bma180_calibrate.h

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/*
 * Copyright (c) 2010, Bosch LLC
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
 * If you would like the official Bosch Sensortec drivers, please contact:
 * contact@bosch-sensortec.com
 *
 *********************************************************************/

//\Author Lukas Marti, Bosch LLC

#ifndef __BMA180_CALIBRATE__
#define __BMA180_CALIBRATE__

#include <bma180/bma180meas.h>
#include <bma180/bma180.h>

namespace bma180_spec {
  const static double std_acc_g             = 0.02;             //[g] measured on the actual sensor
  const static double outlier_sigma         = 2;                        //consdiering 3 sigma rule for outlier
  const static int    calib_varreduct       = 100;                      //calibartion accuracy -> variance red = num of calib samples
};


class bma180_calibrate
{
public:

  bma180_calibrate                              ();

  ~bma180_calibrate                             ();


  bool setdata_bma180                   (struct OneBma180Meas);


  void setcalibsens                             (struct OneBma180Meas);


  void clearcalibsens                   ();


  bool calibsens_completed              ();


  bool verification_completed   ();


  bool verification_active              ();


  bool calibsens_set                    ();


  bool get_estbiases                    (double*, double*, double*);
  bool biasverify                               ();
  bool get_verifiedbiases               (double*, double*, double*);

private:
  struct SensID {
        std::string                                     Sub20ID;
        int                                                     iChipSelect;
  };
  struct OneCalibDataSet {
    SensID            Sensor_ID;
    ros::Time     AgeOfBias; //contains the time stamp of the last calibration measurement
    double        dBias_AccX;
    double        dBias_AccY;
    double        dBias_AccZ;
    int           iNumOfCalibMeas;
    bool          bCalib_complete;
    bool          bCalibsensID_set;
  };
  OneCalibDataSet CalibSensor[2];  //2 array of 0: primary calibration, 1: calibration verification
  short int       iActiveDataIndex;
  bool            bVerification_activated;
}; // class

#endif