mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 02:53:34 +08:00
sensors: add baro calibration and cleanup
- sensor_baro.msg use SI (pressure in Pascals) - update all barometer drivers to publish directly and remove PX4Barometer helper - introduce baro cal (offset) mainly as a mechanism to adjust relative priority - commander: add simple baro cal that sets baro offsets to align with GPS altitude (if available) - create new sensors_status.msg to generalize sensor reporting
This commit is contained in:
Daniel Agar
@@ -33,7 +33,6 @@
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add_subdirectory(accelerometer)
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add_subdirectory(airspeed)
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add_subdirectory(barometer)
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add_subdirectory(device)
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add_subdirectory(gyroscope)
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add_subdirectory(led)
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@@ -53,7 +53,6 @@ public:
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint32_t error_count) { _error_count = error_count; }
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void increase_error_count() { _error_count++; }
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void set_range(float range) { _range = range; UpdateClipLimit(); }
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void set_scale(float scale);
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void set_temperature(float temperature) { _temperature = temperature; }
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@@ -1,34 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# 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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(drivers_barometer PX4Barometer.cpp)
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@@ -1,70 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* 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.
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||||
*
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****************************************************************************/
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#include "PX4Barometer.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Barometer::PX4Barometer(uint32_t device_id)
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{
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_sensor_baro_pub.get().device_id = device_id;
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}
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PX4Barometer::~PX4Barometer()
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{
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_sensor_baro_pub.unadvertise();
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}
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void PX4Barometer::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _sensor_baro_pub.get().device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back to report
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_sensor_baro_pub.get().device_id = device_id.devid;
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}
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void PX4Barometer::update(const hrt_abstime ×tamp_sample, float pressure)
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{
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sensor_baro_s &report = _sensor_baro_pub.get();
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report.timestamp_sample = timestamp_sample;
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report.pressure = pressure;
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report.timestamp = hrt_absolute_time();
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_sensor_baro_pub.update();
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}
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@@ -1,62 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
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*
|
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* 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.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/conversion/rotation.h>
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#include <uORB/uORB.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_baro.h>
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class PX4Barometer
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{
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public:
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PX4Barometer(uint32_t device_id);
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~PX4Barometer();
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const sensor_baro_s &get() { return _sensor_baro_pub.get(); }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _sensor_baro_pub.get().error_count = error_count; }
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void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; }
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void update(const hrt_abstime ×tamp_sample, float pressure);
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int get_instance() { return _sensor_baro_pub.get_instance(); };
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private:
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uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
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};
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@@ -53,7 +53,6 @@ public:
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint32_t error_count) { _error_count = error_count; }
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void increase_error_count() { _error_count++; }
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void set_range(float range) { _range = range; }
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void set_scale(float scale);
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void set_temperature(float temperature) { _temperature = temperature; }
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@@ -47,7 +47,6 @@ public:
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint32_t error_count) { _error_count = error_count; }
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void increase_error_count() { _error_count++; }
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void set_scale(float scale) { _scale = scale; }
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void set_temperature(float temperature) { _temperature = temperature; }
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@@ -0,0 +1,246 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "Barometer.hpp"
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#include "Utilities.hpp"
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#include <lib/parameters/param.h>
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using namespace matrix;
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using namespace time_literals;
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namespace calibration
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{
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Barometer::Barometer()
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{
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Reset();
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}
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Barometer::Barometer(uint32_t device_id)
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{
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set_device_id(device_id);
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}
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void Barometer::set_device_id(uint32_t device_id)
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{
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bool external = DeviceExternal(device_id);
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if (_device_id != device_id || _external != external) {
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_device_id = device_id;
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_external = external;
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Reset();
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ParametersUpdate();
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SensorCorrectionsUpdate(true);
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}
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}
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void Barometer::SensorCorrectionsUpdate(bool force)
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{
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// check if the selected sensor has updated
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if (_sensor_correction_sub.updated() || force) {
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// valid device id required
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if (_device_id == 0) {
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return;
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}
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sensor_correction_s corrections;
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if (_sensor_correction_sub.copy(&corrections)) {
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// find sensor_corrections index
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for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
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if (corrections.baro_device_ids[i] == _device_id) {
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switch (i) {
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case 0:
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_thermal_offset = corrections.baro_offset_0;
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return;
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case 1:
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_thermal_offset = corrections.baro_offset_1;
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return;
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case 2:
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_thermal_offset = corrections.baro_offset_2;
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return;
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case 3:
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_thermal_offset = corrections.baro_offset_3;
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return;
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}
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}
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}
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}
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// zero thermal offset if not found
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_thermal_offset = 0;
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}
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}
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bool Barometer::set_offset(const float &offset)
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{
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if (fabsf(_offset - offset) > 0.01f) {
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if (PX4_ISFINITE(offset)) {
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_offset = offset;
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_calibration_count++;
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return true;
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}
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}
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return false;
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}
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bool Barometer::set_calibration_index(int calibration_index)
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{
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if ((calibration_index >= 0) && (calibration_index < MAX_SENSOR_COUNT)) {
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_calibration_index = calibration_index;
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return true;
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}
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return false;
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}
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void Barometer::ParametersUpdate()
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{
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if (_device_id == 0) {
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return;
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}
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_calibration_index = FindCurrentCalibrationIndex(SensorString(), _device_id);
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if (_calibration_index == -1) {
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// no saved calibration available
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Reset();
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} else {
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ParametersLoad();
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}
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}
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bool Barometer::ParametersLoad()
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{
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if (_calibration_index >= 0 && _calibration_index < MAX_SENSOR_COUNT) {
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// CAL_BAROx_PRIO
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_priority = GetCalibrationParamInt32(SensorString(), "PRIO", _calibration_index);
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if ((_priority < 0) || (_priority > 100)) {
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// reset to default, -1 is the uninitialized parameter value
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static constexpr int32_t CAL_PRIO_UNINITIALIZED = -1;
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if (_priority != CAL_PRIO_UNINITIALIZED) {
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PX4_ERR("%s %" PRIu32 " (%" PRId8 ") invalid priority %" PRId32 ", resetting", SensorString(), _device_id,
|
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_calibration_index, _priority);
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SetCalibrationParam(SensorString(), "PRIO", _calibration_index, CAL_PRIO_UNINITIALIZED);
|
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}
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_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
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}
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// CAL_BAROx_OFF
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set_offset(GetCalibrationParamFloat(SensorString(), "OFF", _calibration_index));
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return true;
|
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}
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return false;
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}
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void Barometer::Reset()
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{
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_offset = 0;
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_thermal_offset = 0;
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_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
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_calibration_index = -1;
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_calibration_count = 0;
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}
|
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|
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bool Barometer::ParametersSave(int desired_calibration_index, bool force)
|
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{
|
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if (force && desired_calibration_index >= 0 && desired_calibration_index < MAX_SENSOR_COUNT) {
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_calibration_index = desired_calibration_index;
|
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|
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} else if (!force || (_calibration_index < 0)
|
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|| (desired_calibration_index != -1 && desired_calibration_index != _calibration_index)) {
|
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|
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// ensure we have a valid calibration slot (matching existing or first available slot)
|
||||
int8_t calibration_index_prev = _calibration_index;
|
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_calibration_index = FindAvailableCalibrationIndex(SensorString(), _device_id, desired_calibration_index);
|
||||
|
||||
if (calibration_index_prev >= 0 && (calibration_index_prev != _calibration_index)) {
|
||||
PX4_WARN("%s %" PRIu32 " calibration index changed %" PRIi8 " -> %" PRIi8, SensorString(), _device_id,
|
||||
calibration_index_prev, _calibration_index);
|
||||
}
|
||||
}
|
||||
|
||||
if (_calibration_index >= 0 && _calibration_index < MAX_SENSOR_COUNT) {
|
||||
// save calibration
|
||||
bool success = true;
|
||||
success &= SetCalibrationParam(SensorString(), "ID", _calibration_index, _device_id);
|
||||
success &= SetCalibrationParam(SensorString(), "PRIO", _calibration_index, _priority);
|
||||
success &= SetCalibrationParam(SensorString(), "OFF", _calibration_index, _offset);
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void Barometer::PrintStatus()
|
||||
{
|
||||
if (external()) {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: %05.3f, Ext\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: %05.3f, Internal\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset);
|
||||
}
|
||||
|
||||
if (fabsf(_thermal_offset) > 0.f) {
|
||||
PX4_INFO_RAW("%s %" PRIu32 " temperature offset: %.4f\n", SensorString(), _device_id, (double)_thermal_offset);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace calibration
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. 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/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/sensor_correction.h>
|
||||
|
||||
namespace calibration
|
||||
{
|
||||
class Barometer
|
||||
{
|
||||
public:
|
||||
static constexpr int MAX_SENSOR_COUNT = 4;
|
||||
|
||||
static constexpr uint8_t DEFAULT_PRIORITY = 50;
|
||||
static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;
|
||||
|
||||
static constexpr const char *SensorString() { return "BARO"; }
|
||||
|
||||
Barometer();
|
||||
explicit Barometer(uint32_t device_id);
|
||||
|
||||
~Barometer() = default;
|
||||
|
||||
void PrintStatus();
|
||||
|
||||
bool set_calibration_index(int calibration_index);
|
||||
void set_device_id(uint32_t device_id);
|
||||
bool set_offset(const float &offset);
|
||||
|
||||
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
|
||||
uint8_t calibration_count() const { return _calibration_count; }
|
||||
int8_t calibration_index() const { return _calibration_index; }
|
||||
uint32_t device_id() const { return _device_id; }
|
||||
bool enabled() const { return (_priority > 0); }
|
||||
bool external() const { return _external; }
|
||||
const float &offset() const { return _offset; }
|
||||
const int32_t &priority() const { return _priority; }
|
||||
const float &thermal_offset() const { return _thermal_offset; }
|
||||
|
||||
// apply offsets
|
||||
inline float Correct(const float &data) const
|
||||
{
|
||||
return data - _thermal_offset - _offset;
|
||||
}
|
||||
|
||||
inline float Uncorrect(const float &corrected_data) const
|
||||
{
|
||||
return corrected_data + _thermal_offset + _offset;
|
||||
}
|
||||
|
||||
// Compute sensor offset from bias (board frame)
|
||||
float BiasCorrectedSensorOffset(const float &bias) const
|
||||
{
|
||||
return bias + _thermal_offset + _offset;
|
||||
}
|
||||
|
||||
bool ParametersLoad();
|
||||
bool ParametersSave(int desired_calibration_index = -1, bool force = false);
|
||||
void ParametersUpdate();
|
||||
|
||||
void Reset();
|
||||
|
||||
void SensorCorrectionsUpdate(bool force = false);
|
||||
|
||||
private:
|
||||
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
|
||||
|
||||
float _offset{0};
|
||||
float _thermal_offset{0};
|
||||
|
||||
int8_t _calibration_index{-1};
|
||||
uint32_t _device_id{0};
|
||||
int32_t _priority{-1};
|
||||
|
||||
bool _external{false};
|
||||
|
||||
uint8_t _calibration_count{0};
|
||||
};
|
||||
} // namespace calibration
|
||||
@@ -34,6 +34,8 @@
|
||||
px4_add_library(sensor_calibration
|
||||
Accelerometer.cpp
|
||||
Accelerometer.hpp
|
||||
Barometer.cpp
|
||||
Barometer.hpp
|
||||
Gyroscope.cpp
|
||||
Gyroscope.hpp
|
||||
Magnetometer.cpp
|
||||
|
||||
@@ -149,6 +149,21 @@ int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type,
|
||||
return value;
|
||||
}
|
||||
|
||||
float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, uint8_t instance)
|
||||
{
|
||||
// eg CAL_BAROn_OFF
|
||||
char str[20] {};
|
||||
sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type);
|
||||
|
||||
float value = NAN;
|
||||
|
||||
if (param_get(param_find(str), &value) != 0) {
|
||||
PX4_ERR("failed to get %s", str);
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance)
|
||||
{
|
||||
Vector3f values{0.f, 0.f, 0.f};
|
||||
|
||||
@@ -71,6 +71,7 @@ int8_t FindAvailableCalibrationIndex(const char *sensor_type, uint32_t device_id
|
||||
* @return int32_t The calibration value.
|
||||
*/
|
||||
int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type, uint8_t instance);
|
||||
float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, uint8_t instance);
|
||||
|
||||
/**
|
||||
* @brief Set a single calibration paramter.
|
||||
|
||||
Reference in New Issue
Block a user