source: flair-src/trunk/lib/FlairSensorActuator/src/Imu.cpp@ 344

Last change on this file since 344 was 344, checked in by Sanahuja Guillaume, 2 years ago

improve imu calibration by detecting a movement

File size: 4.7 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/01/16
6// filename: Imu.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Virtual class for Imu
14//
15//
16/*********************************************************************/
17
18#include "Imu.h"
19#include <FrameworkManager.h>
20#include <Tab.h>
21#include <TabWidget.h>
22#include <GroupBox.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <ImuData.h>
26#include <OneAxisRotation.h>
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair {
33namespace sensor {
34
35Imu::Imu(string name,bool needRotation) : IODevice(getFrameworkManager(), name) {
36 imuData = new ImuData(this);
37 startCalcOffset=0;
38 calibrationDone=false;
39
40 // station sol
41 mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
42 tab = new TabWidget(mainTab->NewRow(), name);
43 sensorTab = new Tab(tab, "Reglages");
44 setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
45 if(needRotation) {
46 rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
47 } else {
48 rotation=NULL;
49 }
50 AddDataToLog(imuData);
51}
52
53Imu::~Imu() {
54 delete mainTab;
55}
56
57const ImuData *Imu::GetDatas(void) const {
58 return imuData;
59}
60
61void Imu::GetDatas(ImuData **outImuData) const { *outImuData = imuData; }
62
63OneAxisRotation *Imu::GetOneAxisRotation(void) const {
64 if (rotation == NULL) {
65 Err("not applicable\n");
66 }
67 return rotation;
68}
69
70void Imu::ApplyRotation(Vector3Df& vector) {
71 if (rotation == NULL) {
72 Err("not applicable\n");
73 return;
74 }
75 rotation->ComputeRotation(vector);
76}
77
78void Imu::ApplyRotation(Quaternion& quaternion) {
79 if (rotation == NULL) {
80 Err("not applicable\n");
81 return;
82 }
83 rotation->ComputeRotation(quaternion);
84}
85
86void Imu::RemoveOffsets(Vector3Df& acc,Vector3Df& gyr) {
87 Time time=GetTime();
88
89 if(startCalcOffset==0) {
90 startCalcOffset=time;
91 accOffset.x=0;
92 accOffset.y=0;
93 accOffset.z=0;
94 gyrOffset.x=0;
95 gyrOffset.y=0;
96 gyrOffset.z=0;
97 cptOffset=0;
98 accMin=acc;
99 accMax=acc;
100 Printf("%s calibrating offsets, do not move imu during 10s\n",ObjectName().c_str());
101 }
102
103 if(!calibrationDone) {
104 if(time<startCalcOffset+(Time)10000000000) {//calibrating
105 accOffset+=acc;
106 gyrOffset+=gyr;
107 cptOffset++;
108 if(acc.GetNorm()<accMin.GetNorm()) accMin=acc;
109 if(acc.GetNorm()>accMax.GetNorm()) accMax=acc;
110 } else {//check if imu moved or not
111 if((accMax-accMin).GetNorm()>0.5) {//put a parameter
112 Printf("%s imu was moved, calibrating again!\n",ObjectName().c_str());
113 startCalcOffset=0;
114 } else {
115 Printf("%s calibration done\n",ObjectName().c_str());
116 SetIsReady(true);
117 accOffset=accOffset/cptOffset;
118 gyrOffset=gyrOffset/cptOffset;
119 calibrationDone=true;
120 }
121 }
122 acc.x=0;
123 acc.y=0;
124 acc.z=0;
125 gyr.x=0;
126 gyr.y=0;
127 gyr.z=0;
128 } else { //calibrationDone
129 acc-=accOffset;
130 gyr-=gyrOffset;
131 }
132
133}
134
135
136GroupBox *Imu::GetGroupBox(void) const { return setupGroupbox; }
137
138Layout *Imu::GetLayout(void) const { return sensorTab; }
139
140void Imu::LockUserInterface(void) const {
141 sensorTab->setEnabled(false);
142}
143
144void Imu::UnlockUserInterface(void) const {
145 sensorTab->setEnabled(true);
146}
147
148void Imu::UseDefaultPlot(void) {
149
150 plotTab = new Tab(tab, "IMU");
151 axPlot = new DataPlot1D(plotTab->NewRow(), "acc_x", -10, 10);
152 axPlot->AddCurve(imuData->Element(ImuData::RawAx));
153 ayPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_y", -10, 10);
154 ayPlot->AddCurve(imuData->Element(ImuData::RawAy));
155 azPlot = new DataPlot1D(plotTab->LastRowLastCol(), "acc_z", -10, 10);
156 azPlot->AddCurve(imuData->Element(ImuData::RawAz));
157
158 gxPlot = new DataPlot1D(plotTab->NewRow(), "gyr_x", -500, 500);
159 gxPlot->AddCurve(imuData->Element(ImuData::RawGxDeg));
160 gyPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_y", -500, 500);
161 gyPlot->AddCurve(imuData->Element(ImuData::RawGyDeg));
162 gzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "gyr_z", -500, 500);
163 gzPlot->AddCurve(imuData->Element(ImuData::RawGzDeg));
164
165 mxPlot = new DataPlot1D(plotTab->NewRow(), "mag_x", -500, 500);
166 mxPlot->AddCurve(imuData->Element(ImuData::RawMx));
167 myPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_y", -500, 500);
168 myPlot->AddCurve(imuData->Element(ImuData::RawMy));
169 mzPlot = new DataPlot1D(plotTab->LastRowLastCol(), "mag_z", -500, 500);
170 mzPlot->AddCurve(imuData->Element(ImuData::RawMz));
171}
172
173Tab *Imu::GetPlotTab(void) const { return plotTab; }
174
175} // end namespace sensor
176} // end namespace flair
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