = true;
break;
}
}
// draw them all
//((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
if (!found)
{
displayresult = "more data needed Aim For " + GetColour((int)(theta * rad2deg), (int)(phi * rad2deg));
((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
//j = factor;
//break;
}
}
}
extramsg = displayresult;
//Console.WriteLine("3 "+ DateTime.Now.Millisecond);
// check primary compass error
if (error < 0.2 && pointshit > hittarget && ((ProgressReporterSphere)sender).autoaccept)
{
extramsg = "";
break;
}
}
MainV2.comPort.UnSubscribeToPacketType(sub);
MainV2.comPort.UnSubscribeToPacketType(sub2);
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.MAV.cs.rateattitude = backuprateatt;
MainV2.comPort.MAV.cs.rateposition = backupratepos;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info
if (MainV2.speechEnable)
{
MainV2.speechEngine.SpeakAsync("Compass Calibration Complete");
}
else
{
Console.Beep();
}
if (minx > 0 && maxx > 0 || minx < 0 && maxx < 0 || miny > 0 && maxy > 0 || miny < 0 && maxy < 0 || minz > 0 && maxz > 0 || minz < 0 && maxz < 0)
{
e.ErrorMessage = "Bad compass raw values. Check for magnetic interferance.";
ans = null;
ans2 = null;
return;
}
if (extramsg != "")
{
if (CustomMessageBox.Show(Strings.MissingDataPoints, Strings.RunAnyway, MessageBoxButtons.YesNo) == DialogResult.No)
{
e.CancelAcknowledged = true;
e.CancelRequested = true;
ans = null;
ans2 = null;
return;
}
}
// remove outlyers
RemoveOutliers(ref datacompass1);
if (havecompass2 && datacompass2.Count > 0)
{
RemoveOutliers(ref datacompass2);
}
if (datacompass1.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
ans2 = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
log.Info("Compass 1");
ans = MagCalib.LeastSq(datacompass1, ellipsoid);
if (havecompass2 && datacompass2.Count > 0)
{
log.Info("Compass 2");
ans2 = MagCalib.LeastSq(datacompass2, ellipsoid);
}
}
private void OpenBg(object PRsender, bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, "正在连接.....");
giveComport = true;
byte[] buffer = new byte[1024];
if (BaseStream is SerialPort)
{
// allow settings to settle - previous dtr
Thread.Sleep(1000);
}
//Terrain = new TerrainFollow(this);
try
{
BaseStream.ReadBufferSize = 1024;
lock (objlock) // so we dont have random traffic
{
log.Info("Open port with " + BaseStream.PortName + " " + BaseStream.BaudRate);
if (BaseStream is UdpSerial)
{
progressWorkerEventArgs.CancelRequestChanged += (o, e) =>
{
((UdpSerial)BaseStream).CancelConnect = true;
((ProgressWorkerEventArgs)o)
.CancelAcknowledged = true;
};
}
BaseStream.Open();
// 读取数据 待修改
//BaseStream.DiscardInBuffer();
// other boards seem to have issues if there is no delay? posible bootloader timeout issue
if (BaseStream is SerialPort)
{
Thread.Sleep(1000);
}
}
//List<MAVLinkMessage> hbhistory = new List<MAVLinkMessage>();
DateTime start = DateTime.Now;
DateTime deadline = start.AddSeconds(CONNECT_TIMEOUT_SECONDS);
var countDown = new Timer {
Interval = 1000, AutoReset = false
};
countDown.Elapsed += (sender, e) =>
{
int secondsRemaining = (deadline - e.SignalTime).Seconds;
frmProgressReporter.UpdateProgressAndStatus(-1, string.Format(Strings.Trying, secondsRemaining));
if (secondsRemaining > 0)
{
countDown.Start();
}
};
countDown.Start();
int count = 0;
while (true)
{
if (progressWorkerEventArgs.CancelRequested)
{
progressWorkerEventArgs.CancelAcknowledged = true;
countDown.Stop();
if (BaseStream.IsOpen)
{
BaseStream.Close();
}
giveComport = false;
return;
}
log.Info(DateTime.Now.Millisecond + " Start connect loop ");
if (DateTime.Now > deadline)
{
//if (Progress != null)
// Progress(-1, "No Heartbeat Packets");
countDown.Stop();
this.Close();
}
Thread.Sleep(1);
//BaseStream.Read(buffer, count, 1);
count++;
// 解析数据，获取 sysid ,comid
sysidcurrent = 1;
compidcurrent = 50;
// if we get no data, try enableing rts/cts
//if (buffer.Length == 0 && BaseStream is SerialPort)
//{
// BaseStream.RtsEnable = !BaseStream.RtsEnable;
//}
if (count > 2)
{
break;
}
SetupMavConnect(1, 50, "AIR");
}
countDown.Stop();
if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
{
giveComport = false;
if (BaseStream.IsOpen)
{
BaseStream.Close();
}
return;
}
}
catch (Exception e)
{
try
{
BaseStream.Close();
}
catch
{
}
giveComport = false;
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
{
progressWorkerEventArgs.ErrorMessage = Strings.ConnectFailed;
}
log.Error(e);
Console.WriteLine(e.ToString());
throw;
}
//frmProgressReporter.Close();
giveComport = false;
frmProgressReporter.UpdateProgressAndStatus(100, Strings.Done);
//log.Info("Done open " + MAV.sysid + " " + MAV.compid);
//MAV.packetslost = 0;
//MAV.synclost = 0;
}
void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// list of x,y,z 's
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
DateTime deadline = DateTime.Now.AddSeconds(60);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
double timeremaining = (deadline - DateTime.Now).TotalSeconds;
((ProgressReporterDialogue)sender).UpdateProgressAndStatus((int)(((60 - timeremaining) / 60) * 100), timeremaining.ToString("0") + " Seconds - got " + data.Count + " Samples");
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = true;
return;
}
if (oldmx != MainV2.comPort.MAV.cs.mx &&
oldmy != MainV2.comPort.MAV.cs.my &&
oldmz != MainV2.comPort.MAV.cs.mz)
{
data.Add(new Tuple <float, float, float>(
MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
oldmx = MainV2.comPort.MAV.cs.mx;
oldmy = MainV2.comPort.MAV.cs.my;
oldmz = MainV2.comPort.MAV.cs.mz;
}
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (data.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
return;
}
ans = MagCalib.LeastSq(data);
//find the mean radius
Vector3f centre = new Vector3f((float)-ans[0], (float)-ans[1], (float)-ans[2]);
Vector3f point;
float radius = 0;
for (int i = 0; i < data.Count; i++)
{
point = new Vector3f(data[i].Item1, data[i].Item2, data[i].Item3);
radius += Vector3f.Distance(point, centre);
}
radius /= data.Count;
//test that we can find one point near a set of points all around the sphere surface
int factor = 10;
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j < factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i < factor; i++)
{
double phi = (2 * Math.PI * i) / factor;
Vector3f point_sphere = new Vector3f(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) + centre;
bool found = false;
for (int k = 0; k < data.Count; k++)
{
point = new Vector3f(data[i].Item1, data[i].Item2, data[i].Item3);
double d = Vector3f.Distance(point_sphere, point);
if (d < max_distance)
{
found = true;
break;
}
}
if (!found)
{
e.ErrorMessage = "Data missing for some directions";
ans = null;
return;
}
}
}
}
private void FrmProgressReporterDoWorkNOParams(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
OpenBg(sender, false, e);
}
void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// list of x,y,z 's
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
DateTime deadline = DateTime.Now.AddSeconds(60);
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
while (deadline > DateTime.Now)
{
double timeremaining = (deadline - DateTime.Now).TotalSeconds;
((ProgressReporterDialogue)sender).UpdateProgressAndStatus((int)(((60 - timeremaining) / 60) * 100), timeremaining.ToString("0") + " Seconds");
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = true;
return;
}
if (oldmx != MainV2.comPort.MAV.cs.mx &&
oldmy != MainV2.comPort.MAV.cs.my &&
oldmz != MainV2.comPort.MAV.cs.mz)
{
data.Add(new Tuple<float, float, float>(
MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
oldmx = MainV2.comPort.MAV.cs.mx;
oldmy = MainV2.comPort.MAV.cs.my;
oldmz = MainV2.comPort.MAV.cs.mz;
}
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
return;
}
double[] ans = MagCalib.LeastSq(data);
MagCalib.SaveOffsets(ans);
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
var sub = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.RAW_IMU, ReceviedPacket);
string extramsg = "";
((ProgressReporterSphere)sender).sphere1.Clear();
int lastcount = 0;
while (true)
{
// slow down execution
System.Threading.Thread.Sleep(20);
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Got " + data.Count + " Samples " + extramsg);
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (data.Count == 0)
{
continue;
}
// dont use dup data
if (lastcount == data.Count)
{
continue;
}
lastcount = data.Count;
float rawmx = data[data.Count - 1].Item1;
float rawmy = data[data.Count - 1].Item2;
float rawmz = data[data.Count - 1].Item3;
// for old method
setMinorMax(rawmx, ref minx, ref maxx);
setMinorMax(rawmy, ref miny, ref maxy);
setMinorMax(rawmz, ref minz, ref maxz);
// get the current estimated centerpoint
HIL.Vector3 centre = new HIL.Vector3((float)-((maxx + minx) / 2), (float)-((maxy + miny) / 2), (float)-((maxz + minz) / 2));
HIL.Vector3 point;
// add to sphere with center correction
point = new HIL.Vector3(rawmx, rawmy, rawmz) + centre;
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3((float)point.x, (float)point.y, (float)point.z));
//find the mean radius
float radius = 0;
for (int i = 0; i < data.Count; i++)
{
point = new HIL.Vector3(data[i].Item1, data[i].Item2, data[i].Item3);
radius += (float)(point + centre).length();
}
radius /= data.Count;
//test that we can find one point near a set of points all around the sphere surface
int factor = 4; // 4 point check 16 points
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j < factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i < factor; i++)
{
double phi = (2 * Math.PI * i) / factor;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) - centre;
//log.DebugFormat("magcalib check - {0} {1} dist {2}", theta * rad2deg, phi * rad2deg, max_distance);
bool found = false;
for (int k = 0; k < data.Count; k++)
{
point = new HIL.Vector3(data[k].Item1, data[k].Item2, data[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
found = true;
break;
}
}
if (!found)
{
extramsg = "more data needed";
//e.ErrorMessage = "Data missing for some directions";
//ans = null;
//return;
j = factor;
break;
}
else
{
extramsg = "";
}
}
}
}
MainV2.comPort.UnSubscribeToPacketType(sub);
if (minx > 0 && maxx > 0 || minx < 0 && maxx < 0 || miny > 0 && maxy > 0 || miny < 0 && maxy < 0 || minz > 0 && maxz > 0 || minz < 0 && maxz < 0)
{
e.ErrorMessage = "Bad compass raw values. Check for magnetic interferance.";
ans = null;
return;
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (extramsg != "")
{
if (CustomMessageBox.Show("You are missing data points. do you want to run the calibration anyway?", "run anyway", MessageBoxButtons.YesNo) == DialogResult.No)
{
e.CancelAcknowledged = true;
e.CancelRequested = true;
ans = null;
return;
}
}
// remove outlyers
RemoveOutliers(ref data);
if (data.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
ans = MagCalib.LeastSq(data, ellipsoid);
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
bool havecompass2 = false;
havecompass2 = true;
int hittarget = 14;
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
MavLinkInterface mavLinkInterface = new MavLinkInterface();
MavLink.mavlink_request_data_stream_t req = new MavLink.mavlink_request_data_stream_t();
mavLinkInterface = new MavLinkInterface();
req = new MavLink.mavlink_request_data_stream_t();
req.target_system = Global.sysID;
req.target_component = Global.compID;
req.req_message_rate = 30; //50
req.start_stop = 1; // start
req.req_stream_id = (byte)1; // id 1
// send each one twice.
mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
string extramsg = "";
// clear any old data
((ProgressReporterSphere)sender).sphere1.Clear();
((ProgressReporterSphere)sender).sphere2.Clear();
// keep track of data count and last lsq run
int lastcount = 0;
DateTime lastlsq = DateTime.MinValue;
DateTime lastlsq2 = DateTime.MinValue;
DateTime lastlsq3 = DateTime.MinValue;
HI.Vector3 centre = new HI.Vector3();
int pointshitnum = 0;
while (true)
{
// slow down execution
System.Threading.Thread.Sleep(10);
string str = " 共有 " + datacompass1.Count + " 份数据\n\n" +
" 罗盘 1 误差：" + error + "\n" +
" 罗盘 2 误差：" + error2 + "\n" +
" 结束条件，罗盘 1 误差不大于0.2";
str += "\n " + extramsg;
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, str);
addcompass1list();
addcompass2list();
if (e.CancelRequested)
{
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (datacompass1.Count == 0)
{
continue;
}
float rawmx = datacompass1[datacompass1.Count - 1].Item1;
float rawmy = datacompass1[datacompass1.Count - 1].Item2;
float rawmz = datacompass1[datacompass1.Count - 1].Item3;
// for old method
setMinorMax(rawmx, ref minx, ref maxx);
setMinorMax(rawmy, ref miny, ref maxy);
setMinorMax(rawmz, ref minz, ref maxz);
if (datacompass1.Count > 100 && lastlsq.Second != DateTime.Now.Second) //w
{
//req = new MavLink.mavlink_request_data_stream_t();
//req.target_system = Global.sysID;
//req.target_component = Global.compID;
//req.req_message_rate = 30; //50
//req.start_stop = 1; // start
//req.req_stream_id = (byte)1; // id 1
//// send each one twice.
//mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
//mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
lastlsq = DateTime.Now;
lock (datacompass1)
{
var lsq = MagCalib.LeastSq(datacompass1, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
centre = new HI.Vector3(lsq[0], lsq[1], lsq[2]);
((ProgressReporterSphere)sender).sphere1.CenterPoint = new OpenTK.Vector3(
(float)centre.x, (float)centre.y, (float)centre.z);
}
}
}
// run lsq every second when more than 100 datapoints
if (datacompass2.Count > 100 && lastlsq2.Second != DateTime.Now.Second)//w
{
lastlsq2 = DateTime.Now;
lock (datacompass2)
{
var lsq = MagCalib.LeastSq(datacompass2, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
HI.Vector3 centre2 = new HI.Vector3(lsq[0], lsq[1], lsq[2]);
((ProgressReporterSphere)sender).sphere2.CenterPoint = new OpenTK.Vector3(
(float)centre2.x, (float)centre2.y, (float)centre2.z);
}
}
}
if (lastcount == datacompass1.Count)
{
continue;
}
lastcount = datacompass1.Count;
// add to sphere with center correction
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3(rawmx, rawmy, rawmz));
((ProgressReporterSphere)sender).sphere1.AimClear();
if (datacompass2.Count > 30)//w
{
float raw2mx = datacompass2[datacompass2.Count - 1].Item1;
float raw2my = datacompass2[datacompass2.Count - 1].Item2;
float raw2mz = datacompass2[datacompass2.Count - 1].Item3;
((ProgressReporterSphere)sender).sphere2.AddPoint(new OpenTK.Vector3(raw2mx, raw2my, raw2mz));
((ProgressReporterSphere)sender).sphere2.AimClear();
}
HI.Vector3 point;
point = new HI.Vector3(rawmx, rawmy, rawmz) + centre;
//find the mean radius
float radius = 0;
for (int i = 0; i < datacompass1.Count; i++)
{
point = new HI.Vector3(datacompass1[i].Item1, datacompass1[i].Item2, datacompass1[i].Item3);
radius += (float)(point + centre).length();
}
radius /= datacompass1.Count;
//test that we can find one point near a set of points all around the sphere surface
int pointshit = 0;
string displayresult = "";
int factor = 3; // pitch
int factor2 = 4; // yaw
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j <= factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i <= factor2; i++)
{
double phi = (2 * Math.PI * i) / factor2;
HI.Vector3 point_sphere = new HI.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) - centre;
//log.InfoFormat("magcalib check - {0} {1} dist {2}", theta * rad2deg, phi * rad2deg, max_distance);
bool found = false;
for (int k = 0; k < datacompass1.Count; k++)
{
point = new HI.Vector3(datacompass1[k].Item1, datacompass1[k].Item2, datacompass1[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
pointshit++;
found = true;
break;
}
}
// draw them all
//((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
//if (!found)
//{
// displayresult = "需要更多的数据 " +
// GetColour((int)(theta * rad2deg), (int)(phi * rad2deg));
// ((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x,
// (float)point_sphere.y, (float)point_sphere.z));
// //j = factor;
// //break;
//}
}
}
extramsg = displayresult;
if (error < 0.2 && pointshit > hittarget && ((ProgressReporterSphere)sender).autoaccept)
{
extramsg = "";
MessageBox.Show("旋转完成\r\n请自行关闭罗盘校准窗口");
break;
}
}
req = new MavLink.mavlink_request_data_stream_t();
req.target_system = Global.sysID;
req.target_component = Global.compID;
req.req_message_rate = 2; //50
req.start_stop = 1; // start
req.req_stream_id = (byte)1; // id 1
// send each one twice.
mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
mavLinkInterface.AssembleAndSendFrame((byte)MavLink.MAVLINK_MSG_ID.REQUEST_DATA_STREAM, req);
ans = MagCalib.LeastSq(datacompass1, false);
ans2 = MagCalib.LeastSq(datacompass2, false);
}
void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// list of x,y,z 's
List <Tuple <float, float, float> > data = new List <Tuple <float, float, float> >();
// backup current rate and set to 10 hz
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
MainV2.comPort.MAV.cs.ratesensors = 10;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
float oldmx = 0;
float oldmy = 0;
float oldmz = 0;
((ProgressReporterSphere)sender).sphere1.Clear();
while (true)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Got " + data.Count + " Samples");
if (e.CancelRequested)
{
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (oldmx != MainV2.comPort.MAV.cs.mx &&
oldmy != MainV2.comPort.MAV.cs.my &&
oldmz != MainV2.comPort.MAV.cs.mz)
{
data.Add(new Tuple <float, float, float>(
MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
oldmx = MainV2.comPort.MAV.cs.mx;
oldmy = MainV2.comPort.MAV.cs.my;
oldmz = MainV2.comPort.MAV.cs.mz;
((ProgressReporterSphere)sender).sphere1.AddPoint(new OpenTK.Vector3(oldmx, oldmy, oldmz));
}
}
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
if (data.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
ans = MagCalib.LeastSq(data, ellipsoid);
//find the mean radius
HIL.Vector3 centre = new HIL.Vector3((float)-ans[0], (float)-ans[1], (float)-ans[2]);
HIL.Vector3 point;
float radius = 0;
for (int i = 0; i < data.Count; i++)
{
point = new HIL.Vector3(data[i].Item1, data[i].Item2, data[i].Item3);
radius += (float)(point - centre).length();
}
radius /= data.Count;
//test that we can find one point near a set of points all around the sphere surface
int factor = 3; // 9 point check 3x3
float max_distance = radius / 3; //pretty generouse
for (int j = 0; j < factor; j++)
{
double theta = (Math.PI * (j + 0.5)) / factor;
for (int i = 0; i < factor; i++)
{
double phi = (2 * Math.PI * i) / factor;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float)(Math.Sin(theta) * Math.Cos(phi) * radius),
(float)(Math.Sin(theta) * Math.Sin(phi) * radius),
(float)(Math.Cos(theta) * radius)) + centre;
Console.WriteLine("{0} {1}", theta * rad2deg, phi * rad2deg);
bool found = false;
for (int k = 0; k < data.Count; k++)
{
point = new HIL.Vector3(data[k].Item1, data[k].Item2, data[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
found = true;
break;
}
}
if (!found)
{
e.ErrorMessage = "Data missing for some directions";
ans = null;
return;
}
}
}
}
