From 31894e336d6d20cbd59a948155d8a4f562a2afed Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Fri, 1 Mar 2024 18:51:47 +0100
Subject: [PATCH] [RIGv2] Calibrated loadcells
---
src/boards/RIGv2/Configs/SensorsConfig.h | 12 ++++++++++++
src/boards/RIGv2/Sensors/Sensors.cpp | 13 +++++++++----
src/entrypoints/RIGv2/rig-v2-entry.cpp | 2 +-
3 files changed, 22 insertions(+), 5 deletions(-)
diff --git a/src/boards/RIGv2/Configs/SensorsConfig.h b/src/boards/RIGv2/Configs/SensorsConfig.h
index 0bfeca7f4..530fefe36 100644
--- a/src/boards/RIGv2/Configs/SensorsConfig.h
+++ b/src/boards/RIGv2/Configs/SensorsConfig.h
@@ -72,6 +72,18 @@ static constexpr unsigned int LC_CALIBRATE_SAMPLE_PERIOD = 40;
static constexpr float SERVO_CURRENT_SCALE = 4.5466;
static constexpr float SERVO_CURRENT_ZERO = 2.520 / SERVO_CURRENT_SCALE;
static constexpr float BATTERY_VOLTAGE_SCALE = 4.7917;
+
+// LC Tank sensor calibration data
+// - 1.866kg V: 0.000941
+// - 5.050kg V: 0.002550
+// - 6.916kg V: 0.003559
+static constexpr float LC_TANK_SCALE = 1968.8771f;
+// LC Vessel sensor calibration data
+// - 1.866kg V: 0.00027
+// - 5.050kg V: 0.00073
+// - 6.916kg V: 0.00100
+static constexpr float LC_VESSEL_SCALE = 6914.9731f;
+
} // namespace Sensors
} // namespace Config
diff --git a/src/boards/RIGv2/Sensors/Sensors.cpp b/src/boards/RIGv2/Sensors/Sensors.cpp
index 7f2b7f960..174496907 100644
--- a/src/boards/RIGv2/Sensors/Sensors.cpp
+++ b/src/boards/RIGv2/Sensors/Sensors.cpp
@@ -138,7 +138,8 @@ LoadCellData Sensors::getVesselWeight()
sample.voltage[Config::Sensors::ADC1_VESSEL_LC_CHANNEL] -
vesselLcOffset;
- return {sample.timestamp, calibratedVoltage};
+ return {sample.timestamp,
+ -calibratedVoltage * Config::Sensors::LC_VESSEL_SCALE};
}
LoadCellData Sensors::getTankWeight()
@@ -147,7 +148,9 @@ LoadCellData Sensors::getTankWeight()
float calibratedVoltage =
sample.voltage[Config::Sensors::ADC1_TANK_LC_CHANNEL] - tankLcOffset;
- return {sample.timestamp, calibratedVoltage};
+ // This ADC channel is flipped for some reason
+ return {sample.timestamp,
+ -calibratedVoltage * Config::Sensors::LC_TANK_SCALE};
}
CurrentData Sensors::getUmbilicalCurrent()
@@ -159,8 +162,10 @@ CurrentData Sensors::getServoCurrent()
{
auto sample = getADC1LastSample();
- float current = (sample.voltage[Config::Sensors::ADC1_SERVO_CURRENT_CHANNEL] - Config::Sensors::SERVO_CURRENT_ZERO) *
- Config::Sensors::SERVO_CURRENT_SCALE;
+ float current =
+ (sample.voltage[Config::Sensors::ADC1_SERVO_CURRENT_CHANNEL] -
+ Config::Sensors::SERVO_CURRENT_ZERO) *
+ Config::Sensors::SERVO_CURRENT_SCALE;
// Current reading are flipped
return {sample.timestamp, -current / 5.0f * 50.0f};
}
diff --git a/src/entrypoints/RIGv2/rig-v2-entry.cpp b/src/entrypoints/RIGv2/rig-v2-entry.cpp
index 76fba1d13..d2d9d167e 100644
--- a/src/entrypoints/RIGv2/rig-v2-entry.cpp
+++ b/src/entrypoints/RIGv2/rig-v2-entry.cpp
@@ -172,7 +172,7 @@ int main()
while (true)
{
Thread::sleep(1000);
- // sdLogger.log(modules.get<Radio>()->getMavStatus());
+ sdLogger.log(modules.get<Radio>()->getMavStatus());
sdLogger.log(CpuMeter::getCpuStats());
CpuMeter::resetCpuStats();
// TODO: What the fuck is this?
--
GitLab