Routines to calibrate sensors

Collaboration diagram for Routines to calibrate sensors:

Functions
void	calibrate_all (IMU_DATA_STRUCT *imu_data)
	Calibrate all sensors. More...
void	calibrate_imu (IMU_DATA_STRUCT *imu_data)
	Calibrate imu sensors. More...

Detailed Description

Function Documentation

void calibrate_all

(

IMU_DATA_STRUCT *

imu_data

)

Calibrate all sensors.

Definition at line 8 of file calibration.c.

References calibrate_imu().

Referenced by control_task(), and periodic_task_1().

{
  calibrate_imu(imu_data);
  return;
}

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void calibrate_imu

(

IMU_DATA_STRUCT *

imu_data

)

Calibrate imu sensors.

Definition at line 14 of file calibration.c.

References IMU_DATA_STRUCT::acc, IMU_DATA_STRUCT::calibrated::acc, ACC_BIAS_X, ACC_BIAS_Y, ACC_BIAS_Z, ACC_FS_X, ACC_FS_Y, ACC_FS_Z, IMU_DATA_STRUCT::calib, IMU_DATA_STRUCT::calib_temp, IMU_DATA_STRUCT::gyr, IMU_DATA_STRUCT::calibrated::gyr, GYR_BIAS_X, GYR_BIAS_Y, GYR_BIAS_Z, GYR_FS_X, GYR_FS_Y, GYR_FS_Z, IMU_DATA_STRUCT::mag, IMU_DATA_STRUCT::calibrated::mag, MAG_BIAS_X, MAG_BIAS_Y, MAG_BIAS_Z, MAG_FS_X, MAG_FS_Y, MAG_FS_Z, IMU_DATA_STRUCT::temp, DATA_XYZ::x, DATA_XYZ_DOUBLE::x, DATA_XYZ::y, DATA_XYZ_DOUBLE::y, DATA_XYZ::z, and DATA_XYZ_DOUBLE::z.

Referenced by calibrate_all().

{
  // With this parameters, the vectors of acceleration and magnetic field will have norm = 1 theorically (i.e. in g or G)
  imu_data->calib.acc.x = ((double)imu_data->acc.x-ACC_BIAS_X)/ACC_FS_X;
  imu_data->calib.acc.y = ((double)imu_data->acc.y-ACC_BIAS_Y)/ACC_FS_Y;
  imu_data->calib.acc.z = ((double)imu_data->acc.z-ACC_BIAS_Z)/ACC_FS_Z;
  
  imu_data->calib.mag.x = ((double)imu_data->mag.x-ACC_BIAS_X)/ACC_FS_X;
  imu_data->calib.mag.y = ((double)imu_data->mag.y-ACC_BIAS_Y)/ACC_FS_Y;
  imu_data->calib.mag.z = ((double)imu_data->mag.z-ACC_BIAS_Z)/ACC_FS_Z;
  
  // With this parameters, we consider right datasheet scale and we get in rad/s
  imu_data->calib.gyr.x = ((double)imu_data->gyr.x-GYR_BIAS_X)/GYR_FS_X;
  imu_data->calib.gyr.y = ((double)imu_data->gyr.y-GYR_BIAS_X)/GYR_FS_Y;
  imu_data->calib.gyr.z = ((double)imu_data->gyr.z-GYR_BIAS_X)/GYR_FS_Z;
  
  return;
}

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