Voxl board specific module to save calibration parameters

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -128,6 +128,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -44,3 +44,6 @@ add_library(drivers_board
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
+
+# Add custom modules
+add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__voxl_save_cal_params
+	MAIN voxl_save_cal_params
+	COMPILE_FLAGS
+	SRCS
+		VoxlSaveCalParams.cpp
+		VoxlSaveCalParams.hpp
+	DEPENDS
+		px4_work_queue
+	)

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "VoxlSaveCalParams.hpp"
+
+#include <algorithm>
+#include <string>
+#include <sstream>
+#include <fstream>
+#include <iostream>
+
+using namespace std;
+
+static bool debug = false;
+
+VoxlSaveCalParams::VoxlSaveCalParams() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+bool
+VoxlSaveCalParams::init()
+{
+	if (!_parameter_primary_set_value_request_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void
+VoxlSaveCalParams::save_calibration_parameter_to_file(const char *name, param_type_t type,
+		param_value_u value)
+{
+	// If the parameter being set is a calibration parameter then save it out to
+	// a separate calibration file so that they can be preserved and reloaded
+	// after system updates
+	string cal_file_name = param_get_default_file();
+	string cal_file_append;
+	string param_name(name);
+	string cal_strings[] = {"CAL_GYRO", "CAL_MAG", "CAL_BARO", "CAL_ACC"};
+
+	for (auto i : cal_strings) {
+		// Check to see if the parameter is one of the desired calibration parameters
+		if (param_name.substr(0, i.size()) == i) {
+			// We want the filename to be the standard parameters file name with
+			// the calibration type appended to it.
+			cal_file_append = i.substr(3, i.size());
+			// Make sure it is lowercase
+			transform(cal_file_append.begin(), cal_file_append.end(), cal_file_append.begin(), ::tolower);
+			// And add a cal file extension
+			cal_file_append += ".cal";
+			break;
+		}
+	}
+
+	// Check for level horizon calibration parameters
+	if (cal_file_append.empty() &&
+	    (param_name == "SENS_BOARD_X_OFF" || param_name == "SENS_BOARD_Y_OFF")) {
+		cal_file_append = "_level.cal";
+	}
+
+	// Check for RC calibration parameters
+	if (cal_file_append.empty() && name[0] == 'R' && name[1] == 'C' && isdigit(name[2])) {
+		cal_file_append = "_rc.cal";
+	}
+
+	if (! cal_file_append.empty()) {
+		cal_file_name += cal_file_append;
+
+		stringstream param_data_stream;
+
+		switch (type) {
+		case PARAM_TYPE_INT32:
+			param_data_stream << value.i;
+			param_data_stream << "\t" << 6;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_data_stream << value.f;
+			param_data_stream << "\t" << 9;
+			break;
+
+		default:
+			PX4_ERR("Calibration parameter must be either int or float");
+			break;
+		}
+
+		string param_data;
+		param_data += "1\t1\t";
+		param_data += param_name;
+		param_data += "\t";
+		param_data += param_data_stream.str();
+
+		if (debug) { PX4_INFO("Writing %s to file %s", param_data.c_str(), cal_file_name.c_str()); }
+
+		// open a file in write (append) mode.
+		ofstream cal_file;
+		cal_file.open(cal_file_name, ios_base::app);
+
+		if (cal_file) {
+			cal_file << param_data << endl;
+			cal_file.close();
+
+		} else {
+			PX4_ERR("Couldn't open %s for writing calibration value", cal_file_name.c_str());
+		}
+	}
+}
+
+void
+VoxlSaveCalParams::Run()
+{
+	if (should_exit()) {
+		_parameter_primary_set_value_request_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	parameter_set_value_request_s req;
+
+	if (_parameter_primary_set_value_request_sub.copy(&req)) {
+		// PX4_INFO("Got set value request in autosave module");
+
+		// debug_counters.set_value_received++;
+
+		param_t param = req.parameter_index;
+		param_value_u value;
+		value.i = 0;
+		value.f = 0.0f;
+
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+			param_set_no_remote_update(param, (const void *) &req.int_value, true);
+			value.i = req.int_value;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_set_no_remote_update(param, (const void *) &req.float_value, true);
+			value.f = req.float_value;
+			break;
+
+		default:
+			PX4_ERR("Parameter must be either int or float");
+			break;
+		}
+
+		save_calibration_parameter_to_file(param_name(param), param_type(param), value);
+	}
+}
+
+int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
+{
+	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VoxlSaveCalParams::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VoxlSaveCalParams::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements autosaving of calibration parameters on VOXL2 platform.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
+{
+	return VoxlSaveCalParams::main(argc, argv);
+}

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/parameter_set_value_request.h>
+
+using namespace time_literals;
+
+class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	VoxlSaveCalParams();
+	~VoxlSaveCalParams() = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	void save_calibration_parameter_to_file(const char *name, param_type_t type, param_value_u value);
+
+	uORB::SubscriptionCallbackWorkItem _parameter_primary_set_value_request_sub{this, ORB_ID(parameter_primary_set_value_request)};
+};

boards/modalai/voxl2/target/voxl-px4-start

@@ -211,11 +211,13 @@ dataman start
 navigator start
 
 # This bridge allows raw data packets to be sent over UART to the ESC
-voxl2_io_bridge start
+# voxl2_io_bridge start
 
 # Start uxrce_dds_client for ros2 offboard messages from agent over localhost
 uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
 
+voxl_save_cal_params start
+
 # On M0052 there is only one IMU. So, PX4 needs to
 # publish IMU samples externally for VIO to use.
 if [ $PLATFORM = "M0052" ]; then