ground/gcs/src/plugins/config/calibration.h

   1 #ifndef AHRS_CALIBRATION_HPP
   2 #define AHRS_CALIBRATION_HPP
   3
   4 #include <Eigen/Core>
   5 #include <cstdlib>
   6 using std::size_t;
   7 using namespace Eigen;
   8
   9 void calibration_misalignment(Vector3f & rotationVector,
  10                               const Vector3f samples0[],
  11                               const Vector3f & reference0,
  12                               const Vector3f samples1[],
  13                               const Vector3f & reference1,
  14                               size_t n_samples);
  15
  16 Vector3f twostep_bias_only(const Vector3f samples[],
  17                            size_t n_samples,
  18                            const Vector3f & referenceField,
  19                            const float noise);
  20
  21 void twostep_bias_scale(Vector3f & bias,
  22                         Vector3f & scale,
  23                         const Vector3f samples[],
  24                         const size_t n_samples,
  25                         const Vector3f & referenceField,
  26                         const float noise);
  27
  28 void twostep_bias_scale(Vector3f & bias,
  29                         Matrix3f & scale,
  30                         const Vector3f samples[],
  31                         const size_t n_samples,
  32                         const Vector3f & referenceField,
  33                         const float noise);
  34
  35 void openpilot_bias_scale(Vector3f & bias,
  36                           Vector3f & scale,
  37                           const Vector3f samples[],
  38                           const size_t n_samples,
  39                           const Vector3f & referenceField);
  40
  41 void gyroscope_calibration(Vector3f & bias,
  42                            Matrix3f & accelSensitivity,
  43                            Vector3f gyroSamples[],
  44                            Vector3f accelSamples[],
  45                            size_t n_samples);
  46
  47 #endif // !defined AHRS_CALIBRATION_HPP