WIP: Gyro calibration #11
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(not tested yet)
src/imu/adis16448.cpp
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| auto ygyro_off = readReg(0x1C); | ||
| auto zgyro_off = readReg(0x1E); | ||
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| std::cout << "Gyro offers after reset:\n" << xgyro_off[0] << " , " << xgyro_off[1] << " , " << ygyro_off[1] << " , " << zgyro_off[1] << std::endl; |
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Use lpp
| std::cout << "Gyro offers after reset:\n" << xgyro_off[0] << " , " << xgyro_off[1] << " , " << ygyro_off[1] << " , " << zgyro_off[1] << std::endl; | |
| LOG(I, std::hex << "Gyro offset after reset: " << ": 0x" << +xgyro_off[0] << ", 0x" << +xgyro_off[1] << ", 0x" << +xgyro_off[2]); |
src/imu/adis16448.cpp
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| @@ -226,6 +226,47 @@ int Adis16448::signedWordToInt(const std::vector<byte> &word) { | |||
| return (((int) *(signed char *) (word.data())) * 1 << CHAR_BIT) | word[1]; | |||
| } | |||
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| bool Adis16448::calibrateGyro(){ | |||
| // set offsets to zero | |||
| writeReg(0x1A, {0x00, 0x00}, "XGYRO_OFF"); | |||
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Use the command definitions, e.g.,
| writeReg(0x1A, {0x00, 0x00}, "XGYRO_OFF"); | |
| writeReg(XGYRO_OFF, {0x00, 0x00}, "XGYRO_OFF"); |
src/imu/adis16448.cpp
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| std::cout << "Starting Gyro Calibration. Keep IMU steady and wait for 40s.." << std::endl; | ||
| writeReg(SENS_AVG, calib_sens_avg, "CALIB_SENS_AVG"); | ||
| writeReg(SMPL_PRD, calib_smpl_prd, "CALIB_SMPL_PRD"); | ||
| usleep(40*1e6); // wait for next measurement |
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I think instead of a fixed sleeping time, you can also poll the IMU and see if the value changes... But not sure how robust this is. Or calculate the sampling time from the register value to make it adaptable.
src/imu/adis16448.cpp
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| writeReg(SENS_AVG, sens_avg, "SENS_AVG"); | ||
| writeReg(SMPL_PRD, smpl_prd, "SMPL_PRD"); | ||
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| return true; |
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It would be nice to configure the alarm on the IMU in case the platform is moved during calibration progress and then return false.
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Ah, nice! Thanks for the feedback! I will change the stuff and still need to test it as well. I also want to look at how/if the gyro_off values reset when the imu is power cycled. If they get reset we could call the calibration method once at the first start (when all gyro_off values are zero) and then leave them until the imu is turned off again. |
Also publishes latched topic with the set offset values.
per default calibration is turned off
Adds gyro calibration which can be started through a ROS service call