Calibration state machines (see calib_mgr.h, HANDOVER_FW.md §10). More...

#include "calib_mgr.h"
#include "proto_v2.h"
#include <math.h>
#include <string.h>

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Macros
#define	D2R 0.017453292519943295f

#define	R2D 57.29577951308232f

#define	STILL_GYRO (3.0f * D2R) /* rad/s: "still" */

#define	ACCEL_STILL_MS 2000u /* still window per position */

#define	LEVEL_MS 5000u

#define	GYRO_MS 5000u

#define	GYRO_MAX_RESTARTS 3u

#define	COMPASS_MIN_SAMPLES 150u

#define	COMPASS_KEEP 256u /* samples kept for the quality figure */

Functions
void	cal_set_defaults (cal_set_t *s, const float hi[3])

void	cal_copy_type (cal_set_t d, const cal_set_t s, uint8_t type)
	copies the part of 'src' that belongs to 'type' into 'dst'

void	cal_set_sensors (uint16_t sensors)
	expansion board detected later

void	cal_init (const cal_config_t cfg, cal_set_t active)
	active: the set in effect (RAM), owned by the caller.

static void	set_state (uint8_t st, uint8_t step)

static void	apply (const cal_set_t *set)

static void	revert (void)

static void	fail (uint8_t reason)

static void	done (uint8_t step)

uint8_t	cal_active (void)
	a calibration exists (any state but IDLE)

uint8_t	cal_running (void)
	active and not DONE: blocks arming / other starts

uint8_t	cal_type (void)

const cal_set_t *	cal_result (void)

uint8_t	cal_wants_samples (void)

uint8_t	cal_take_changed (void)
	1 if the state/step changed since the last call (send a CALIB frame now)

uint8_t	cal_take_failed (void)
	1 + type once when a calibration failed (EVENT 51), 0 otherwise

uint8_t	cal_start (uint8_t type, uint8_t option, uint8_t armed, uint32_t now, uint8_t *reason)

uint8_t	cal_abort (uint8_t *reason)

uint8_t	cal_save_check (uint8_t *reason)
	CAL_SAVE validation: returns the ACK; on OK the caller writes the result (cal_result()) to flash and then calls cal_saved()

void	cal_saved (void)
	state SAVED (one frame), then IDLE

static int	accel_position (const float a[3])

static int	first_missing (uint8_t mask)

static void	accel_fit (void)

static void	accel_capture_pos (int pos)

static void	accel_feed (const cal_sample_t *s, uint32_t now)

static void	level_feed (const cal_sample_t *s, uint32_t now)

static void	gyro_feed (const cal_sample_t *s, uint32_t now)

static void	bin (int ring, float a, float b)

static uint8_t	coverage_count (void)

static int	solve6 (double A6[6][6], double b6[6], double x[6])

static void	compass_fit (void)

static void	compass_feed (const cal_sample_t *s)

void	cal_feed (const cal_sample_t *s, uint32_t now)

void	cal_tick (uint32_t now)

uint8_t	cal_capture (uint32_t now, uint8_t *reason)

uint8_t	cal_set_ref (uint8_t type, uint8_t index, float v, uint8_t *reason)

static int16_t	cl16 (float v)

static uint16_t	clu16 (float v)

size_t	cal_frame (uint8_t *out, size_t cap)
	CALIB frame for the current calibration; 0 if none.

Variables
static cal_config_t	s_cfg

static cal_set_t *	s_active

static cal_set_t	s_prev

static cal_set_t	s_res

static uint8_t	s_applied

static uint8_t	s_type

static uint8_t	s_state

static uint8_t	s_step

static uint8_t	s_progress

static uint8_t	s_quality

static uint8_t	s_reason

static uint8_t	s_changed

static uint8_t	s_failed_type

static uint32_t	s_t0

static uint32_t	s_now

struct {

uint8_t done_mask

uint8_t current

uint8_t still_pct

uint8_t pos

float sum [3]

uint32_t n

uint32_t t_still

float cap [6][3]

float last_g

float last_a [3]

float fit_err_pct

}	A

struct {

double sr

double sp

double sr2

double sp2

uint32_t n

float roll

float pitch

uint16_t remaining

}	L

struct {

double s [3]

double s2 [3]

uint32_t n

uint8_t restarts

float bias [3]

float noise

uint16_t remaining

}	G

struct {

float vbat

float used

float scale_i_used

}	B

struct {

double N [6][6]

double b [6]

uint32_t n

uint8_t cov [5]

float keep [COMPASS_KEEP][3]

uint16_t nkeep

uint16_t kidx

uint8_t interf

uint8_t qual

}	C

Detailed Description

Calibration state machines (see calib_mgr.h, HANDOVER_FW.md §10).

Behavioural reference: calStart/calCapture/stepCal in simDrone.ts.

Definition in file calib_mgr.c.

Macro Definition Documentation

◆ D2R

#define D2R 0.017453292519943295f

Definition at line 11 of file calib_mgr.c.

◆ R2D

#define R2D 57.29577951308232f

Definition at line 12 of file calib_mgr.c.

◆ STILL_GYRO

#define STILL_GYRO (3.0f * D2R) /* rad/s: "still" */

Definition at line 13 of file calib_mgr.c.

◆ ACCEL_STILL_MS

#define ACCEL_STILL_MS 2000u /* still window per position */

Definition at line 14 of file calib_mgr.c.

◆ LEVEL_MS

#define LEVEL_MS 5000u

Definition at line 15 of file calib_mgr.c.

◆ GYRO_MS

#define GYRO_MS 5000u

Definition at line 16 of file calib_mgr.c.

◆ GYRO_MAX_RESTARTS

#define GYRO_MAX_RESTARTS 3u

Definition at line 17 of file calib_mgr.c.

◆ COMPASS_MIN_SAMPLES

#define COMPASS_MIN_SAMPLES 150u

Definition at line 18 of file calib_mgr.c.

◆ COMPASS_KEEP

#define COMPASS_KEEP 256u /* samples kept for the quality figure */

Definition at line 19 of file calib_mgr.c.

Function Documentation

◆ cal_set_defaults()

void cal_set_defaults	(	cal_set_t *	s,
		const float	hi[3]
	)

Definition at line 60 of file calib_mgr.c.

References s.

Referenced by app_task_boot(), and cal_from_v1().

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◆ cal_copy_type()

void cal_copy_type	(	cal_set_t *	d,
		const cal_set_t *	s,
		uint8_t	type
	)

copies the part of 'src' that belongs to 'type' into 'dst'

Definition at line 72 of file calib_mgr.c.

References cal_set_t::accel, cal_set_t::battery, bit(), cal_set_t::compass, cal_set_t::done_mask, cal_set_t::gyro, cal_set_t::level, cal_set_t::motors, PV2_CAL_ACCEL, PV2_CAL_BATTERY, PV2_CAL_COMPASS, PV2_CAL_GYRO, PV2_CAL_LEVEL, PV2_CAL_MOTORS, and s.

Referenced by apply(), ImuTask(), local_cmd(), and take_calibrations().

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◆ cal_set_sensors()

void cal_set_sensors ( uint16_t sensors )

expansion board detected later

Definition at line 87 of file calib_mgr.c.

References s_cfg, and cal_config_t::sensors.

Referenced by app_step().

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◆ cal_init()

void cal_init	(	const cal_config_t *	cfg,
		cal_set_t *	active
	)

active: the set in effect (RAM), owned by the caller.

DONE applies the new values to it (and to the estimator through the hook); ABORT, a failure or a lost app link put the previous values back.

Definition at line 89 of file calib_mgr.c.

References PV2_CS_IDLE, s_active, s_applied, s_cfg, s_changed, s_failed_type, s_state, and s_type.

Referenced by app_init().

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◆ set_state()

static void set_state	(	uint8_t	st,
		uint8_t	step
	)

static

Definition at line 97 of file calib_mgr.c.

References s_changed, s_state, s_step, and st().

Referenced by cal_capture(), cal_saved(), cal_set_ref(), cal_start(), done(), and fail().

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◆ apply()

static void apply ( const cal_set_t * set )

static

Definition at line 103 of file calib_mgr.c.

References cal_config_t::apply, cal_copy_type(), s_active, s_cfg, s_type, and set.

Referenced by cal_set_ref(), done(), and revert().

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◆ revert()

static void revert ( void )

static

Definition at line 109 of file calib_mgr.c.

References apply(), s_applied, and s_prev.

Referenced by cal_abort(), cal_start(), and fail().

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◆ fail()

static void fail ( uint8_t reason )

static

Definition at line 114 of file calib_mgr.c.

References PV2_CS_FAILED, revert(), s_failed_type, s_reason, s_step, s_type, and set_state().

Referenced by accel_fit(), compass_fit(), gyro_feed(), and level_feed().

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◆ done()

static void done ( uint8_t step )

static

Definition at line 122 of file calib_mgr.c.

References apply(), PV2_CS_DONE, s_applied, s_progress, s_res, and set_state().

Referenced by accel_fit(), checks_build(), compass_fit(), gyro_feed(), and level_feed().

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◆ cal_active()

uint8_t cal_active ( void )

a calibration exists (any state but IDLE)

Definition at line 131 of file calib_mgr.c.

References PV2_CS_IDLE, and s_state.

Referenced by cal_abort(), cal_capture(), cal_frame(), cal_save_check(), cal_set_ref(), and calibration().

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◆ cal_running()

uint8_t cal_running ( void )

active and not DONE: blocks arming / other starts

Definition at line 132 of file calib_mgr.c.

References PV2_CS_DONE, PV2_CS_IDLE, and s_state.

Referenced by app_step(), cal_start(), and local_cmd().

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◆ cal_type()

uint8_t cal_type ( void )

Definition at line 133 of file calib_mgr.c.

References s_type.

Referenced by local_cmd().

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◆ cal_result()

const cal_set_t * cal_result ( void )

Definition at line 134 of file calib_mgr.c.

References s_res.

Referenced by local_cmd().

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◆ cal_wants_samples()

uint8_t cal_wants_samples ( void )

Definition at line 136 of file calib_mgr.c.

References PV2_CS_RUNNING, PV2_CS_WAITING_USER, and s_state.

Referenced by cal_feed(), and calibration().

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◆ cal_take_changed()

uint8_t cal_take_changed ( void )

1 if the state/step changed since the last call (send a CALIB frame now)

Definition at line 141 of file calib_mgr.c.

References s_changed.

Referenced by calibration().

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◆ cal_take_failed()

uint8_t cal_take_failed ( void )

1 + type once when a calibration failed (EVENT 51), 0 otherwise

Definition at line 143 of file calib_mgr.c.

References s_failed_type.

Referenced by events().

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◆ cal_start()

uint8_t cal_start	(	uint8_t	type,
		uint8_t	option,
		uint8_t	armed,
		uint32_t	now,
		uint8_t *	reason
	)

Definition at line 150 of file calib_mgr.c.

References A, B, cal_config_t::batt, C, cal_running(), G, GYRO_MS, L, cal_set_t::level, LEVEL_MS, cal_config_t::motors_built, cal_level_t::pitch_deg, PV2_ACK_BUSY, PV2_ACK_INVALID, PV2_ACK_OK, PV2_ACK_REJECTED, PV2_ACK_UNSUPPORTED, PV2_CAL_ACCEL, PV2_CAL_BATTERY, PV2_CAL_COMPASS, PV2_CAL_FLOW_TOF, PV2_CAL_GYRO, PV2_CAL_LEVEL, PV2_CAL_MOTORS, PV2_CAL_STICKS, PV2_CS_DONE, PV2_CS_IDLE, PV2_CS_RUNNING, PV2_CS_WAITING_USER, PV2_R_ARMED, PV2_R_CALIBRATING, PV2_R_NONE, PV2_R_SENSOR_MISSING, PV2_S_CURRENT, PV2_S_ELRS, PV2_S_FLOW, PV2_S_MAG_FC, revert(), cal_level_t::roll_deg, s_active, s_applied, s_cfg, s_changed, s_now, s_prev, s_progress, s_quality, s_reason, s_res, s_state, s_step, s_t0, s_type, cal_config_t::sensors, and set_state().

Referenced by local_cmd().

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◆ cal_abort()

uint8_t cal_abort ( uint8_t * reason )

Definition at line 221 of file calib_mgr.c.

References cal_active(), PV2_ACK_OK, PV2_ACK_REJECTED, PV2_CS_IDLE, PV2_R_NONE, PV2_R_NOT_CALIBRATING, revert(), s_state, and s_type.

Referenced by calibration(), and local_cmd().

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◆ cal_save_check()

uint8_t cal_save_check ( uint8_t * reason )

CAL_SAVE validation: returns the ACK; on OK the caller writes the result (cal_result()) to flash and then calls cal_saved()

Definition at line 230 of file calib_mgr.c.

References cal_active(), cal_set_t::done_mask, PV2_ACK_OK, PV2_ACK_REJECTED, PV2_CAL_MOTORS, PV2_CS_DONE, PV2_R_NONE, PV2_R_NOT_CALIBRATING, s_active, s_res, s_state, and s_type.

Referenced by local_cmd().

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◆ cal_saved()

void cal_saved ( void )

state SAVED (one frame), then IDLE

Definition at line 242 of file calib_mgr.c.

References PV2_CS_SAVED, s_applied, s_step, and set_state().

Referenced by local_cmd().

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◆ accel_position()

static int accel_position ( const float a[3] )

static

Definition at line 252 of file calib_mgr.c.

References pos.

Referenced by accel_feed(), and cal_capture().

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◆ first_missing()

static int first_missing ( uint8_t mask )

static

Definition at line 265 of file calib_mgr.c.

Referenced by accel_capture_pos().

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◆ accel_fit()

static void accel_fit ( void )

static

Definition at line 271 of file calib_mgr.c.

References A, cal_set_t::accel, done(), fail(), off, cal_accel_t::off, PV2_R_OUT_OF_RANGE, s_quality, s_res, and cal_accel_t::scale.

Referenced by accel_capture_pos().

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◆ accel_capture_pos()

static void accel_capture_pos ( int pos )

static

Definition at line 299 of file calib_mgr.c.

References A, accel_fit(), first_missing(), pos, s_changed, and s_progress.

Referenced by accel_feed(), and cal_capture().

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◆ accel_feed()

static void accel_feed	(	const cal_sample_t *	s,
		uint32_t	now
	)

static

Definition at line 314 of file calib_mgr.c.

References A, accel_capture_pos(), accel_position(), ACCEL_STILL_MS, pos, s, s_changed, and STILL_GYRO.

Referenced by cal_feed().

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◆ level_feed()

static void level_feed	(	const cal_sample_t *	s,
		uint32_t	now
	)

static

Definition at line 339 of file calib_mgr.c.

References done(), fail(), L, cal_set_t::level, LEVEL_MS, pitch, cal_level_t::pitch_deg, PV2_R_NOT_STILL, R2D, roll, cal_level_t::roll_deg, s, s_progress, s_quality, s_res, s_t0, sp, and STILL_GYRO.

Referenced by cal_feed().

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◆ gyro_feed()

static void gyro_feed	(	const cal_sample_t *	s,
		uint32_t	now
	)

static

Definition at line 365 of file calib_mgr.c.

References cal_gyro_t::bias, done(), fail(), G, cal_set_t::gyro, GYRO_MAX_RESTARTS, GYRO_MS, PV2_R_NOT_STILL, R2D, s, s_progress, s_quality, s_res, s_t0, and STILL_GYRO.

Referenced by cal_feed().

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◆ bin()

static void bin	(	int	ring,
		float	a,
		float	b
	)

static

Definition at line 400 of file calib_mgr.c.

References b, and C.

Referenced by compass_feed().

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◆ coverage_count()

static uint8_t coverage_count ( void )

static

Definition at line 410 of file calib_mgr.c.

References C, and n.

Referenced by compass_feed().

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◆ solve6()

static int solve6	(	double	A6[6][6],
		double	b6[6],
		double	x[6]
	)

static

Definition at line 418 of file calib_mgr.c.

References s.

Referenced by compass_fit().

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◆ compass_fit()

static void compass_fit ( void )

static

Definition at line 440 of file calib_mgr.c.

References C, cal_set_t::compass, done(), fail(), cal_compass_t::hi, n, PV2_R_OUT_OF_RANGE, s2, s_quality, s_res, cal_compass_t::scale, and solve6().

Referenced by compass_feed().

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◆ compass_feed()

static void compass_feed ( const cal_sample_t * s )

static

Definition at line 477 of file calib_mgr.c.

References bin(), C, cal_set_t::compass, compass_fit(), COMPASS_KEEP, COMPASS_MIN_SAMPLES, coverage_count(), cal_compass_t::hi, n, s, s_prev, s_progress, and cal_compass_t::scale.

Referenced by cal_feed().

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◆ cal_feed()

void cal_feed	(	const cal_sample_t *	s,
		uint32_t	now
	)

Definition at line 507 of file calib_mgr.c.

References accel_feed(), cal_wants_samples(), compass_feed(), gyro_feed(), level_feed(), PV2_CAL_ACCEL, PV2_CAL_COMPASS, PV2_CAL_GYRO, PV2_CAL_LEVEL, s, s_now, and s_type.

Referenced by calibration().

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◆ cal_tick()

void cal_tick ( uint32_t now )

Definition at line 520 of file calib_mgr.c.

References B, cal_config_t::batt, PV2_CAL_BATTERY, PV2_CS_DONE, PV2_CS_WAITING_USER, s_cfg, s_now, s_state, and s_type.

Referenced by calibration().

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◆ cal_capture()

uint8_t cal_capture	(	uint32_t	now,
		uint8_t *	reason
	)

Definition at line 528 of file calib_mgr.c.

References A, accel_capture_pos(), accel_position(), cal_active(), pos, PV2_ACK_INVALID, PV2_ACK_OK, PV2_ACK_REJECTED, PV2_CAL_ACCEL, PV2_CAL_BATTERY, PV2_CS_DONE, PV2_CS_WAITING_USER, PV2_R_NONE, PV2_R_NOT_CALIBRATING, PV2_R_NOT_STILL, s_state, s_type, set_state(), and STILL_GYRO.

Referenced by local_cmd().

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◆ cal_set_ref()

uint8_t cal_set_ref	(	uint8_t	type,
		uint8_t	index,
		float	v,
		uint8_t *	reason
	)

Definition at line 547 of file calib_mgr.c.

References apply(), B, cal_set_t::battery, cal_active(), cal_set_t::level, cal_level_t::pitch_deg, PV2_ACK_INVALID, PV2_ACK_OK, PV2_ACK_REJECTED, PV2_CAL_BATTERY, PV2_CAL_LEVEL, PV2_CS_DONE, PV2_CS_WAITING_USER, PV2_R_NONE, PV2_R_NOT_CALIBRATING, PV2_R_OUT_OF_RANGE, PV2_R_SENSOR_MISSING, cal_level_t::roll_deg, s_applied, s_changed, s_res, s_state, s_type, cal_battery_t::scale_i, cal_battery_t::scale_v, and set_state().

Referenced by local_cmd().

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◆ cl16()

static int16_t cl16 ( float v )

static

Definition at line 589 of file calib_mgr.c.

Referenced by cal_frame().

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◆ clu16()

static uint16_t clu16 ( float v )

static

Definition at line 590 of file calib_mgr.c.

Referenced by cal_frame().

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◆ cal_frame()

size_t cal_frame	(	uint8_t *	out,
		size_t	cap
	)

CALIB frame for the current calibration; 0 if none.

Definition at line 592 of file calib_mgr.c.

References A, cal_set_t::accel, B, b, cal_set_t::battery, C, cal_active(), cap, cl16(), clu16(), G, L, cal_set_t::level, n, cal_accel_t::off, cal_level_t::pitch_deg, PV2_CAL_ACCEL, PV2_CAL_BATTERY, PV2_CAL_COMPASS, PV2_CAL_GYRO, PV2_CAL_LEVEL, pv2_calib(), PV2_CS_DONE, PV2_CS_IDLE, PV2_CS_SAVED, R2D, cal_level_t::roll_deg, s_active, s_progress, s_quality, s_reason, s_res, s_state, s_step, s_type, cal_accel_t::scale, cal_battery_t::scale_i, and cal_battery_t::scale_v.

Referenced by send_calib().

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Variable Documentation

◆ s_cfg

cal_config_t s_cfg

static

Definition at line 21 of file calib_mgr.c.

Referenced by apply(), cal_init(), cal_set_sensors(), cal_start(), and cal_tick().

◆ s_active

cal_set_t* s_active

static

Definition at line 22 of file calib_mgr.c.

Referenced by apply(), cal_frame(), cal_init(), cal_save_check(), and cal_start().

◆ s_prev

cal_set_t s_prev

static

Definition at line 23 of file calib_mgr.c.

Referenced by cal_start(), compass_feed(), and revert().

◆ s_res

cal_set_t s_res

static

Definition at line 24 of file calib_mgr.c.

Referenced by accel_fit(), cal_frame(), cal_result(), cal_save_check(), cal_set_ref(), cal_start(), compass_fit(), done(), gyro_feed(), and level_feed().

◆ s_applied

uint8_t s_applied

static

Definition at line 25 of file calib_mgr.c.

Referenced by cal_init(), cal_saved(), cal_set_ref(), cal_start(), done(), and revert().

◆ s_type

uint8_t s_type

static

Definition at line 27 of file calib_mgr.c.

Referenced by apply(), cal_abort(), cal_capture(), cal_feed(), cal_frame(), cal_init(), cal_save_check(), cal_set_ref(), cal_start(), cal_tick(), cal_type(), and fail().

◆ s_state

uint8_t s_state

static

Definition at line 27 of file calib_mgr.c.

Referenced by cal_abort(), cal_active(), cal_capture(), cal_frame(), cal_init(), cal_running(), cal_save_check(), cal_set_ref(), cal_start(), cal_tick(), cal_wants_samples(), and set_state().

◆ s_step

uint8_t s_step

static

Definition at line 27 of file calib_mgr.c.

Referenced by cal_frame(), cal_saved(), cal_start(), fail(), and set_state().

◆ s_progress

uint8_t s_progress

static

Definition at line 27 of file calib_mgr.c.

Referenced by accel_capture_pos(), cal_frame(), cal_start(), compass_feed(), done(), gyro_feed(), and level_feed().

◆ s_quality

uint8_t s_quality

static

Definition at line 27 of file calib_mgr.c.

Referenced by accel_fit(), cal_frame(), cal_start(), compass_fit(), gyro_feed(), and level_feed().

◆ s_reason

uint8_t s_reason

static

Definition at line 27 of file calib_mgr.c.

Referenced by cal_frame(), cal_start(), and fail().

◆ s_changed

uint8_t s_changed

static

Definition at line 28 of file calib_mgr.c.

Referenced by accel_capture_pos(), accel_feed(), cal_init(), cal_set_ref(), cal_start(), cal_take_changed(), and set_state().

◆ s_failed_type

uint8_t s_failed_type

static

Definition at line 28 of file calib_mgr.c.

Referenced by cal_init(), cal_take_failed(), and fail().

◆ s_t0

uint32_t s_t0

static

Definition at line 29 of file calib_mgr.c.

Referenced by cal_start(), gyro_feed(), and level_feed().

◆ s_now

uint32_t s_now

static

Definition at line 30 of file calib_mgr.c.

Referenced by cal_feed(), cal_start(), and cal_tick().

◆ done_mask

uint8_t done_mask

Definition at line 34 of file calib_mgr.c.

◆ current

uint8_t current

Definition at line 34 of file calib_mgr.c.

◆ still_pct

uint8_t still_pct

Definition at line 34 of file calib_mgr.c.

◆ pos

uint8_t pos

Definition at line 34 of file calib_mgr.c.

Referenced by accel_capture_pos(), accel_feed(), accel_position(), cal_capture(), params_visible_pos(), push(), send_param(), and tlm_ble_peek().

◆ sum

float sum[3]

Definition at line 35 of file calib_mgr.c.

◆ n

uint32_t n

Definition at line 35 of file calib_mgr.c.

Referenced by adaptive_var(), alt_est_accel_up(), app_step(), batt_step(), build_checks(), cal_frame(), checks_build(), choose(), cmd(), cmd_list(), compass_feed(), compass_fit(), correct_events(), coverage_count(), delay_us(), direction_noise_std(), est_process(), get_init(), hex_unicode(), imu_fifo_parse(), ImuTask(), last_log(), log_append(), log_ble_out(), log_crc16(), log_crc8(), log_q_put(), log_q_take_drops(), log_read(), log_task_step(), log_used_pct(), on_state(), params_load(), params_visible_count(), pg(), pv2_checks(), pv2_event(), pv2_motors(), rd(), rd16(), rd8(), send_calib(), send_checks(), send_event(), send_init(), send_motors(), send_nav(), so3_to_quat(), TelemetryTask(), tlm_ble_consume(), tlm_ble_peek(), tlm_ble_want_state(), tlm_build_replay(), to_app(), usb_cdc_pump(), usbl_poll(), usbl_put_frame(), usbl_rx_isr(), usbl_send_src(), usbl_tx_consume(), usbl_tx_peek(), vec3_normalize(), w25q_lf_prog(), w25q_lf_read(), w25q_prog(), w25q_read(), wr16(), and wr8().

◆ t_still

uint32_t t_still

Definition at line 35 of file calib_mgr.c.

◆ cap

float cap[6][3]

Definition at line 36 of file calib_mgr.c.

Referenced by cal_frame(), get_init(), imu_fifo_parse(), log_q_get(), pv2_ack(), pv2_calib(), pv2_checks(), pv2_event(), pv2_frame(), pv2_motors(), pv2_param(), send_status(), tlm_build_init(), tlm_build_replay(), tlm_build_state(), tlm_encode(), usbl_poll(), and usbl_tx_peek().

◆ last_g

float last_g

Definition at line 37 of file calib_mgr.c.

◆ last_a

float last_a[3]

Definition at line 38 of file calib_mgr.c.

◆ fit_err_pct

float fit_err_pct

Definition at line 39 of file calib_mgr.c.

◆ [struct]

struct { ... } A

Referenced by accel_capture_pos(), accel_feed(), accel_fit(), cal_capture(), cal_frame(), cal_start(), mat3_inv(), mat3_mul(), mat3_vec(), mat3t_vec(), mmul(), mtrans(), and reset_covariance().

◆ sr

double sr

Definition at line 42 of file calib_mgr.c.

Referenced by status(), wait_ready(), and write_enable().

◆ sp

double sp

Definition at line 42 of file calib_mgr.c.

Referenced by flight_service(), level_feed(), log_records(), logf_vert(), and setpoints().

◆ sr2

double sr2

Definition at line 42 of file calib_mgr.c.

◆ sp2

double sp2

Definition at line 42 of file calib_mgr.c.

◆ roll

float roll

Definition at line 43 of file calib_mgr.c.

Referenced by level_feed().

◆ pitch

float pitch

Definition at line 43 of file calib_mgr.c.

Referenced by level_feed().

◆ remaining

uint16_t remaining

Definition at line 43 of file calib_mgr.c.

◆ [struct]

struct { ... } L

Referenced by batt_step(), batt_task_step(), cal_frame(), cal_start(), and level_feed().

◆ s

double s[3]

Definition at line 46 of file calib_mgr.c.

Referenced by accel_feed(), cal_copy_type(), cal_feed(), cal_set_defaults(), compass_feed(), gyro_feed(), level_feed(), and solve6().

◆ s2

double s2[3]

Definition at line 46 of file calib_mgr.c.

Referenced by compass_fit().

◆ restarts

uint8_t restarts

Definition at line 46 of file calib_mgr.c.

◆ bias

float bias[3]

Definition at line 47 of file calib_mgr.c.

◆ noise

float noise

Definition at line 47 of file calib_mgr.c.

◆ [struct]

struct { ... } G

Referenced by alt_est_predict(), cal_frame(), cal_start(), and gyro_feed().

◆ vbat

float vbat

Definition at line 50 of file calib_mgr.c.

Referenced by cal_batt().

◆ used

float used

Definition at line 50 of file calib_mgr.c.

Referenced by cal_batt(), find(), flush_page(), log_q_put(), push(), and slot().

◆ scale_i_used

float scale_i_used

Definition at line 50 of file calib_mgr.c.

◆ [struct]

struct { ... } B

Referenced by cal_frame(), cal_set_ref(), cal_start(), cal_tick(), mat3_inv(), mat3_mul(), and mmul().

◆ N

double N[6][6]

Definition at line 53 of file calib_mgr.c.

Referenced by alt_est_predict().

◆ b

double b[6]

Definition at line 53 of file calib_mgr.c.

Referenced by a24(), batt_now(), batt_task_step(), battery(), bin(), build_checks(), cal_frame(), ext_i2c_flow_bus(), ext_i2c_tof_bus(), ext_init(), ext_sens_start(), fc_batt_signal(), log_q_get(), log_q_put(), log_read(), log_task_step(), logf_est(), logf_power(), rd16(), rx_byte(), send_caps(), send_power(), so3_exp(), usbl_poll(), vec3_cross(), vec3_dot(), vl53_init(), w25q_lf_prog(), w25q_lf_read(), wr16(), and wr32().

◆ cov

uint8_t cov[5]

Definition at line 54 of file calib_mgr.c.

◆ keep

float keep[COMPASS_KEEP][3]

Definition at line 55 of file calib_mgr.c.

◆ nkeep

uint16_t nkeep

Definition at line 55 of file calib_mgr.c.

◆ kidx

uint16_t kidx

Definition at line 55 of file calib_mgr.c.

◆ interf

uint8_t interf

Definition at line 56 of file calib_mgr.c.

◆ qual

uint8_t qual

Definition at line 56 of file calib_mgr.c.

◆ [struct]

struct { ... } C

Referenced by bin(), cal_frame(), cal_start(), compass_feed(), compass_fit(), coverage_count(), mat3_mul(), and mmul().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ D2R

◆ R2D

◆ STILL_GYRO

◆ ACCEL_STILL_MS

◆ LEVEL_MS

◆ GYRO_MS

◆ GYRO_MAX_RESTARTS

◆ COMPASS_MIN_SAMPLES

◆ COMPASS_KEEP

Function Documentation

◆ cal_set_defaults()

◆ cal_copy_type()

◆ cal_set_sensors()

◆ cal_init()

◆ set_state()

◆ apply()

◆ revert()

◆ fail()

◆ done()

◆ cal_active()

◆ cal_running()

◆ cal_type()

◆ cal_result()

◆ cal_wants_samples()

◆ cal_take_changed()

◆ cal_take_failed()

◆ cal_start()

◆ cal_abort()

◆ cal_save_check()

◆ cal_saved()

◆ accel_position()

◆ first_missing()

◆ accel_fit()

◆ accel_capture_pos()

◆ accel_feed()

◆ level_feed()

◆ gyro_feed()

◆ bin()

◆ coverage_count()

◆ solve6()

◆ compass_fit()

◆ compass_feed()

◆ cal_feed()

◆ cal_tick()

◆ cal_capture()

◆ cal_set_ref()

◆ cl16()

◆ clu16()

◆ cal_frame()

Variable Documentation

◆ s_cfg

◆ s_active

◆ s_prev

◆ s_res

◆ s_applied

◆ s_type

◆ s_state

◆ s_step

◆ s_progress

◆ s_quality

◆ s_reason

◆ s_changed

◆ s_failed_type

◆ s_t0

◆ s_now

◆ done_mask

◆ current

◆ still_pct

◆ pos

◆ sum

◆ n

◆ t_still

◆ cap

◆ last_g

◆ last_a